Map updating method and device, storage medium, electronic device and program product
By using the driving data of the target vehicle to determine the key points of map updates, and adding or adjusting lane lines and traffic signs to the map, the problem of strong manual dependence and poor real-time quality of map updates in the prior art is solved, and more efficient and accurate map updates are achieved.
Patent Information
- Application Number
- CN202411822393.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-11
- Publication Date
- 2025-03-28
AI Technical Summary
In the prior art, the map update method requires the map update based on the manually determined information to be updated, and there is a problem of strong manual dependence and poor real-time.
By determining the key points in the target information based on the path information and driving trajectory collected when the target vehicle most recently drove through the target path, the key points are mapped to the map to be updated, and lane lines and traffic signs are added or adjusted according to the road condition information and the distance between the key points.
Improve the accuracy and real-time nature of map updates, reduce the dependence on manual intervention, and ensure timely updates of maps and more accurate navigation information.
Smart Images
Figure CN119714246A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present invention relate to the field of communications, and in particular, to a map updating method, device, storage medium, electronic device and program product. Background Art
[0002] Maps are essential for vehicle path planning, obstacle identification, and safe driving because they can provide accurate road information for vehicle driving. The map updating method in the related art needs to update the map based on the manually determined information to be updated, so it has the problem of strong manual dependence and poor real-time performance. Summary of the invention
[0003] The embodiments of the present invention provide a map updating method, device, storage medium, electronic device and program product to at least solve the problem in the related art that the map needs to be updated according to the manually determined information to be updated, so the manual dependence is strong and the real-time performance is poor.
[0004] According to one embodiment of the present invention, a map updating method is provided, comprising: determining target information of the target path based on path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driven in the target path, wherein the path information includes target road condition information, and the target information includes a first key point, and the first key point includes: a trajectory point included in the target driving trajectory where a section with a solid lane line enters a section with a dotted lane line, and a trajectory point where a section with a dotted lane line enters a section with a solid lane line; mapping the first key point to a first key point to be updated; In a map; when the distance between the first key point and the adjacent second key point is greater than a first threshold, a first lane line is added to the first map according to the first key point and the target road condition information, wherein the second key point is a point used to determine the virtual and real changes of the lane line in the first map; when the distance between the first key point and the adjacent second key point is less than a second threshold, the key point of the first key point and the adjacent second key point that first enters the lane line as a solid line section, or the key point of the lane line as a solid line section is retained, and when the retained key point is the first key point, the lane line in the first map is adjusted.
[0005] In an exemplary embodiment, the target information further includes: a third key point, the third key point includes: a trajectory point included in the target driving trajectory that enters a section with lane lines from a section without lane lines and a trajectory point that enters a section without lane lines from a section with lane lines; after determining the target information of the target path according to the path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driving in the target path, the method further includes: mapping the third key point in the first map; when the distance between the third key point and an adjacent fourth key point is greater than a third threshold, adding a second lane line in the first map according to the third key point and the target road condition information, wherein the fourth key point is a point used to determine whether the lane line in the first map has changed; when the distance between the third key point and the adjacent fourth key point is less than a fourth threshold, retaining the key point of the third key point and the adjacent fourth key point that enters the section with lane lines later or leaves the section with lane lines first, and when the retained key point is the third key point, adjusting the lane line in the first map.
[0006] In an exemplary embodiment, the target information also includes: target traffic sign information of the target traffic sign that restricts driving behavior, the target traffic sign information including location information and type information of the target traffic sign; after determining the target information of the target path based on the path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driving on the target path, the method also includes: obtaining first traffic sign information of the first traffic sign that restricts the driving behavior in the first map, wherein the first traffic sign information includes location information and type information of the first traffic sign; determining whether the target traffic sign is included in the first map based on the target traffic sign information and the first traffic sign information; if the target traffic sign is not included in the first map, adding the target traffic sign to the first map.
[0007] In an exemplary embodiment, determining whether the target traffic sign is included in the first map based on the target traffic sign information and the first traffic sign information includes: comparing the location information and type information of the target traffic sign with the location information and type information of each of the multiple first traffic signs; and in the absence of a first traffic sign of the same type as the target traffic sign and at a distance less than a fifth threshold, determining that the target traffic sign is not included in the first map.
[0008] In an exemplary embodiment, the path information includes: a target image including the target traffic sign captured when the target vehicle last traveled through the target path; determining the target information of the target path based on the path information of the target path collected when the target vehicle last traveled through the target path and the target driving trajectory of the target vehicle last traveled in the target path, including: determining the target traffic sign information based on the target image; determining whether the target traffic sign is included in the first map based on the target traffic sign information and the first traffic sign information, including: in the case where there is the first traffic sign of the same type as the target traffic sign and whose position is less than a fifth threshold, sending the target image and the first traffic sign information to a target terminal to request the target terminal to return indication information of whether the target traffic sign is included in the first map; determining whether the target traffic sign is included in the first map based on the indication information received from the target terminal.
[0009] In an exemplary embodiment, the method also includes at least one of the following: adjusting the center line of the lane in the first map according to the first key point and the third key point; when there is an abnormal trajectory segment in the target driving trajectory, deleting the abnormal trajectory segment to obtain a first driving trajectory, and adding the first driving trajectory to the first map.
[0010] According to another embodiment of the present invention, a map updating device is provided, comprising: a first determining module, for determining target information of the target path based on path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driven in the target path, wherein the path information includes target road condition information, and the target information includes a first key point, and the first key point includes: a trajectory point included in the target driving trajectory, which enters from a section with a solid lane line to a section with a dotted lane line, and a trajectory point which enters from a section with a dotted lane line to a section with a solid lane line; a first mapping module, for mapping the first key point to a map to be updated; In a first map; a first adding module is used to add a first lane line in the first map according to the first key point and the target road condition information when the distance between the first key point and an adjacent second key point is greater than a first threshold, wherein the second key point is a point used to determine the virtual and real changes of the lane line in the first map; a first retaining module is used to retain the key point of the first key point and the adjacent second key point that first enters the lane line as a solid line section, or the key point of the lane line that later leaves the lane line as a solid line section when the distance between the first key point and the adjacent second key point is less than a second threshold, and when the retained key point is the first key point, adjust the lane line in the first map.
[0011] According to yet another embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of any one of the above method embodiments when run.
[0012] According to yet another embodiment of the present invention, there is provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.
[0013] According to yet another embodiment of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the steps in any one of the above method embodiments are implemented.
[0014] Through the present invention, since the target information for updating the map is determined based on the path information of the target road section obtained by the target vehicle during the most recent driving process and the driving trajectory of the target vehicle during the most recent driving process, it is possible to solve the problem of strong manual dependence and poor real-time performance caused by the map updating method in the related art due to the need to update the map based on the manually determined information to be updated, thereby achieving the effect of improving the accuracy and real-time performance of map updating. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 is a hardware structure block diagram of a mobile terminal according to a map updating method of an embodiment of the present invention;
[0016] Figure 2 is a flowchart of a map updating method according to an embodiment of the present invention;
[0017] Figure 3 is a schematic diagram of a map updating method according to an embodiment of the present invention;
[0018] Figure 4 is a schematic diagram of a mapping method according to an embodiment of the present invention;
[0019] Figure 5 is a schematic diagram of a data organization method according to an embodiment of the present invention Figure 1 ;
[0020] Figure 6 is a schematic diagram of a data organization method according to an embodiment of the present invention Figure 2 ;
[0021] Figure 7 is a flowchart of a mapping method according to an embodiment of the present invention;
[0022] Figure 8 is a structural block diagram of a map updating device according to an embodiment of the present invention. DETAILED DESCRIPTION
[0023] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and in combination with the embodiments.
[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.
[0025] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 is a hardware structure block diagram of a mobile terminal according to a map updating method according to an embodiment of the present invention. Figure 1As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.
[0026] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the map updating method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
[0027] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.
[0028] In this embodiment, a map updating method running on a mobile terminal or a network architecture is provided. Figure 2 is a flow chart of a map updating method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:
[0029] Step S202, determining target information of the target path according to the path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driving in the target path, wherein the path information includes target road condition information, and the target information includes a first key point, and the first key point includes: a trajectory point included in the target driving trajectory, which enters from a road section with a solid lane line to a road section with a dotted lane line, and a trajectory point which enters from a road section with a dotted lane line to a road section with a solid lane line;
[0030] Step S204, mapping the first key point in the first map to be updated;
[0031] Step S206, when the distance between the first key point and an adjacent second key point is greater than a first threshold, adding a first lane line in the first map according to the first key point and the target road condition information, wherein the second key point is a point used to determine the virtual and real change of the lane line in the first map;
[0032] Step S208, when the distance between the first key point and the adjacent second key point is less than a second threshold, retain the key point of the first key point and the adjacent second key point that first enters the section of the lane line as a solid line, or the key point that leaves the section of the lane line as a solid line later, and when the retained key point is the first key point, adjust the lane line in the first map.
[0033] In the above steps, the first threshold includes but is not limited to: 5 meters, 10 meters, 15 meters, etc., and the second threshold includes but is not limited to: 3 meters, 4 meters, 5 meters, 10 meters, etc. Figure 3 is a schematic diagram of a map updating method according to an embodiment of the present invention. Figure 3 As shown, the green dotted line is the target driving trajectory, the blue dotted line is the driving trajectory recorded in the first map, the yellow dot on the green dotted line is the first key point, and the yellow dot on the blue dotted line is the second key point. Exemplarily, when the distance between the first key point and the second key point is less than 1 meter, the point that enters the lane line section with a solid line earlier or the point that leaves the lane line section with a solid line later is retained.
[0034] Through the above steps, the target information for updating the map is determined based on the path information of the target road section obtained by the target vehicle during the most recent driving process and the driving trajectory of the target vehicle during the most recent driving process, which solves the problem of strong manual dependence and poor real-time performance caused by the map updating method in the related art due to the need to update the map based on the manually determined information to be updated. An automatic map updating method is provided, which improves the accuracy and real-time performance of map updating.
[0035] The execution subject of the above steps may be a terminal, a target program running on a cloud platform, etc., but is not limited thereto.
[0036] In an optional embodiment, the target information also includes: a third key point, the third key point includes: a trajectory point included in the target driving trajectory of entering a section with lane lines from a section without lane lines, and a trajectory point from a section with lane lines to a section without lane lines; after determining the target information of the target path based on the path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driving on the target path, the method also includes: mapping the third key point in the first map; mapping the third key point to the adjacent When the distance between the third key point and the fourth key point is greater than the third threshold, a second lane line is added to the first map according to the third key point and the target road condition information, wherein the fourth key point is a point used to determine whether the lane line in the first map has changed; when the distance between the third key point and the adjacent fourth key point is less than the fourth threshold, the key point between the third key point and the adjacent fourth key point that enters the section with lane lines later, or the key point that leaves the section with lane lines first, is retained, and when the retained key point is the third key point, the lane line in the first map is adjusted.
[0037] In the above steps, the third threshold includes but is not limited to: 5 meters, 10 meters, 15 meters, etc., and the fourth threshold includes but is not limited to: 3 meters, 4 meters, 5 meters, 10 meters, etc. Figure 3 As shown, the red dot on the green dotted line is the third key point, and the red dot on the blue dotted line is the fourth key point. Exemplarily, when the distance between the third key point and the fourth key point is less than 1 meter, the point that enters the section with lane lines later or the point that leaves the section with lane lines earlier is retained.
[0038] In the above steps, the lane lines in the map are adjusted according to the positional relationship between the latest acquired third key point and the fourth key point in the first map to be updated, thereby ensuring the real-time accuracy of the lane lines, thereby providing more accurate navigation guidance and helping the vehicle to drive more safely and efficiently.
[0039] In an optional embodiment, the target information also includes: target traffic sign information of the target traffic sign that restricts driving behavior, the target traffic sign information including location information and type information of the target traffic sign; after determining the target information of the target path based on the path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driving on the target path, the method also includes: obtaining first traffic sign information of the first traffic sign that restricts the driving behavior in the first map, wherein the first traffic sign information includes location information and type information of the first traffic sign; determining whether the target traffic sign is included in the first map based on the target traffic sign information and the first traffic sign information; if the target traffic sign is not included in the first map, adding the target traffic sign to the first map.
[0040] In the above steps, the target traffic signs include but are not limited to: speed limit signs, stop signs, give way signs, turn signs, lane indication signs, warning signs, traffic lights, road signs, road markings (e.g., lane dividing lines, pedestrian crossings, stop lines, etc.), etc., the first traffic signs include but are not limited to: speed limit signs, stop signs, give way signs, turn signs, lane indication signs, warning signs, traffic lights, road signs, road markings (e.g., lane dividing lines, pedestrian crossings, stop lines, etc.), etc., the location information of the target traffic signs includes but is not limited to: longitude and latitude information, the orientation information of the target traffic signs relative to the first key point and the third key point, etc. The location information of the first traffic sign includes but is not limited to: longitude and latitude information, the orientation information of the first traffic sign relative to the second key point and the fourth key point, etc.
[0041] In an optional embodiment, determining whether the target traffic sign is included in the first map based on the target traffic sign information and the first traffic sign information includes: comparing the location information and type information of the target traffic sign with the location information and type information of each of the multiple first traffic signs; and in the absence of a first traffic sign of the same type as the target traffic sign and at a distance less than a fifth threshold, determining that the target traffic sign is not included in the first map.
[0042] In the above steps, the fifth threshold includes but is not limited to: 1 meter, 2 meters, 3 meters, etc.
[0043] In the above steps, by comparing the location information and type information of the target traffic sign with the first traffic sign information and setting the fifth threshold, the missing traffic signs in the first map to be updated can be accurately identified, thereby improving the accuracy and completeness of the map.
[0044] In an optional embodiment, the path information includes: a target image including the target traffic sign captured when the target vehicle last traveled through the target path; determining the target information of the target path based on the path information of the target path collected when the target vehicle last traveled through the target path and the target driving trajectory of the target vehicle last traveled in the target path, including: determining the target traffic sign information based on the target image; determining whether the target traffic sign is included in the first map based on the target traffic sign information and the first traffic sign information, including: in the case where there is a first traffic sign of the same type as the target traffic sign and whose position is less than a fifth threshold, sending the target image and the first traffic sign information to a target terminal to request the target terminal to return indication information on whether the target traffic sign is included in the first map; determining whether the target traffic sign is included in the first map based on the indication information received from the target terminal.
[0045] In an optional embodiment, exemplarily, after the target image and the first traffic sign information are sent to a target terminal, the image recognition program on the target terminal determines whether the target traffic sign and the first sign information are the same traffic sign based on information such as the text, shape, texture, and contamination of the target traffic sign displayed in the target image and whether there are traffic signs of the same category around them.
[0046] In an optional embodiment, exemplarily, after the target image and the first traffic sign information are sent to the target terminal, the target terminal outputs a prompt message to inform the user of the target terminal to view the target image and the first sign information, and to determine whether the target traffic sign and the first sign information are the same traffic sign.
[0047] In an optional embodiment, the method also includes at least one of the following: adjusting the center line of the lane in the first map according to the first key point and the third key point; when there is an abnormal trajectory segment in the target driving trajectory, deleting the abnormal trajectory segment to obtain a first driving trajectory, and adding the first driving trajectory to the first map.
[0048] In the above steps, the abnormal trajectory segment includes but is not limited to: an invalid lane change trajectory segment.
[0049] In an optional embodiment, a map of the target road section is first established through the following steps: based on the first path information of the target path collected when the first vehicle last drove through the target path and the second driving trajectory of the target vehicle last driving on the target path, the fifth key point, the sixth key point, and the second traffic sign information of the second traffic sign used to restrict the driving behavior of the target path are determined, wherein the fifth key point includes: the trajectory point included in the first driving trajectory of entering from the section with solid lane lines to the section with dashed lane lines, and the trajectory point from the section with dashed lane lines to the section with solid lane lines; the sixth key point includes the trajectory point included in the first driving trajectory of entering from the section without lane lines to the section with lane lines, and the trajectory point from the section with lane lines to the section without lane lines; draw a map based on the first path information, the second driving trajectory, the fifth key point, the sixth key point, and the second traffic sign information.
[0050] Figure 4 is a schematic diagram of a mapping method according to an embodiment of the present invention. Figure 4 As shown, the blue dotted line is the second driving trajectory, the yellow dot on the blue dotted line is the fifth key point, the red dot on the blue dotted line is the sixth key point, and the green dot on the blue dotted line is the second traffic sign.
[0051] In an optional embodiment, drawing a map based on the first path information, the second driving trajectory, the fifth key point, the sixth key point, and the second traffic sign information includes: drawing lane lines in the target road section based on the first path information, the second driving trajectory, the fifth key point, and the sixth key point, and adding center lines of lane lines in areas with lane lines; screening the second driving trajectory for abnormal driving trajectories; in the case where there are abnormal driving trajectory segments in the second driving trajectory, removing the abnormal driving trajectory segments to obtain a third driving trajectory, and thinning out the third driving trajectory to obtain a first driving trajectory point; adding the first driving trajectory point to the map; in the case where there are no abnormal driving trajectory segments in the second driving trajectory, thinning out the second driving trajectory to obtain a second driving trajectory point; and adding the second driving trajectory point to the map.
[0052] In an optional embodiment, the method further includes: organizing the data in sequence according to the hierarchical structure of path, road section, lane, and target information. Figure 5 is a schematic diagram of a data organization method according to an embodiment of the present invention Figure 1 ,like Figure 5 As shown in the figure, the lane consists of one or more key point sequences, which record lane-level driving information. When a trajectory point entering a new lane line or leaving the current lane line is identified, the lane information is recorded. The driving path of invalid lane changes is not recorded. The road section is divided into a lane line section and a laneless road section (for example, an intersection, a merge area without a lane line), which are recorded in the order of the target vehicle's driving direction. The path is the highest level of the data structure, which consists of a road section sequence. Figure 6 is a schematic diagram of a data organization method according to an embodiment of the present invention Figure 2 ,like Figure 6 As shown, after the second mapping, the map elements in the first mapping are updated according to the latest acquired target information.
[0053] The following is an exemplary description of the solution in the present invention in conjunction with specific embodiments:
[0054] Figure 7 is a flowchart of a mapping method according to an embodiment of the present invention. Figure 7 As shown, the process includes the following steps:
[0055] Step S702, determine whether there is an available map, if yes, execute step S704, if no, jump to step S710;
[0056] Step S704, start navigation-assisted driving;
[0057] Step S706, multiple passes of mapping;
[0058] Step S708, prompting the user that the map has been updated;
[0059] Step S710, start the map building function;
[0060] Step S712, determining whether an unavailable map already exists, if not, executing step S714, if yes, jumping to step S716;
[0061] Step S714, the user drives the vehicle to complete the first map creation;
[0062] Step S716, the user drives the vehicle to create a map again;
[0063] Step S718, merging with the last mapping data;
[0064] Step S720, determine whether the mapping result is available, if yes, execute step S722, if no, jump to step S724;
[0065] Step S722, prompting the user that the data has been saved and will be available next time;
[0066] Step S724, prompting the user that the map is temporarily unavailable and needs to be created again.
[0067] In the above-mentioned embodiments of the present application, since a map can be built based on the information obtained when the vehicle is traveling on the target road section and its own driving trajectory, the problem in the related technology that navigation-assisted driving cannot be used in areas not covered by high-precision maps is solved. It no longer relies on the traditional high-precision map collection, production and map review processes, nor does it rely on the vehicle-cloud data link. Starting from the user's actual usage scenario, through multiple trips on fixed routes, the road elements, user driving behaviors, traffic participant behaviors and other information perceived during driving are memorized, the results of single-trip mapping are updated and corrected, new drivable paths and map elements are identified, the integrity and real-time nature of the map are improved, a local map is built on the vehicle side, the coverage area of navigation-assisted driving is improved, and the navigation-assisted driving experience is optimized.
[0068] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.
[0069] In this embodiment, a map updating device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made are not repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.
[0070] Figure 8 is a structural block diagram of a map updating device according to an embodiment of the present invention. Figure 8As shown, the device includes: a first determination module 82, which is used to determine the target information of the target path according to the path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driving in the target path, wherein the path information includes target road condition information, and the target information includes a first key point, and the first key point includes: a trajectory point included in the target driving trajectory, which enters from a section with a solid lane line to a section with a dotted lane line, and a trajectory point from a section with a dotted lane line to a section with a solid lane line; a first mapping module 84, which is used to map the first key point in a first map to be updated; a first adding module 85, which is used to map the first key point in a first map to be updated; and a first adding module 86, which is used to map the first key point in a first map to be updated. Module 86 is used to add a first lane line in the first map according to the first key point and the target road condition information when the distance between the first key point and the adjacent second key point is greater than a first threshold, wherein the second key point is a point used to determine the virtual and real changes of the lane line in the first map; a first retention module 88 is used to retain the key points of the first key point and the adjacent second key point that first enter the section where the lane line is a solid line, or the key points of the section where the lane line is a solid line later, between the first key point and the adjacent second key point when the distance between the first key point and the adjacent second key point is less than a second threshold, and when the retained key point is the first key point, adjust the lane line in the first map.
[0071] In an optional embodiment, the target information also includes: a third key point, the third key point includes: a trajectory point included in the target driving trajectory of entering a section with lane lines from a section without lane lines, and a trajectory point from a section with lane lines to a section without lane lines; the device also includes: a second mapping module, which is used to map the third key point in the first map after determining the target information of the target path based on the path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driving on the target path; a second adding module, which is used to add the third key point to the first map after determining the target information of the target path based on the path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driving on the target path; When the distance between the third key point and the adjacent fourth key point is greater than a third threshold, a second lane line is added to the first map according to the third key point and the target road condition information, wherein the fourth key point is a point used to determine whether the lane line in the first map has changed; a second retention module is used to retain the key point between the third key point and the adjacent fourth key point that enters the section with lane lines later, or leaves the section with lane lines first, when the distance between the third key point and the adjacent fourth key point is less than a fourth threshold, and when the retained key point is the third key point, the lane line in the first map is adjusted.
[0072] In an optional embodiment, the target information also includes: target traffic sign information of the target traffic sign that restricts driving behavior, the target traffic sign information including the location information and type information of the target traffic sign; the device also includes: an acquisition module, which is used to obtain the first traffic sign information of the first traffic sign that restricts the driving behavior in the first map after determining the target information of the target path based on the path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driving on the target path, wherein the first traffic sign information includes the location information and type information of the first traffic sign; a second determination module, which is used to determine whether the target traffic sign is included in the first map based on the target traffic sign information and the first traffic sign information; and a third adding module, which is used to add the target traffic sign to the first map if the target traffic sign is not included in the first map.
[0073] In an optional embodiment, the second determination module includes: a comparison unit, used to compare the location information and type information of the target traffic sign with the location information and type information of each of the multiple first traffic signs; a first determination unit, used to determine that the target traffic sign is not included in the first map when there is no first traffic sign of the same type as the target traffic sign and the distance is less than a fifth threshold.
[0074] In an optional embodiment, the path information includes: a target image including the target traffic sign captured when the target vehicle last traveled through the target path; the first determination module 82 includes: a second determination unit, used to determine the target traffic sign information based on the target image; the second determination module includes: a sending unit, used to send the target image and the first traffic sign information to the target terminal to request the target terminal to return indication information on whether the target traffic sign is included in the first map when there is the first traffic sign of the same type as the target traffic sign and whose position is less than a fifth threshold; a third determination unit, used to determine whether the target traffic sign is included in the first map based on the indication information received from the target terminal.
[0075] In an optional embodiment, the method device also includes at least one of the following: an adjustment module, used to adjust the center line of the lane line in the first map according to the first key point and the third key point; a deletion module, used to delete the abnormal trajectory segment to obtain the first driving trajectory when there is an abnormal trajectory segment in the target driving trajectory, and add the first driving trajectory to the first map.
[0076] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.
[0077] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.
[0078] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.
[0079] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.
[0080] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.
[0081] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps in any one of the above method embodiments are implemented.
[0082] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.
[0083] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.
[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. A map updating method, characterized in that: include: Determine target information of the target path according to path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driven in the target path, wherein the path information includes target road condition information, and the target information includes a first key point, and the first key point includes: a trajectory point included in the target driving trajectory, which enters from a road section with a solid lane line to a road section with a dashed lane line, and a trajectory point which enters from a road section with a dashed lane line to a road section with a solid lane line; Mapping the first key point in a first map to be updated; When the distance between the first key point and an adjacent second key point is greater than a first threshold, adding a first lane line in the first map according to the first key point and the target road condition information, wherein the second key point is a point used to determine the virtual and real changes of the lane line in the first map; When the distance between the first key point and the adjacent second key point is less than a second threshold, the key point of the first key point and the adjacent second key point that first enters the section of the lane line as a solid line, or the key point that later leaves the section of the lane line as a solid line, is retained, and when the retained key point is the first key point, the lane line in the first map is adjusted.
2. The method according to claim 1, characterized in that The target information further includes: a third key point, the third key point including: a trajectory point included in the target driving trajectory, which enters a road section with lane lines from a road section without lane lines, and a trajectory point which enters a road section without lane lines from a road section with lane lines; After determining the target information of the target path according to the path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driven in the target path, the method further includes: Mapping the third key point in the first map; When the distance between the third key point and an adjacent fourth key point is greater than a third threshold, adding a second lane line in the first map according to the third key point and the target road condition information, wherein the fourth key point is a point used to determine whether the lane line in the first map has changed; When the distance between the third key point and the adjacent fourth key point is less than a fourth threshold, the key point between the third key point and the adjacent fourth key point that enters the road section with lane lines later, or the key point that leaves the road section with lane lines first, is retained, and when the retained key point is the third key point, the lane lines in the first map are adjusted.
3. The method according to claim 1, characterized in that The target information also includes: target traffic sign information of the target traffic sign that restricts driving behavior, and the target traffic sign information includes the location information and type information of the target traffic sign; After determining the target information of the target path according to the path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driven in the target path, the method further includes: Acquire first traffic sign information of a first traffic sign that restricts the driving behavior in the first map, wherein the first traffic sign information includes location information and type information of the first traffic sign; Determining whether the first map contains the target traffic sign according to the target traffic sign information and the first traffic sign information; When the first map does not include the target traffic sign, the target traffic sign is added to the first map.
4. The method according to claim 3, characterized in that Determining, according to the target traffic sign information and the first traffic sign information, whether the first map includes the target traffic sign includes: comparing the location information and type information of the target traffic sign with the location information and type information of each of the first traffic signs; In a case where there is no first traffic sign of the same type as the target traffic sign and whose distance is less than a fifth threshold, it is determined that the first map does not include the target traffic sign.
5. The method according to claim 3, characterized in that: The path information includes: a target image including the target traffic sign captured when the target vehicle last drove through the target path; Determining target information of the target path according to the path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driven in the target path, including: determining the target traffic sign information according to the target image; Determining whether the target traffic sign is included in the first map based on the target traffic sign information and the first traffic sign information includes: in the case where there is the first traffic sign of the same type as the target traffic sign and whose position is less than a fifth threshold, sending the target image and the first traffic sign information to a target terminal to request the target terminal to return indication information of whether the target traffic sign is included in the first map; and determining whether the target traffic sign is included in the first map based on the indication information received and sent by the target terminal.
6. The method according to claim 2, characterized in that The method further comprises at least one of the following: Adjusting the center line of the lane in the first map according to the first key point and the third key point; In the case where an abnormal track segment exists in the target driving track, the abnormal track segment is deleted to obtain a first driving track, and the first driving track is added to the first map.
7. A map updating device, characterized in that: include: A first determination module is used to determine target information of the target path based on the path information of the target path collected when the target vehicle last drove through the target path and the target driving trajectory of the target vehicle last driven in the target path, wherein the path information includes target road condition information, and the target information includes a first key point, and the first key point includes: a trajectory point included in the target driving trajectory, which enters from a road section with a solid lane line to a road section with a dashed lane line, and a trajectory point which enters from a road section with a dashed lane line to a road section with a solid lane line; A first mapping module, used for mapping the first key point in a first map to be updated; A first adding module, configured to add a first lane line in the first map according to the first key point and the target road condition information when the distance between the first key point and an adjacent second key point is greater than a first threshold, wherein the second key point is a point used to determine a virtual or real change of the lane line in the first map; The first retention module is used to retain the key point of the first key point and the adjacent second key point that first enters the section of the lane line as a solid line, or the key point of the section of the lane line as a solid line later, when the distance between the first key point and the adjacent second key point is less than a second threshold, and adjust the lane line in the first map when the retained key point is the first key point.
8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program implements the steps of the method described in any one of claims 1 to 6 when executed by a processor.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method described in any one of claims 1 to 6 are implemented.
10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.