Map management method and device, computer equipment, storage medium and program product

Abstract

The invention relates to a map management method and device, computer equipment, a storage medium and a program product. The method comprises the following steps: acquiring target map data to be synchronized to a target vehicle in a cloud platform and a vehicle state of the target vehicle; under the condition that the vehicle state meets the map upgrading condition, target map data are issued to the target vehicle; and determining a target map data synchronization condition between the cloud platform and the target vehicle according to a map upgrading state fed back by the target vehicle. According to the scheme, before the target map data is synchronized, the vehicle state of the target vehicle is firstly obtained, and the target map data is sent to the target vehicle under the condition that the vehicle state meets the map upgrading condition, so that the target map data can be prevented from being issued when the vehicle state of the target vehicle does not meet the map upgrading condition; therefore, the map synchronization between the cloud platform and the vehicle end is promoted, and the automatic driving safety and stability of the vehicle are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a map management method, device, computer equipment, storage medium and program product. Background Art

[0002] Map data is an important part of the vehicle's autonomous driving system, and the accuracy of map data directly affects the safety and stability of autonomous vehicles. Maps are always updated, and synchronization of updated maps between the cloud platform and the vehicle is a prerequisite for achieving the safety and stability of vehicle autonomous driving.

[0003] In traditional technology, the update of the map is usually determined by comparing the map versions of the cloud platform and the vehicle. This method can only evaluate whether the updated map is synchronized between the cloud platform and the vehicle, but cannot promote the synchronization of the updated map between the cloud platform and the vehicle. As a result, there is a problem of map asynchrony between the cloud platform and the vehicle, resulting in low safety and stability of vehicle autonomous driving. Summary of the invention

[0004] Based on this, it is necessary to provide a map management method, device, computer equipment, storage medium and program product to address the above-mentioned technical problems, which can promote map synchronization between the cloud platform and the vehicle side, thereby improving the safety and stability of vehicle autonomous driving.

[0005] In a first aspect, the present application provides a map management method, the method comprising:

[0006] Acquire target map data to be synchronized to the target vehicle in the cloud platform, and the vehicle status of the target vehicle;

[0007] When the vehicle state satisfies a map upgrade condition, sending the target map data to the target vehicle;

[0008] According to the map upgrade status fed back by the target vehicle, the synchronization status of the target map data between the cloud platform and the target vehicle is determined.

[0009] In one embodiment, obtaining target map data to be synchronized to a target vehicle in a cloud platform includes:

[0010] Obtain updated map data transmitted by the map maker to the cloud platform;

[0011] Performing validity check on the updated map data;

[0012] In a case where the update map data passes the validity check, the update map data is used as the target map data.

[0013] In one embodiment, performing validity check on the updated map data includes at least one of the following:

[0014] Verifying the readability of the updated map data;

[0015] Checking whether the version of each sub-map in the updated map data is the latest version;

[0016] Check whether the version identification of the updated map data and the version identification of each map data in the map sequence are unique and continuous; wherein the map sequence is determined according to the map coverage and application scope of the updated map data.

[0017] In one embodiment, determining the synchronization status of target map data between the cloud platform and the target vehicle according to the map upgrade status fed back by the target vehicle includes:

[0018] If the map upgrade status fed back by the target vehicle is that the upgrade is successful, it is determined that the synchronization of the target map data between the cloud platform and the target vehicle is completed;

[0019] If the map upgrade status fed back by the target vehicle is upgrade failure, it is determined that the synchronization of the target map data between the cloud platform and the target vehicle is not completed, and the execution returns to send the target map data to the target vehicle when the vehicle status meets the map upgrade conditions.

[0020] In one embodiment, after completing synchronization of target map data between the cloud platform and the target vehicle, the method further includes:

[0021] Get the autonomous driving task sent by the user;

[0022] Based on the autonomous driving task and the status and position of each target vehicle, determine a vehicle to perform the task and an autonomous driving route;

[0023] Sending the autonomous driving task and the autonomous driving route to a vehicle that performs the task, so that the vehicle that performs the task determines whether the target map data satisfies an execution condition for performing the autonomous driving task based on the autonomous driving task, the autonomous driving route and the target map data;

[0024] When it is determined that the execution conditions for executing the autonomous driving task are met, the vehicle performing the task is controlled to perform the autonomous driving task.

[0025] In one of the embodiments, the execution condition includes a first condition, a second condition, and a third condition, then it is determined that the target map data can cover the autonomous driving task;

[0026] The first condition is that the map version of the map required for the autonomous driving task is consistent with the map version of the target map data, and the coverage of the map required for the autonomous driving task is consistent with the coverage of the target map data;

[0027] The second condition is that the target map data includes roads and lanes to which each trajectory point in the autonomous driving route belongs, and the roads and lanes to which each trajectory point in the autonomous driving route belongs are interconnected;

[0028] The third condition is that the target map data includes each track point in the autonomous driving route, and the number of feature points within a preset range of each track point exceeds a preset number.

[0029] In a second aspect, the present application further provides a map management device, the device comprising:

[0030] An acquisition module, used to acquire target map data to be synchronized to a target vehicle in the cloud platform, and a vehicle status of the target vehicle;

[0031] A sending module, used for sending the target map data to the target vehicle when the vehicle status meets the map upgrade condition;

[0032] The determination module is used to determine the synchronization status of the target map data between the cloud platform and the target vehicle according to the map upgrade status fed back by the target vehicle.

[0033] In a third aspect, the present application further provides a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0034] Acquire target map data to be synchronized to the target vehicle in the cloud platform, and the vehicle status of the target vehicle;

[0035] When the vehicle state satisfies a map upgrade condition, sending the target map data to the target vehicle;

[0036] According to the map upgrade status fed back by the target vehicle, the synchronization status of the target map data between the cloud platform and the target vehicle is determined.

[0037] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0038] Acquire target map data to be synchronized to the target vehicle in the cloud platform, and the vehicle status of the target vehicle;

[0039] When the vehicle state satisfies a map upgrade condition, sending the target map data to the target vehicle;

[0040] According to the map upgrade status fed back by the target vehicle, the synchronization status of the target map data between the cloud platform and the target vehicle is determined.

[0041] In a fifth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, which implements the following steps when executed by a processor:

[0042] Acquire target map data to be synchronized to the target vehicle in the cloud platform, and the vehicle status of the target vehicle;

[0043] When the vehicle state satisfies a map upgrade condition, sending the target map data to the target vehicle;

[0044] According to the map upgrade status fed back by the target vehicle, the synchronization status of the target map data between the cloud platform and the target vehicle is determined.

[0045] The above-mentioned map management method, device, computer equipment, storage medium and program product obtain the target map data to be synchronized to the target vehicle in the cloud platform, as well as the vehicle status of the target vehicle; when the vehicle status meets the map upgrade conditions, the target map data is sent to the target vehicle; and according to the map upgrade status fed back by the target vehicle, the synchronization status of the target map data between the cloud platform and the target vehicle is determined. The above-mentioned scheme obtains the vehicle status of the target vehicle before synchronizing the target map data, and sends the target map data to the target vehicle when the vehicle status meets the map upgrade conditions. This can avoid sending the target map data when the vehicle status of the target vehicle does not meet the map upgrade conditions, resulting in the failure of the synchronization of the target map data, thereby promoting the map synchronization between the cloud platform and the vehicle end, and further improving the safety and stability of the vehicle's autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A diagram of an application environment of a map management method in an embodiment;

[0047] Figure 2 A flowchart of a map management method in one embodiment;

[0048] Figure 3 A schematic diagram of a process for obtaining target map data in one embodiment;

[0049] Figure 4 A schematic diagram of a process for verifying the availability of target map data in one embodiment;

[0050] Figure 5 is a flowchart of another map management method in one embodiment;

[0051] Figure 6 A schematic diagram of a flow chart of another map verification method in one embodiment;

[0052] Figure 7 is a structural block diagram of a map management device in one embodiment;

[0053] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] The map management method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the cloud platform is deployed in the cloud for the storage and management of map files, as well as the issuance and scheduling of autonomous driving tasks; the communication module is deployed on the target vehicle to realize the communication and information transmission between the target vehicle and the cloud platform, and the communication methods include but are not limited to the fourth generation mobile communication technology / fifth generation mobile communication technology 4G / 5G, Bluetooth, WIFI, and vehicle wireless communication technology (Vehicle to X, V2X); the intelligent driving domain controller is deployed on the target vehicle for map data reception, verification and application, as well as to realize other software functions of the target vehicle. The target vehicle can be an unmanned vehicle.

[0056] In one embodiment, Figure 2 As shown, a map management method is provided, which is applied to Figure 1 The cloud platform in is used as an example to illustrate the process, including the following steps:

[0057] S201, obtaining target map data to be synchronized to a target vehicle and a vehicle status of the target vehicle in the cloud platform.

[0058] For example, the map maker uploads updated map data to the cloud platform, and the cloud platform verifies the received updated map data, and after passing the verification, uses the updated map data as the target map data. The target map data may include a target map version identifier and a target map file, and the target map version identifier may be a map version number.

[0059] The target vehicle is a vehicle to which the target map data is applicable. Before sending the target map data to the target vehicle, the communication module can be used to interact with the target vehicle to obtain the vehicle status of the target vehicle; wherein the vehicle status can reflect whether the target vehicle is in a startup state, in a running state, and in a standby state, where the standby state is in a startup state and no task is executed.

[0060] S202: When the vehicle status satisfies the map upgrade condition, target map data is sent to the target vehicle.

[0061] For example, when the vehicle is in standby mode, it is considered that the vehicle status meets the map upgrade conditions; when the vehicle status meets the map upgrade conditions, it means that the target vehicle can synchronize the target map data, that is, update the map data, and the target map data can be sent to the target vehicle at this time.

[0062] If the target vehicle is in an unstarted state, a remote start command may be sent to the target vehicle to start the target vehicle, thereby making the vehicle state of the target vehicle meet the map upgrade conditions.

[0063] If the target vehicle is in a running state, it can be considered that the vehicle state meets the map upgrade conditions, and the target map data is sent to the target vehicle, and the map is upgraded after the target vehicle completes the task; or the vehicle state of the target vehicle is considered to meet the map upgrade conditions only after the target vehicle completes the task, and the target map data is then sent to the target vehicle.

[0064] If the cloud platform cannot communicate with the target vehicle, or the target vehicle is in an abnormal state, it is considered that the target vehicle does not meet the map upgrade conditions. The target map data can be sent to the target vehicle after normal communication or the vehicle is in a normal state.

[0065] S203, determining the synchronization status of the target map data between the cloud platform and the target vehicle according to the map upgrade status fed back by the target vehicle.

[0066] For example, after receiving the target map data, the target vehicle can first use the intelligent driving domain controller to check the map version of the existing map. If the map version of the existing map in the target vehicle is consistent with the map version of the target map, there is no need to synchronize the target map data; if the map versions are inconsistent, and the map version of the existing map in the target vehicle is earlier than the map version of the target map data, then the target map data needs to be synchronized.

[0067] Before synchronizing map data, the target vehicle needs to verify the identity of the cloud platform. For example, when the cloud platform transmits the target map data, it will encrypt the target map data and attach a secret key. After receiving the target map data and the secret key, the target vehicle will verify the secret key. Only when the verification is passed and the secret key is confirmed to be consistent, the cloud platform is considered reliable and the target map data will be synchronized.

[0068] During the synchronization of target map data, if the target vehicle is in standby status, the target map data in the intelligent driving domain controller can be upgraded immediately, and the relevant map software modules can be restarted after the upgrade; if the target vehicle is in running status, the synchronization of target map data will be temporarily shelved. After the target vehicle completes the task, the target map data in the intelligent driving domain controller will be upgraded and the map software will be restarted.

[0069] After the target map data in the intelligent driving domain controller is upgraded and the map software is restarted, the current map version and the updated map version are checked to see if they are consistent. After confirmation, the communication module is used to feedback to the cloud platform that the map upgrade is successful; otherwise, the map upgrade failure is reported and a re-upgrade is requested. That is, the cloud platform can determine the synchronization of the target map data between the cloud platform and the target vehicle based on the map upgrade status reported by the target vehicle. If it is determined that the target map data between the cloud platform and the target vehicle is not synchronized, the target map data will be re-sent to the target vehicle; if the upgrade fails twice in a row, a manual takeover can be requested.

[0070] The above-mentioned map management method obtains the target map data to be synchronized to the target vehicle in the cloud platform, as well as the vehicle status of the target vehicle; when the vehicle status meets the map upgrade conditions, the target map data is sent to the target vehicle; and according to the map upgrade status fed back by the target vehicle, the synchronization status of the target map data between the cloud platform and the target vehicle is determined. The above-mentioned scheme obtains the vehicle status of the target vehicle before synchronizing the target map data, and sends the target map data to the target vehicle when the vehicle status meets the map upgrade conditions. This can avoid sending the target map data when the vehicle status of the target vehicle does not meet the map upgrade conditions, resulting in the failure of the synchronization of the target map data, thereby promoting the map synchronization between the cloud platform and the vehicle side, and further improving the safety and stability of the vehicle's autonomous driving.

[0071] In some optional implementations, see Figure 3 , Figure 3 A schematic diagram of a process for obtaining target map data is provided, which specifically includes the following steps:

[0072] S301, obtaining updated map data transmitted from the map production direction to the cloud platform.

[0073] For example, after updating the map, the map maker will upload the updated map data to the cloud platform. The cloud platform receives the updated map data uploaded by the map maker.

[0074] S302: Perform validity check on the updated map data.

[0075] Furthermore, the cloud platform can perform validity verification on the updated map data to verify whether the updated map data format is correct, whether the map version is the latest, whether the map version number is continuous, etc.

[0076] 303 : When the updated map data passes the validity check, the updated map data is used as the target map data.

[0077] Furthermore, if the updated map data format is correct, the map version is the latest, and the map version number is continuous, the updated map data is considered to have passed the validity check. If the updated map data has passed the validity check, the updated map data can be used as target map data to be sent to the target vehicle so that the target vehicle can synchronize the target map data.

[0078] In an embodiment of the present application, before the map data is sent to the target vehicle, the updated map data needs to be verified for validity. Only the updated map data that passes the validity verification will be sent to the target vehicle to avoid errors in the map data sent to the target vehicle, which will cause the map data obtained by the target vehicle to be unreliable, thereby affecting the safety and stability of autonomous driving.

[0079] Furthermore, the validity check of the updated map data mentioned in the above embodiment may specifically check at least one of the following items:

[0080] The readability of the updated map data is checked. The readability check can be understood as checking whether the data format of the updated map data is correct, so that the updated map data can be read and identified.

[0081] Check whether the version of each sub-map in the updated map data is the latest version. The updated map data may include multiple sub-maps, for example, sub-maps can be high-precision maps, point cloud maps, semantic maps and topological maps, etc. These sub-maps will be packaged into an updated map data package. The version of each sub-map in this updated map data package must be the latest version, so that the sub-maps in the updated map data package can be better matched.

[0082] Verify whether the version identifier of the updated map data is unique and continuous with the version identifiers of each map data in the map sequence; wherein the map sequence is determined according to the map coverage and applicable scope of the updated map data. For example, first, based on the map coverage and applicable scope of the updated map data, find a map sequence in the cloud platform that has the same map coverage and applicable scope as the updated map data, wherein the applicable scope may include applicable items and application vehicle models of the updated map data.

[0083] Furthermore, it is possible to determine whether the version identifier of the updated map data is repeated with the version identifiers of each map data in the map sequence. If not, the version identifier of the updated map data is considered to be unique; and to determine whether the version identifier of the updated map data is continuous with the version identifiers of each map data in the map sequence. If so, the map identifier of the updated map data is considered to be valid.

[0084] In an embodiment of the present application, an achievable method for validating updated map data is provided. Only updated map data that passes the validity verification will be sent to the target vehicle, thereby avoiding errors in the map data sent to the target vehicle, causing the map data obtained by the target vehicle to be unreliable, and thus affecting the safety and stability of autonomous driving.

[0085] In some optional implementations, S203 in the above embodiment may be specifically implemented in the following manner:

[0086] If the map upgrade status fed back by the target vehicle is that the upgrade is successful, a message of successful upgrade can be fed back to the cloud platform, and the cloud platform determines that the synchronization of the target map data between the cloud platform and the target vehicle is completed.

[0087] If the map upgrade status fed back by the target vehicle is that the upgrade has failed, it is determined that the synchronization of the target map data between the cloud platform and the target vehicle has not been completed, and the target map data can be sent to the target vehicle when the vehicle status meets the map upgrade conditions. For example, if the current version of the map and the updated version of the map are inconsistent after the target map data in the intelligent driving domain controller is upgraded and the map software is restarted, the upgrade is considered to have failed. In this case, a message of the failed upgrade can be fed back to the cloud platform, and the cloud platform can re-acquire the status of the target vehicle, and when the vehicle status meets the map upgrade conditions, re-send the target map data to the target vehicle, so that the target vehicle can perform the upgrade operation of the target map data again.

[0088] In the embodiment of the present application, when the synchronization of the target map data with the target vehicle fails, the target map data synchronization process can be repeated again to improve the success rate of the synchronization of the target map data with the target vehicle.

[0089] In some optional implementations, see Figure 4 , Figure 4 A flowchart for verifying the availability of target map data is provided. After the target map data synchronization between the cloud platform and the target vehicle is completed, it can be verified that the target map data can correctly perform the autonomous driving task. Specifically, the following steps are included:

[0090] S401, obtaining the autonomous driving task sent by the user.

[0091] For example, when the user has an autonomous driving task, such as the need to control an unmanned vehicle to transport items, the user uploads the autonomous driving task to the cloud platform, where the autonomous driving task may include a starting point and an end point, as well as the expected time to arrive at the starting point, the end point or a waypoint. The cloud platform receives the autonomous driving tasks uploaded by the user.

[0092] S402, based on the autonomous driving task and the status and position of each target vehicle, determine the vehicle to perform the task and the autonomous driving route.

[0093] Furthermore, there can be multiple target vehicles, and thus, the vehicle to perform the task and the autonomous driving route can be determined based on the autonomous driving task and the status and position of each target vehicle. For example, based on the starting point and end point in the autonomous driving task and the status and position of each target vehicle, a target vehicle that is close to the starting point and is idle can be selected as the vehicle to perform the task; and based on the waypoints in the autonomous driving task, the autonomous driving route can be planned to make the autonomous driving route shorter or smoother.

[0094] S403: Send the autonomous driving task and the autonomous driving route to the vehicle that performs the task, so that the vehicle that performs the task determines whether the target map data can cover the autonomous driving task based on the autonomous driving task, the autonomous driving route and the target map data.

[0095] Furthermore, the autonomous driving task and the autonomous driving route can be sent to the vehicle performing the task, so that the vehicle performing the task can determine whether the target map data can cover the autonomous driving task based on the autonomous driving task, the autonomous driving route and the target map data. For example, the vehicle performing the task can determine whether the target map data includes the autonomous driving route and the track points in the autonomous driving task, and whether the autonomous driving route is unobstructed; if the target map data includes the autonomous driving route and the track points in the autonomous driving task, and the autonomous driving route is unobstructed, it is determined that the target map data can cover the autonomous driving task.

[0096] S404: When it is determined that the target map data meets the execution conditions for executing the autonomous driving task, control the vehicle executing the task to execute the autonomous driving task.

[0097] For example, when it is determined that the target map data meets the execution conditions for performing the autonomous driving task, that is, when the target map data can cover the autonomous driving task, it is considered that the vehicle performing the task can successfully reach each trajectory point in the autonomous driving route. The vehicle performing the task will feedback to the cloud platform that the vehicle performing the task meets the execution conditions, thereby controlling the vehicle performing the task to perform the autonomous driving task.

[0098] In an embodiment of the present application, the autonomous driving task and the autonomous driving route are issued to the vehicle performing the task to determine whether the target map data can cover the autonomous driving task, thereby determining the availability and integrity of the target map data, and improving the reliability of the synchronization of the target map data.

[0099] In some optional implementations, the execution conditions in the above embodiments may specifically include a first condition, a second condition, and a third condition; wherein the first condition is that the map version of the map required for the autonomous driving task is consistent with the map version of the target map data, and the coverage of the map required for the autonomous driving task is consistent with the coverage of the target map data. That is, the first condition is used to verify whether the map version and coverage of the target map data meet the requirements.

[0100] The second condition is that the target map data includes the roads and lanes to which each trajectory point in the autonomous driving route belongs, and the roads and lanes to which each trajectory point in the autonomous driving route belongs are interconnected. That is, the second condition is used to verify whether the topological map in the target map data includes the road corresponding to each trajectory point, and whether the high-precision map in the target map data includes the lane corresponding to each trajectory point; and it is used to verify whether the topological relationship between the road and lane corresponding to each trajectory point is interconnected to ensure that the vehicle can pass.

[0101] The third condition is that the target map data includes each track point in the autonomous driving route, and the feature points within the preset range of each track point exceed the preset number. That is, the third condition is used to verify whether the point cloud map or visual feature map in the target map data includes each track point, and find all point cloud feature points or visual feature points within the preset range of the track point in the point cloud map or visual feature map, ensuring that the number of feature points around each track point exceeds the preset number (such as more than 10 points), and the distribution range of the point cloud feature points or visual feature points exceeds a certain range (such as more than 120°). To ensure that the vehicle can be effectively positioned on the autonomous driving route.

[0102] In an embodiment of the present application, a feasible method for determining whether the target map data can cover the autonomous driving task is provided to determine the availability and integrity of the target map data, thereby improving the reliability of synchronization of the target map data.

[0103] In some optional implementations, see Figure 5 , Figure 5 A flowchart of another map management method is provided, which specifically includes the following steps:

[0104] Step 1: The cloud platform receives the updated map data uploaded by the map maker. First, check the readability of the updated map data and the consistency of each sub-map in the updated map data; then find the corresponding map sequence according to the map coverage, applicable projects and application models, and check the uniqueness and continuity of the map file version number and the updated map data version number in the sequence. After checking, the updated map data is archived.

[0105] Step 2: After the updated map data is stored in the database, the updated map data will be used as the target map data. The cloud platform retrieves the serial numbers of all unmanned vehicles that apply the map sequence and obtains the vehicle status of these target vehicles; it determines whether the target vehicle meets the map upgrade conditions based on the vehicle status of the target vehicle, for example, it is considered that the target vehicle in the running state or the standby state meets the map upgrade conditions. Then, a map update request and map version information are issued to the target vehicle in the running state or the standby state. If it is not in the running state or the standby state, the target vehicle enters the waiting sequence, and the map update request and map version information are issued after the target vehicle is in the running state or the standby state.

[0106] Sub-step 1: If the target vehicle is not started, a remote start command is sent to the communication module of the target vehicle through the cloud platform, the target vehicle is started and a map update request and map version information are issued after confirming successful communication.

[0107] Sub-step 2: If the target vehicle cannot communicate or is in an abnormal state, the map update request and map version information are put on hold and will be sent after the abnormality is cleared.

[0108] Sub-step three: if the target vehicle is in a running state or a standby state, a map update request and map version information are issued to the target vehicle, and communication is established with the target vehicle.

[0109] Step 3: After establishing communication with the target vehicle, the intelligent driving domain controller in the target vehicle receives the map update request and map version information, and checks the map version on the intelligent driving domain controller to confirm whether they are consistent. If the versions are consistent, feedback is given that the target vehicle does not need to be upgraded and the current map version information of the target vehicle; if the versions are inconsistent, check whether the current version is earlier than the version to be updated. If so, feedback is given that the target vehicle has the upgrade conditions and the current map version information; otherwise, feedback is given that the target vehicle is abnormal and the current map version information.

[0110] Step 4: The cloud platform receives the map update status signal and map version information of the target vehicle, and feeds back the abnormal status to the maintenance personnel for confirmation and processing. For target vehicles that meet the upgrade conditions, the map file is transmitted.

[0111] Step 5: The vehicle communication module receives the map file transmitted by the cloud platform, and after confirming that the secret key is consistent, it transfers it to the intelligent driving domain controller.

[0112] Step 6. After receiving the map file, the intelligent driving domain controller checks the current operating status of the target vehicle. If the vehicle is in standby status, the map file in the intelligent driving domain controller is immediately upgraded, and the relevant map software is restarted after the upgrade. If the vehicle is in operation, the map upgrade is temporarily shelved. After the current vehicle completes the task, the map file in the intelligent driving domain controller is upgraded and the map software is restarted.

[0113] Step 7. After the map upgrade in the intelligent driving domain controller is completed and restarted, check the current map version and the map upgrade file version. After confirming that they are consistent, feedback is sent to the cloud platform through the communication module to inform that the map upgrade is successful and the map upgrade is completed; otherwise, report the map upgrade failure and request a re-upgrade. If the upgrade fails twice in a row, request manual takeover.

[0114] In some optional implementations, see Figure 6 , Figure 6 A flowchart of another map verification method is provided, which specifically includes the following steps:

[0115] Step 1: The cloud platform receives the autonomous driving task instruction issued by the user, selects the appropriate vehicle according to the task rules, and confirms the vehicle's operating status, fault status and vehicle location. It then calculates the appropriate autonomous driving route based on the vehicle's location and the autonomous driving task, and sends it to the vehicle that performs the task.

[0116] Step 2: After the vehicle performing the task receives the autonomous driving task through the communication module, the map in the vehicle performing the task is checked again according to the autonomous driving task and the autonomous driving route to confirm whether the map can realize the autonomous driving task. The specific inspection steps are as follows:

[0117] Sub-step 1: Compare the map version and area range required for the autonomous driving task with the versions and ranges of various map files in the vehicle performing the task to check whether the map version in the vehicle is correct.

[0118] Sub-step 2: Based on the trajectory points in the autonomous driving route, find the roads corresponding to each trajectory point in the topological map one by one, find the lanes corresponding to each trajectory point in the high-precision map one by one, and confirm that each trajectory point can find the corresponding road and lane.

[0119] Sub-step three: According to the roads and lanes corresponding to the trajectory points in the autonomous driving route, check the topological connection relationship between these roads or lanes in the topological map and the high-precision map respectively to ensure that the topological relationship between each trajectory point is interconnected and the vehicle can pass.

[0120] Sub-step 4: Find the corresponding position in the point cloud map or visual feature map according to the track point in the autonomous driving route, and find all point cloud feature points or visual feature points within the preset range of the track point in the point cloud map or visual feature map, and ensure that the number of feature points around each track point exceeds the preset number and the distribution range exceeds a certain range. The above checks ensure that the vehicle can be effectively positioned on the autonomous driving route.

[0121] Step 3: After the intelligent driving domain controller completes the map check, if it determines that the map can realize the autonomous driving task, it will feedback to the cloud platform through the communication module that the vehicle is qualified to perform the task, and execute the task after the cloud platform confirms it. Otherwise, it will feedback to the cloud platform that the map on the vehicle does not meet the conditions for performing the task, and apply for map update or manual takeover.

[0122] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0123] Based on the same inventive concept, the embodiment of the present application also provides a map management device for implementing the map management method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more map management device embodiments provided below can refer to the limitations on the map management method above, and will not be repeated here.

[0124] In one embodiment, Figure 7 As shown, a map management device is provided, comprising:

[0125] The acquisition module 10 is used to acquire the target map data to be synchronized to the target vehicle in the cloud platform, and the vehicle status of the target vehicle;

[0126] The sending module 20 is used to send the target map data to the target vehicle when the vehicle status meets the map upgrade condition;

[0127] The determination module 30 is used to determine the synchronization status of the target map data between the cloud platform and the target vehicle according to the map upgrade status fed back by the target vehicle.

[0128] The above-mentioned map management device obtains the target map data to be synchronized to the target vehicle in the cloud platform, as well as the vehicle status of the target vehicle; when the vehicle status meets the map upgrade conditions, the target map data is sent to the target vehicle; and according to the map upgrade status fed back by the target vehicle, the synchronization status of the target map data between the cloud platform and the target vehicle is determined. The above-mentioned scheme obtains the vehicle status of the target vehicle before synchronizing the target map data, and sends the target map data to the target vehicle when the vehicle status meets the map upgrade conditions. This can avoid sending the target map data when the vehicle status of the target vehicle does not meet the map upgrade conditions, resulting in the failure of the synchronization of the target map data, thereby promoting the map synchronization between the cloud platform and the vehicle end, and further improving the safety and stability of the vehicle's autonomous driving.

[0129] In one embodiment, the acquisition module 10 specifically includes:

[0130] An acquisition unit, used for acquiring updated map data transmitted from the map production direction to the cloud platform;

[0131] A verification unit, used to verify the validity of updated map data;

[0132] The determination unit is used to use the updated map data as the target map data when the updated map data passes the validity check.

[0133] In one embodiment, the verification unit is specifically configured to perform at least one of the following:

[0134] Verify the readability of updated map data;

[0135] Check whether the version of each sub-map in the updated map data is the latest version;

[0136] Check whether the version identification of the updated map data and the version identification of each map data in the map sequence are unique and continuous; wherein the map sequence is determined according to the map coverage and application scope of the updated map data.

[0137] In one embodiment, the determination module 30 is specifically configured to:

[0138] If the map upgrade status fed back by the target vehicle is that the upgrade is successful, it is determined that the synchronization of the target map data between the cloud platform and the target vehicle is completed; if the map upgrade status fed back by the target vehicle is that the upgrade fails, it is determined that the synchronization of the target map data between the cloud platform and the target vehicle is not completed, and the execution is returned to send the target map data to the target vehicle when the vehicle status meets the map upgrade conditions.

[0139] In one embodiment, the device further includes a verification module, and after completing the synchronization of the target map data between the cloud platform and the target vehicle, the verification module is used to:

[0140] Obtain the autonomous driving task sent by the user; determine the vehicle to perform the task and the autonomous driving route based on the autonomous driving task and the status and position of each target vehicle; send the autonomous driving task and the autonomous driving route to the vehicle to perform the task, so that the vehicle to perform the task can determine whether the target map data meets the execution conditions for performing the autonomous driving task based on the autonomous driving task, the autonomous driving route and the target map data; if it is determined that the target map data meets the execution conditions for performing the autonomous driving task, control the vehicle to perform the task to perform the autonomous driving task.

[0141] In one embodiment, the execution conditions include a first condition, a second condition and a third condition; wherein the first condition is that the map version of the map required for the autonomous driving task is consistent with the map version of the target map data, and the coverage range of the map required for the autonomous driving task is consistent with the coverage range of the target map data; the second condition is that the target map data includes the roads and lanes to which each trajectory point in the autonomous driving route belongs, and the roads and lanes to which each trajectory point in the autonomous driving route belongs are interconnected; the third condition is that the target map data includes each trajectory point in the autonomous driving route, and the number of feature points within a preset range of each trajectory point exceeds a preset number.

[0142] Each module in the above-mentioned map management device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0143] In one embodiment, a computer device is provided, which deploys a cloud platform, and its internal structure diagram can be as follows: Figure 8As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store map data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a map management method is implemented.

[0144] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0145] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0146] Obtaining the target map data to be synchronized to the target vehicle in the cloud platform and the vehicle status of the target vehicle;

[0147] When the vehicle status meets the map upgrade conditions, the target map data is sent to the target vehicle;

[0148] According to the map upgrade status fed back by the target vehicle, the synchronization status of the target map data between the cloud platform and the target vehicle is determined.

[0149] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0150] Acquire updated map data transmitted from the map production direction to the cloud platform; perform validity check on the updated map data; and when the updated map data passes the validity check, use the updated map data as target map data.

[0151] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0152] Verify the readability of the updated map data; check whether the version of each sub-map in the updated map data is the latest version; check whether the version identifier of the updated map data and the version identifier of each map data in the map sequence are unique and continuous; wherein the map sequence is determined based on the map coverage and applicable scope of the updated map data.

[0153] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0154] If the map upgrade status fed back by the target vehicle is that the upgrade is successful, it is determined that the synchronization of the target map data between the cloud platform and the target vehicle is completed; if the map upgrade status fed back by the target vehicle is that the upgrade fails, it is determined that the synchronization of the target map data between the cloud platform and the target vehicle is not completed, and the execution is returned to send the target map data to the target vehicle when the vehicle status meets the map upgrade conditions.

[0155] In one embodiment, after the target map data synchronization between the cloud platform and the target vehicle is completed, the processor further implements the following steps when executing the computer program:

[0156] Obtain the autonomous driving task sent by the user; determine the vehicle to perform the task and the autonomous driving route based on the autonomous driving task and the status and position of each target vehicle; send the autonomous driving task and the autonomous driving route to the vehicle to perform the task, so that the vehicle to perform the task can determine whether the target map data meets the execution conditions for performing the autonomous driving task based on the autonomous driving task, the autonomous driving route and the target map data; if it is determined that the target map data meets the execution conditions for performing the autonomous driving task, control the vehicle to perform the task to perform the autonomous driving task.

[0157] In one embodiment, the execution conditions include a first condition, a second condition and a third condition; wherein the first condition is that the map version of the map required for the autonomous driving task is consistent with the map version of the target map data, and the coverage range of the map required for the autonomous driving task is consistent with the coverage range of the target map data; the second condition is that the target map data includes the roads and lanes to which each trajectory point in the autonomous driving route belongs, and the roads and lanes to which each trajectory point in the autonomous driving route belongs are interconnected; the third condition is that the target map data includes each trajectory point in the autonomous driving route, and the number of feature points within a preset range of each trajectory point exceeds a preset number.

[0158] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0159] Obtaining the target map data to be synchronized to the target vehicle in the cloud platform and the vehicle status of the target vehicle;

[0160] When the vehicle status meets the map upgrade conditions, the target map data is sent to the target vehicle;

[0161] According to the map upgrade status fed back by the target vehicle, the synchronization status of the target map data between the cloud platform and the target vehicle is determined.

[0162] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0163] Acquire updated map data transmitted from the map production direction to the cloud platform; perform validity check on the updated map data; and when the updated map data passes the validity check, use the updated map data as target map data.

[0164] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0165] Verify the readability of the updated map data; check whether the version of each sub-map in the updated map data is the latest version; check whether the version identifier of the updated map data and the version identifier of each map data in the map sequence are unique and continuous; wherein the map sequence is determined based on the map coverage and applicable scope of the updated map data.

[0166] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0167] If the map upgrade status fed back by the target vehicle is that the upgrade is successful, it is determined that the synchronization of the target map data between the cloud platform and the target vehicle is completed; if the map upgrade status fed back by the target vehicle is that the upgrade fails, it is determined that the synchronization of the target map data between the cloud platform and the target vehicle is not completed, and the execution is returned to send the target map data to the target vehicle when the vehicle status meets the map upgrade conditions.

[0168] In one embodiment, after the target map data synchronization between the cloud platform and the target vehicle is completed, the computer program further implements the following steps when executed by the processor:

[0169] Obtain the autonomous driving task sent by the user; determine the vehicle to perform the task and the autonomous driving route based on the autonomous driving task and the status and position of each target vehicle; send the autonomous driving task and the autonomous driving route to the vehicle to perform the task, so that the vehicle to perform the task can determine whether the target map data meets the execution conditions for performing the autonomous driving task based on the autonomous driving task, the autonomous driving route and the target map data; if it is determined that the target map data meets the execution conditions for performing the autonomous driving task, control the vehicle to perform the task to perform the autonomous driving task.

[0170] In one embodiment, the execution conditions include a first condition, a second condition and a third condition; wherein the first condition is that the map version of the map required for the autonomous driving task is consistent with the map version of the target map data, and the coverage range of the map required for the autonomous driving task is consistent with the coverage range of the target map data; the second condition is that the target map data includes the roads and lanes to which each trajectory point in the autonomous driving route belongs, and the roads and lanes to which each trajectory point in the autonomous driving route belongs are interconnected; the third condition is that the target map data includes each trajectory point in the autonomous driving route, and the number of feature points within a preset range of each trajectory point exceeds a preset number.

[0171] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0172] Obtaining the target map data to be synchronized to the target vehicle in the cloud platform and the vehicle status of the target vehicle;

[0173] When the vehicle status meets the map upgrade conditions, the target map data is sent to the target vehicle;

[0174] According to the map upgrade status fed back by the target vehicle, the synchronization status of the target map data between the cloud platform and the target vehicle is determined.

[0175] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0176] Acquire updated map data transmitted from the map production direction to the cloud platform; perform validity check on the updated map data; and when the updated map data passes the validity check, use the updated map data as target map data.

[0177] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0178] Verify the readability of the updated map data; check whether the version of each sub-map in the updated map data is the latest version; check whether the version identifier of the updated map data and the version identifier of each map data in the map sequence are unique and continuous; wherein the map sequence is determined based on the map coverage and applicable scope of the updated map data.

[0179] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0180] If the map upgrade status fed back by the target vehicle is that the upgrade is successful, it is determined that the synchronization of the target map data between the cloud platform and the target vehicle is completed; if the map upgrade status fed back by the target vehicle is that the upgrade fails, it is determined that the synchronization of the target map data between the cloud platform and the target vehicle is not completed, and the execution is returned to send the target map data to the target vehicle when the vehicle status meets the map upgrade conditions.

[0181] In one embodiment, after the target map data synchronization between the cloud platform and the target vehicle is completed, the computer program further implements the following steps when executed by the processor:

[0182] Obtain the autonomous driving task sent by the user; determine the vehicle to perform the task and the autonomous driving route based on the autonomous driving task and the status and position of each target vehicle; send the autonomous driving task and the autonomous driving route to the vehicle to perform the task, so that the vehicle to perform the task can determine whether the target map data meets the execution conditions for performing the autonomous driving task based on the autonomous driving task, the autonomous driving route and the target map data; if it is determined that the target map data meets the execution conditions for performing the autonomous driving task, control the vehicle to perform the task to perform the autonomous driving task.

[0183] In one embodiment, the execution conditions include a first condition, a second condition and a third condition; wherein the first condition is that the map version of the map required for the autonomous driving task is consistent with the map version of the target map data, and the coverage range of the map required for the autonomous driving task is consistent with the coverage range of the target map data; the second condition is that the target map data includes the roads and lanes to which each trajectory point in the autonomous driving route belongs, and the roads and lanes to which each trajectory point in the autonomous driving route belongs are interconnected; the third condition is that the target map data includes each trajectory point in the autonomous driving route, and the number of feature points within a preset range of each trajectory point exceeds a preset number.

[0184] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0185] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0186] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0187] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A map management method, characterized in that: The method comprises: Acquire target map data to be synchronized to the target vehicle in the cloud platform, and the vehicle status of the target vehicle; When the vehicle state satisfies a map upgrade condition, sending the target map data to the target vehicle; According to the map upgrade status fed back by the target vehicle, the synchronization status of the target map data between the cloud platform and the target vehicle is determined.

2. The method according to claim 1, characterized in that: Obtain the target map data to be synchronized to the target vehicle in the cloud platform, including: Obtain updated map data transmitted by the map maker to the cloud platform; Performing validity check on the updated map data; In a case where the update map data passes the validity check, the update map data is used as the target map data.

3. The method according to claim 2, characterized in that The validity check of the updated map data includes at least one of the following: Verifying the readability of the updated map data; Checking whether the version of each sub-map in the updated map data is the latest version; Check whether the version identification of the updated map data and the version identification of each map data in the map sequence are unique and continuous; wherein the map sequence is determined according to the map coverage and application scope of the updated map data.

4. The method according to claim 1, characterized in that: The determining, according to the map upgrade status fed back by the target vehicle, the synchronization status of the target map data between the cloud platform and the target vehicle comprises: If the map upgrade status fed back by the target vehicle is that the upgrade is successful, it is determined that the synchronization of the target map data between the cloud platform and the target vehicle is completed; If the map upgrade status fed back by the target vehicle is upgrade failure, it is determined that the synchronization of the target map data between the cloud platform and the target vehicle is not completed, and the execution returns to send the target map data to the target vehicle when the vehicle status meets the map upgrade conditions.

5. The method according to claim 1, characterized in that After completing synchronization of target map data between the cloud platform and the target vehicle, the method further includes: Get the autonomous driving task sent by the user; Based on the autonomous driving task and the status and position of each target vehicle, determine a vehicle to perform the task and an autonomous driving route; Sending the autonomous driving task and the autonomous driving route to a vehicle that performs the task, so that the vehicle that performs the task determines whether the target map data satisfies an execution condition for performing the autonomous driving task based on the autonomous driving task, the autonomous driving route and the target map data; When it is determined that the target map data meets the execution conditions for executing the autonomous driving task, the vehicle executing the task is controlled to execute the autonomous driving task.

6. The method according to claim 5, characterized in that The execution conditions include a first condition, a second condition and a third condition; The first condition is that the map version of the map required for the autonomous driving task is consistent with the map version of the target map data, and the coverage of the map required for the autonomous driving task is consistent with the coverage of the target map data; The second condition is that the target map data includes roads and lanes to which each trajectory point in the autonomous driving route belongs, and the roads and lanes to which each trajectory point in the autonomous driving route belongs are interconnected; The third condition is that the target map data includes each track point in the autonomous driving route, and the number of feature points within a preset range of each track point exceeds a preset number.

7. A map management device, characterized in that: The device comprises: An acquisition module, used to acquire target map data to be synchronized to a target vehicle in the cloud platform, and a vehicle status of the target vehicle; A sending module, used for sending the target map data to the target vehicle when the vehicle status meets the map upgrade condition; The determination module is used to determine the synchronization status of the target map data between the cloud platform and the target vehicle according to the map upgrade status fed back by the target vehicle.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to 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 according to any one of claims 1 to 6 are implemented.

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