Map evaluation method, map display method, equipment and medium

Abstract

The invention relates to a map evaluation method, a map display method, equipment and a medium. The method comprises the steps that a first map fragment generated based on scene data of a first scene area and a second map fragment generated based on scene data of a second scene area are obtained, and the scene data of the first scene area are collected by a mobile device at first time; the scene data of the second scene area is collected by the mobile device at a second time, and the first scene area and the second scene area are partially overlapped; determining a target map element shared by the first map segment and the second map segment according to the first map segment and the second map segment; respectively determining a first position of the target map element in the first map segment and a second position of the target map element in the second map segment; and determining a consistency evaluation result of the first map segment and the second map segment according to the position deviation between the first position and the second position.

Description

Technical Field

[0001] The present disclosure relates to the field of computer processing technology, and more specifically, to a map evaluation method, a map display method, an electronic device, a chip, a vehicle, and a non-volatile computer-readable storage medium. Background Art

[0002] With the development of autonomous driving technology, high-precision maps play an important role. High-precision maps are composed of multiple map fragments. Poor local consistency between map fragments will affect the safe operation of autonomous driving vehicles. Therefore, it is necessary to provide a solution for evaluating local consistency of maps to guide the construction of high-precision maps. Summary of the invention

[0003] In view of this, the present disclosure proposes a new technical solution for a map evaluation method, which can quantitatively evaluate the local consistency of a map to guide the construction of a high-precision map.

[0004] According to a first aspect of an embodiment of the present disclosure, a map evaluation method is provided, comprising:

[0005] Acquire a first map segment generated based on scene data of a first scene area, and a second map segment generated based on scene data of a second scene area; wherein the scene data of the first scene area is collected by a movable device at a first time, and the scene data of the second scene area is collected by the movable device at a second time, and the first scene area partially overlaps with the second scene area;

[0006] Determining, according to the first map segment and the second map segment, a target map element common to the first map segment and the second map segment;

[0007] Determine a first position of the target map element in the first map segment and a second position of the target map element in the second map segment respectively; wherein the first position and the second position are positions determined based on the same map coordinate system;

[0008] A consistency evaluation result of the first map segment and the second map segment is determined according to a position deviation between the first position and the second position.

[0009] Optionally, the respectively determining a first position of the target map element in the first map segment and a second position of the target map element in the second map segment comprises:

[0010] Acquire a first position point set of the target map element in the first map segment and a second position point set of the target map element in the second map segment; wherein the first position point set and the second position point set correspond to the same sub-map element of the target map element;

[0011] using a position determined based on the first position point set as the first position;

[0012] A position determined based on the second position point set is used as the second position.

[0013] Optionally, acquiring a first location point set of the target map element in the first map segment and a second location point set of the target map element in the second map segment includes:

[0014] Acquire a third position point set of the target map element in the first map segment and a fourth position point set in the second map segment;

[0015] For each third position point in the third position point set, a neighbor search is performed in the fourth position point set, and if the search result of the neighbor search indicates that a neighbor position point corresponding to the third position point is found in the fourth position point set, the third position point is stored in the first position point set, and the neighbor position point is stored in the second position point set.

[0016] Optionally, determining a consistency evaluation result of the first map segment and the second map segment according to a position deviation between the first position and the second position includes:

[0017] Acquire the element type of the target map element; wherein the element type includes a linear element or a non-linear element;

[0018] Determining a position deviation between the first position and the second position based on a position deviation calculation strategy corresponding to the element type;

[0019] A consistency evaluation result of the first map segment and the second map segment is determined according to the position deviation.

[0020] Optionally, the determining the position deviation between the first position and the second position based on the position deviation calculation strategy corresponding to the element type includes:

[0021] Acquire a first position point set of the target map element in the first map segment and a second position point set of the target map element in the second map segment; wherein the first position point set and the second position point set correspond to the same sub-map element of the target map element;

[0022] In the case where the element type is the linear element, fitting is performed using a first target position point set to obtain a fitting curve; wherein the first target position point set is one of the first position point set and the second position point set;

[0023] Acquire a first distance from each position point in a second target position point set to the fitting curve; wherein the second target position point set is the other of the first position point set and the second position point set;

[0024] According to each of the first distances, a position deviation between the first position and the second position is determined.

[0025] Optionally, the determining the position deviation between the first position and the second position based on the position offset calculation strategy corresponding to the element type includes:

[0026] In the case where the element type is a non-linear element, obtaining a first center point of the target map element in the first map segment and a second center point of the target map element in the second map segment;

[0027] A second distance between the first center point and the second center point is used as a position deviation between the first position and the second position.

[0028] Optionally, there are multiple target map elements, and determining the consistency evaluation result of the first map segment and the second map segment according to the position deviation between the first position and the second position includes:

[0029] Acquire the element type of each target map element; wherein the element type includes a linear element or a non-linear element;

[0030] Determine an average position deviation and a maximum position deviation according to the position deviation corresponding to each target map element of the element type;

[0031] A consistency evaluation result of the first map segment and the second map segment is determined according to the average position deviation and the maximum position deviation.

[0032] According to a second aspect of an embodiment of the present disclosure, a map display method is provided, characterized by comprising:

[0033] Acquire multiple candidate maps obtained based on multiple candidate mapping strategies and consistency evaluation results of the candidate maps; wherein the candidate maps include a first map segment and a second map segment;

[0034] Determining a target mapping strategy from the plurality of candidate mapping strategies according to the plurality of consistency evaluation results;

[0035] Generate a target map according to the target mapping strategy;

[0036] Displaying the target map;

[0037] Among them, the consistency evaluation result is used to characterize the consistency of the first map segment and the second map segment determined according to the position deviation between the first position and the second position, the first position is the position of the target map element in the first map segment in the map coordinate system, the second position is the position of the target map element in the second map segment in the map coordinate system, the target map element is a map element shared by the first map segment and the second map segment determined according to the first map segment and the second map segment, the first map segment is generated based on scene data of a first scene area, the second map segment is generated based on scene data of a second scene area, the scene data of the first scene area is collected by a movable device at a first time, the scene data of the second scene area is collected by the movable device at a second time, and the first scene area partially overlaps with the second scene area.

[0038] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device, including a memory and a processor.

[0039] The memory is used to store computer instructions, and the processor is used to call the computer instructions from the memory to execute the method as described in any one of the first aspects.

[0040] According to a fourth aspect of an embodiment of the present disclosure, a chip is provided, including:

[0041] a storage unit for storing a computer program; and,

[0042] A processing unit, wherein the processing unit is configured to implement the method as described in any one of the first aspects when executing the computer program stored in the storage unit.

[0043] According to a fifth aspect of an embodiment of the present disclosure, a vehicle is provided, comprising a memory and a processor, wherein the memory is used to store computer instructions, and the processor is used to call the computer instructions from the memory to execute a method as described in any one of the first aspects.

[0044] According to a sixth aspect of an embodiment of the present disclosure, there is provided a non-volatile computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method as described in any one of the first aspects is implemented.

[0045] According to an embodiment of the present disclosure, a first position of a target map element in a first map fragment in a map coordinate system and a second position of the target map element in a second map fragment in the map coordinate system can be determined, and based on the position deviation between the first position and the second position, a quantitative evaluation result of the local consistency of the map can be obtained to guide the construction of a high-precision map.

[0046] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0048] Figure 1 The present invention is a schematic diagram of an intelligent network connection system to which the method provided by the embodiment of the present disclosure can be applied.

[0049] Figure 2 is based on Figure 1 The illustrated embodiment provides a schematic diagram of the structural composition of a vehicle.

[0050] Figure 3 It is a flowchart of a map evaluation method provided by an embodiment of the present disclosure.

[0051] Figure 4 It is a schematic diagram of a map segment provided by an embodiment of the present disclosure.

[0052] Figure 5 It is a flowchart of a map display method provided by an embodiment of the present disclosure.

[0053] Figure 6 It is a schematic diagram of the composition structure of an electronic device provided by an embodiment of the present disclosure.

[0054] Figure 7 It is a schematic diagram of the composition structure of another vehicle provided in an embodiment of the present disclosure.

[0055] Figure 8 It is a schematic diagram of the composition structure of a chip provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0056] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0057] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0058] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0059] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0060] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0061] It should be noted that the collection, storage, use, processing, transmission, provision, disclosure, deletion and other actions involved in this disclosure are all carried out in compliance with the relevant data protection laws and policies of the country or region where they are located, and with the full authorization of the corresponding data owner.

[0062] With the development of autonomous driving technology, high-precision maps play an important role in it. High-precision maps are composed of multiple map fragments. Since the position of the same map element in different map fragments may be misaligned and misaligned, the local consistency between map fragments is poor, which will affect the safe operation of the driving vehicle.

[0063] In the related art, there are some map construction methods that can construct maps with good local consistency. However, these solutions only obtain qualitative results of the local consistency of the map, rather than quantitative analysis results, and cannot be further used to guide the construction of high-precision maps. At present, the quantitative evaluation of the local consistency of the map mostly relies on manual inspection, which is inefficient and not accurate enough. Therefore, it is necessary to provide a solution for evaluating the local consistency of the map to guide the construction of high-precision maps.

[0064] Based on this, the embodiment of the present disclosure provides a map evaluation method, which can quantitatively evaluate the local consistency of the map to guide the construction of a high-precision map. In order to facilitate understanding of the method of the embodiment of the present disclosure, the application scenario of the embodiment of the present disclosure is first described.

[0065] Figure 1 1 is a schematic diagram of an intelligent network system 100 to which the method provided by the embodiment of the present disclosure can be applied. Figure 1 As shown, the intelligent network connection system 100 may include: a movable device 101, a server 102, and a user terminal 103.

[0066] In some examples, the movable device 101 is, for example, a vehicle with an autonomous driving function. Autonomous driving is also called unmanned driving or intelligent driving. A vehicle with an autonomous driving function can achieve driving tasks such as environmental perception, decision planning, and control execution. The level of autonomous driving can refer to the automotive intelligence classification standard formulated by the Society of Automotive Engineers (SAE). For example, L0 is manual driving, L1 is assisted driving, L2 is partial autonomous driving, L3 is conditional autonomous driving, L4 is highly autonomous driving, and L5 is fully autonomous driving. The above classification method of autonomous driving levels is only used as an example, and the disclosed embodiments do not limit the classification standards and levels of autonomous driving.

[0067] In some examples, the server 102 may be a single server or a distributed server cluster consisting of multiple servers, and its deployment method may include a local server or a cloud server. The server 102 may communicate with the mobile device 101 and / or the user terminal 103 based on a communication network to provide various services for the mobile device 101 and / or the user terminal 103. For example, the server may receive the perception data sent by the vehicle and provide the vehicle with services such as map fragments, data analysis, and decision planning. For another example, the server may receive query instructions or control instructions sent by the user terminal and provide corresponding services to the user.

[0068] In some examples, the user terminal 103 can be any form of electronic device that provides services to users, such as a personal computer, a laptop computer, a smart tablet, a smart phone, a smart wearable device, etc. The user can interact with the vehicle or server through the human-computer interaction terminal configured by the mobile device 101, or can interact with the vehicle or server through the user terminal 103. For example, query the status and / or parameters of the vehicle through the user terminal, or control the vehicle to perform set tasks and / or modify configuration parameters, etc. Among them, the user terminal runs an application based on the intelligent network system to achieve interaction with the vehicle or server. The application can be a local application, a web application, a mini-program, etc., which is not limited here.

[0069] In some examples, the above-mentioned application running on the user terminal can provide authentication or authorization services for the user. The user who is successfully authenticated and granted the corresponding authority can query and / or control the vehicle within the scope of the granted authority.

[0070] The mobile device 101, the server 102 and the user terminal 103 can communicate through the communication link provided by the communication network 104. The communication network 104 may include one or more networks of any type. For example, the communication network 104 may include the Internet, a local area network (LAN), a wide area network (WAN), a virtual private network (VPN), a public switched telephone network (PSTN), a satellite communication network, Wi-Fi, 2G, 3G, 4G, 5G, 6G, NB-IoT, eMTC, infrared, Bluetooth, NFC and other networks providing communication, or a combination of the above multiple networks. The communication networks between the mobile device 101 and the server 102, between the user terminal 103 and the server 102, and between the user terminal 103 and the mobile device 101 may be the same or different.

[0071] It should be noted that Figure 1 The structure of the intelligent network connection system 100 shown in is only illustrative. The intelligent network connection system in the embodiment of the present disclosure is not limited to the above structure, and may include more or fewer devices as needed, and may also combine or split the devices. For example, the intelligent network connection system may not include a user terminal and / or a server. For another example, the user terminal and the server may be deployed together.

[0072] Figure 2 is based on Figure 1 The embodiment shown is a schematic diagram of a mobile device 101. Figure 2 As shown, the mobile device 101 may include a perception component 1011, a computing platform 1012, an execution component 1013, etc. The perception component 1011, the computing platform 1012, and the execution component 1013 may be connected via a bus or other means.

[0073] In some examples, the perception component 1011 can be used to collect information about the vehicle itself or outside. The perception component 1011 can include at least one of a visual sensor unit, a radar, a positioning and navigation unit, an inertial measurement unit (IMU), or other sensing units, wherein the visual sensor unit can include one or more cameras, the radar can include at least one of a laser radar, a millimeter wave radar, an ultrasonic radar, or other radars, and the positioning and navigation unit can include at least one of a GPS system, a Beidou system, or other global positioning systems. The visual sensor unit can be used to collect visual images, and the radar can be used to collect point cloud data.

[0074] In some examples, the computing platform 1012 may include a device with computing capabilities, which is used to process the perception information collected by the perception component 1011 to obtain a local map consistency evaluation result, and send a corresponding control instruction to the execution component 1013, so that the execution component 1013 performs a corresponding action, thereby realizing the control of the movable device 101. For example, the computing platform 1012 can send the local map consistency evaluation result to the execution component 1013, so that the execution component 1013 displays the evaluation result, thereby guiding the construction of a high-precision map.

[0075] The computing platform 1012 may include at least one processor and at least one memory, and each processor may execute instructions stored in the memory alone or together to implement the method provided in the embodiment of the present disclosure. The processor in the embodiment of the present disclosure may include at least one of a central processing unit (CPU), a graphic processor (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), a microcontroller unit (MCU) or other processors. The memory may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a disk or an optical disk. In addition to storing instructions, the memory may also store data, such as scene data of a scene area, a map segment generated based on the scene data, map elements in a map segment, and data such as the location of map elements. The data stored in the memory may be acquired and used by the processor.

[0076] In some examples, the vehicle's computing platform can independently perform computing tasks or communicate with a server to complete computing tasks. For example, the vehicle's computing platform can cooperate with the server to complete corresponding computing tasks.

[0077] The computing platform 1012 may be arranged in the removable device 101, and part or all of the computing platform 1012 may also be arranged in the server corresponding to the vehicle. For example, some functions of the computing platform 1012 with higher real-time requirements are arranged in the vehicle, and other functions with lower real-time requirements are arranged in the server corresponding to the vehicle.

[0078] It should be noted that Figure 2 The structure of the mobile device 101 shown in the figure is only illustrative. The vehicle in the embodiment of the present disclosure is not limited to the above structure, and may include more or fewer components as needed, and the devices may be combined or split. For example, the vehicle may not include the above computing platform. For another example, the vehicle may also include a communication component, an interface component, a multimedia component, an input component, an output component, etc.

[0079] The following is an introduction to the map evaluation method provided by the embodiment of the present disclosure. Figure 3 As shown, the map evaluation method of the embodiment of the present disclosure may include steps S110 to S140.

[0080] Step S110, obtaining a first map segment generated based on scene data of a first scene area, and a second map segment generated based on scene data of a second scene area.

[0081] The scene area in this embodiment can be a spatial scene area or a plane area. The elements in the scene area include not only the road itself, but also the traffic facilities in the spatial scene area where the road is located.

[0082] The scene area in this embodiment is any road scene area required to build a global map. For example, the scene area can be an intersection area with many traffic elements such as physical lanes, turn waiting areas, traffic lights, and traffic signs. Physical lanes refer to lanes that actually exist on the road and are marked by physical means such as lane lines and road signs. A road can usually include multiple lanes, such as straight lanes, left turn lanes, and right turn lanes. The turn waiting area is an area marked with a white dotted line at the intersection, which is used at the intersection controlled by traffic lights for turning vehicles to enter the area in advance to wait for the turn signal when the straight green light is on. Traffic lights are a signal system for directing traffic. It controls traffic flow by changing the lights of three colors: red, yellow, and green. At the intersection, there are usually multiple traffic lights to cooperate to realize traffic control, and different traffic lights can correspond to different lanes. There are many types of traffic signs, such as road signs, construction signs, prohibition signs, etc., which are used to indicate road names, directions, etc., which are not limited here.

[0083] In this embodiment, the scene data of the first scene area is collected by the mobile device 101 at a first time, and the scene data of the second scene area is collected by the mobile device 101 at a second time. The first scene area and the second scene area partially overlap. It can be understood that the first map segment generated based on the scene data of the first scene area and the second map segment generated based on the scene data of the second scene area are two map segments constituting the global map.

[0084] The scene data of the scene area can be an image collected by the visual sensor unit in the movable device 101, or it can be point cloud data collected by a radar (such as a lidar) of a passing vehicle, or it can be a laser reflectivity base map obtained based on the point cloud data collected by the radar.

[0085] In this embodiment, the first time and the second time can be two adjacent sampling times or two spaced sampling times, as long as the first scene area collected at the first time and the second scene area collected at the second time have a partially overlapping scene area.

[0086] In this embodiment, the position of the movable device corresponding to the first time is different from the position of the movable device corresponding to the second time. In some examples, the first time and the second time when the movable device collects data can be determined according to the moving distance of the movable device. For example, the movable device performs data collection once every time it moves a set distance.

[0087] The map fragment in this embodiment is a map fragment obtained by mapping based on the scene data of the scene area. The map fragment can be obtained by applying any map construction method known to those skilled in the art, which is not limited here.

[0088] Step S120: determining a target map element common to the first map segment and the second map segment according to the first map segment and the second map segment.

[0089] The target map elements shared by the first map fragment and the second map fragment in this embodiment are map elements with the same identifier. The target map elements may include linear elements or non-linear elements. Linear elements are elements with a certain length but negligible area, such as lane lines, curbs, etc. In an example, linear elements may also be referred to as linear elements, such as curved curbs, etc. Non-linear elements may include point elements and surface elements. Surface elements are elements with a certain length and area, such as road sign-type elements, etc. Point elements are elements with negligible length and area, such as bus stops, etc.

[0090] In some examples, map elements may be identified on the first map segment to obtain all first map elements corresponding to the first map segment, and a unique identifier may be assigned to each first map element. Then, a tracking algorithm (e.g., a Kalman filter algorithm) may be used to track each first map element. If a second map element corresponding to the first map element is found in the second map segment, the second map element is assigned the same identifier as the first map element. The map elements with the same identifiers in the first map segment and the second map segment obtained according to the above method are used as target map elements.

[0091] It can be understood that when the target map element is a linear element such as a lane line or a curb, the real-world position corresponding to the target map element in the first map segment and the real-world position corresponding to the target map element in the second map segment may partially overlap. When the target map element is a non-linear element such as a road sign, the real-world position corresponding to the target map element in the first map segment completely overlaps with the real-world position corresponding to the target map element in the second map segment. In some examples, when the target map element is a linear element such as a lane line or a curb, the first position of the target map element in the first map segment in the map coordinate system and the second position of the target map element in the second map segment in the map coordinate system may partially overlap. When the target map element is a non-linear element such as a road sign, the first position of the target map element in the first map segment in the map coordinate system and the second position of the target map element in the second map segment in the map coordinate system completely overlap.

[0092] Step S130 : determining a first position of the target map element in the first map segment and a second position of the target map element in the second map segment respectively.

[0093] In this embodiment, the first position and the second position are positions determined based on the same map coordinate system. The map coordinate system may be a global map coordinate system. That is, the first position is the position of the target map element in the first map segment in the map coordinate system, and the second position is the position of the target map element in the second map segment in the map coordinate system.

[0094] The first position and the second position are the positions of the target map element at the same real-world position in the first map segment and the second map segment, respectively. When the target map element is a lane line or a roadside, the first position and the second position may be the positions of the same lane line or the same roadside in the first map segment and the second map segment, that is, the positions of the same sub-map element of the target map element in the first map segment and the second map segment. When the target map element is a road sign, the first position and the second position may be the positions of the same road sign in the first map segment and the second map segment.

[0095] In some examples, step S130 may include: obtaining a first location point set of the target map element in the first map segment and a second location point set in the second map segment; using the location determined based on the first location point set as the first location of the target map element in the first map segment; using the location determined based on the second location point set as the second location of the target map element in the second map segment. The first location point set and the second location point set correspond to the same sub-map element of the target map element. The first location point set is a set of location points corresponding to the first location, and the second location point set is a set of location points corresponding to the second location.

[0096] Step S140: determining a consistency evaluation result of the first map segment and the second map segment according to a position deviation between a first position of the target map element in the first map segment and a second position of the target map element in the second map segment.

[0097] In this embodiment, a position deviation calculation strategy may be formulated in advance, and the position deviation between the first position of the target map element in the first map segment and the second position in the second map segment is determined based on the position deviation calculation strategy, thereby determining the consistency evaluation result of the first map segment and the second map segment. In one example, position deviation calculation strategies corresponding to element types may be formulated in advance for different element types. For example, different position deviation calculation strategies are formulated for linear elements and nonlinear elements, respectively.

[0098] The consistency evaluation result of this embodiment can be used to characterize whether the position deviation of the same target map element in two map segments meets the preset deviation target. The preset deviation target is that the position deviation of the same target map element in two map segments is less than the preset deviation threshold. Furthermore, in some examples, the smaller the position deviation is, the better the visual continuity and clarity of the map spliced ​​based on the two map segments.

[0099] In some examples, when the consistency evaluation result indicates that the position deviation does not meet the preset deviation target, that is, the position deviation is greater than or equal to the preset deviation threshold, it can be determined that the mapping has failed. After determining that the mapping has failed, it is necessary to analyze the reason why the position deviation does not meet the preset deviation target, re-formulate the mapping strategy, and re-build the map based on the re-formulated mapping strategy.

[0100] According to an embodiment of the present disclosure, a first position of a target map element in a first map fragment in a map coordinate system and a second position of the target map element in a second map fragment in the map coordinate system can be determined, and based on the position deviation between the first position and the second position, a quantitative evaluation result of the local consistency of the map can be obtained to guide the construction of a high-precision map.

[0101] In some examples, the local consistency of the map is evaluated in the map element dimension, and only the data corresponding to the target map element can be analyzed without analyzing all other collected data. This can greatly reduce the amount of data calculation and improve processing efficiency.

[0102] In some embodiments, the step of obtaining a first set of location points of the target map element in the first map segment and a second set of location points in the second map segment may include obtaining a third set of location points of the target map element in the first map segment and a fourth set of location points in the second map segment.

[0103] In some examples, the third position point set may be a set of all position points of the target map element in the first map segment in the map coordinate system, and the fourth position point set may be a set of all position points of the target map element in the second map segment in the map coordinate system. Figure 4 As shown, the third position point set may be a set of all position points of the lane line in the first map segment {S1, S2, ..., S n}, the fourth position point set may be a set of all position points of the lane line in the second map segment {S 11 , S 22 , ..., S nn}.

[0104] In other examples, the third position point set may be a set of key position points of the target map element in the first map segment, and the fourth position point set may be a set of key position points of the target map element in the second map segment. In this way, the amount of calculation can be reduced without affecting the accuracy. The key position points may include key corner points and / or center points of the target map element. For example, the target map element is a ground arrow mark with the same identifier, such as Figure 4 As shown, the third position point set may be a set of key corner points of the ground arrow in the first map segment {T1, T2, T3, T4}, and the fourth position point set may be a set of key corner points of the ground arrow in the second map segment {T 11 , T 22 , T 33 , T 44}.

[0105] In some examples, the third location point set of the target map element in the first map segment and the fourth location point set in the second map segment may all have a one-to-one correspondence. That is, for each third location point in the third location point set, there is a fourth location point in the fourth location point set that corresponds to the same real-world location point as the third location point. In one example, Figure 4 As shown, the target map element may be a road sign, and the fourth position point in the fourth point set corresponding to the same real-world position point as the third position point T1 is position point T 11 , the fourth position point in the fourth point set corresponding to the same real-world position point as the third position point T2 is position point T 22 , the fourth position point in the fourth point set corresponding to the same real-world position point as the third position point T3 is position point T 33 , the fourth position point in the fourth point set corresponding to the same real-world position point as the third position point T4 is position point T 44 .

[0106] In these examples, the step of obtaining a first location point set of the target map element in the first map fragment and a second location point set in the second map fragment may also include: directly using the third location point set as the first location point set of the target map element in the first map fragment, and directly using the fourth location point set as the second location point set of the target map element in the second map fragment.

[0107] In other examples, the third location point set of the target map element in the first map segment and the fourth location point set in the second map segment may also partially have a one-to-one correspondence. That is, for a number of third location points in the third location point set, there is no fourth location point in the fourth location point set that corresponds to the same real-world location point as the third location point. For a number of fourth location points in the fourth location point set, there is no third location point in the third location point set that corresponds to the same real-world location point as the fourth location point. In one example, Figure 4 As shown, the fourth position point in the fourth point set corresponding to the same real-world position point as the third position point S2 is position point S 11 , and so on. The third position point S1 does not have a fourth position point in the fourth point set that corresponds to the same real-world position point as the third position point S1. nn There is no point S in the third point set that matches the fourth position point S. nn A third location point corresponding to the same real-world location point.

[0108] In these examples, a subset of location points in the third location point set that have a one-to-one correspondence with the fourth location point set can be used as the first location point set of the target map element in the first map segment, and a subset of location points in the fourth location point set that have a one-to-one correspondence with the third location point set can be used as the second location point set of the target map element in the second map segment. At this time, the step of obtaining the first location point set of the target map element in the first map segment and the second location point set in the second map segment can also include: for each third location point in the third location point set, performing a neighbor search in the fourth location point set, if the search result of the neighbor search indicates that a neighbor location point corresponding to the third location point is found in the fourth location point set, then the third location point is stored in the first location point set, and the neighbor location points are stored in the second location point set.

[0109] Since different types of map elements have different characteristics, in some embodiments, step S140 may include steps S210 to S230.

[0110] Step S210, obtaining the element type of the target map element; wherein the element type includes a linear element or a non-linear element.

[0111] Step S220 , determining a position deviation between a first position of the target map element in the first map segment and a second position of the target map element in the second map segment based on a position deviation calculation strategy corresponding to the element type.

[0112] Step S230: determining a consistency evaluation result of the first map segment and the second map segment according to a position deviation between the first position and the second position.

[0113] In some examples, step S220 may include: obtaining a first position point set of the target map element in the first map segment and a second position point set in the second map segment; when the element type is a linear element, fitting using the first target position point set to obtain a fitting curve; obtaining a first distance from each position point in the second target position point set to the fitting curve; determining a position deviation between the first position and the second position according to the first distance from each position point in the second target position point set to the fitting curve. The first position point set and the second position point set correspond to the same sub-map element of the target map element. The first target position point set is one of the first position point set and the second position point set. The second target position point set is the other of the first position point set and the second position point set.

[0114] The step of determining the position deviation between the first position and the second position based on the first distance from each position point in the second target position point set to the fitting curve may, in some examples, include: taking the average value of each first distance as the position deviation between the first position and the second position.

[0115] In some examples, the step of fitting the first target position point set to obtain a fitting curve may include: performing multiple fittings using the first target position point set to obtain multiple initial fitting curves; and obtaining a target fitting curve based on the multiple initial fitting curves. For example, performing three fittings using the first target position point set to obtain three initial fitting curves; and obtaining a target fitting curve based on the three initial fitting curves. Obtaining the first distance from each position point in the second target position point set to the target fitting curve; based on the first distance from each position point in the second target position point set to the target fitting curve, the position deviation between the first position and the second position can be more accurately determined.

[0116] In some examples, step S220 may include: when the element type is a non-linear element, obtaining a first center point of the target map element in the first map segment and a second center point of the target map element in the second map segment; and using a second distance between the first center point and the second center point as a position deviation between the first position and the second position.

[0117] In this embodiment, the first center point and the second center point are center points determined based on the same map coordinate system. The first center point of the target map element in the first map segment is the center point of the target map element in the first map segment under the map coordinates, and the second center point of the target map element in the second map segment is the center point of the target map element in the second map segment under the map coordinates.

[0118] In the embodiment of the present disclosure, when the element type is a nonlinear element, there is no need to calculate the position deviation of all position points of the target map element in the first map segment and the second map segment, and the consistency evaluation result of the first map segment and the second map segment is determined only by the position deviation of the center point of the target map element, which can save computing resources and improve computing efficiency. In the case where the element type is a linear element, the position deviation of each position point in the first position point set of the target map element in the first map segment and the second position point set in the second map segment is calculated, which can improve the calculation accuracy.

[0119] In some embodiments, there may be multiple target map elements. Step S140 may include steps S240 to S260.

[0120] Step S240, obtaining the element type of each target map element; wherein the element type includes a linear element or a non-linear element.

[0121] Step S250, determining an average position deviation and a maximum position deviation according to the position deviation between the first position and the second position corresponding to each target map element of the element type.

[0122] Step S260: determining a consistency evaluation result of the first map segment and the second map segment according to the average position deviation and the maximum position deviation.

[0123] In some examples, the map elements shared by the first map segment and the second map segment may include at least one target map element of a linear element type. A first average position deviation and a first maximum position deviation may be determined based on the position deviation between the first position and the second position corresponding to each target map element of the linear element type. Then, a consistency evaluation result of the first map segment and the second map segment is determined based on the first average position deviation and the first maximum position deviation.

[0124] In some other examples, the map elements shared by the first map segment and the second map segment may include at least one target map element of a nonlinear element. A second average position deviation and a second maximum position deviation may be determined based on the position deviation between the first position and the second position corresponding to each target map element of the nonlinear element type. Then, the consistency evaluation result of the first map segment and the second map segment is determined based on the second average position deviation and the second maximum position deviation.

[0125] In other examples, the map elements shared by the first map fragment and the second map fragment may include at least one target map element of a linear element type and at least one target map element of a non-linear element. A first average position deviation and a first maximum position deviation may be determined based on the position deviation between the first position and the second position corresponding to each target map element of the linear element type. A second average position deviation and a second maximum position deviation may be determined based on the position deviation between the first position and the second position corresponding to each target map element of the non-linear element type. Then, based on the first average position deviation, the first maximum position deviation, the second average position deviation, and the second maximum position deviation, a consistency evaluation result of the first map fragment and the second map fragment is determined.

[0126] In some examples, step S260 may include: determining a consistency evaluation result of the first map segment and the second map segment according to the difference between the average position deviation and the maximum position deviation. For example, when the difference between the average position deviation and the maximum position deviation is less than or equal to a preset deviation threshold, it is determined that the consistency of the first map segment and the second map segment meets the requirements. The consistency meets the requirements can be understood as the position deviation of each target map element in the two map segments meets the preset deviation target. When the difference between the average position deviation and the maximum position deviation is greater than the preset deviation threshold, it is determined that the consistency of the first map segment and the second map segment does not meet the requirements.

[0127] In some examples, step S260 may include: when the average position deviation is less than or equal to a preset average deviation threshold, and the maximum position deviation is less than or equal to a preset deviation threshold, determining that the consistency between the first map segment and the second map segment meets a preset deviation target. The preset average deviation threshold and the preset deviation threshold may be the same or different.

[0128] The disclosed embodiment can more accurately obtain a quantitative result of the consistency between the first map segment and the second map segment based on the position deviation of each target map element of each type in the first map segment and the second map segment.

[0129] The present disclosure also provides a map display method. Figure 5 As shown, the map display method may include step S310.

[0130] Step S310: obtaining at least one candidate map obtained based on at least one candidate mapping strategy and a consistency evaluation result of the candidate map.

[0131] The mapping strategy in this embodiment can define the original data source, coordinate conversion algorithm, map element recognition algorithm, mapping algorithm, etc.

[0132] In this embodiment, the at least one candidate map obtained based on at least one candidate mapping strategy may be a candidate map composed of several map fragments. The candidate map may be a part of the global map to be constructed, or may be the entire global map to be constructed. The candidate map may include a first map fragment and a second map fragment.

[0133] The consistency evaluation result in this embodiment is used to characterize the consistency of the first map segment and the second map segment determined according to the position deviation between the first position and the second position, the first position being the position of the target map element in the first map segment in the map coordinate system, and the second position being the position of the target map element in the second map segment in the map coordinate system. Among them, the target map element is a map element shared by the first map segment and the second map segment determined according to the first map segment and the second map segment. The first map segment is generated based on the scene data of the first scene area, and the second map segment is generated based on the scene data of the second scene area. The scene data of the first scene area is collected by the movable device at a first time, and the scene data of the second scene area is collected by the movable device at a second time. The first scene area partially overlaps with the second scene area.

[0134] The method for obtaining the consistency evaluation result in this embodiment can refer to the description in the previous embodiments of the present disclosure, and will not be repeated here.

[0135] When the candidate maps are all maps in the global map to be constructed, the map display method may further include: determining a target map according to a consistency evaluation result of at least one candidate map; and displaying the target map.

[0136] In some examples, at least one candidate map is a candidate map, and based on the consistency evaluation result of the at least one candidate map, the step of determining the target map may include: when the consistency evaluation result of the candidate map represents that the position deviation of the same target map element in two map fragments meets the preset deviation target, using the candidate map as the target mapping strategy.

[0137] In some examples, when the consistency evaluation result of the candidate map indicates that the above position deviation does not meet the preset deviation target, that is, the position deviation is greater than or equal to the preset deviation threshold, it can be determined that the map construction has failed. After determining that the map construction has failed, it is necessary to analyze the reason why the position deviation does not meet the preset deviation target, re-formulate the map construction strategy, and obtain the candidate map based on the re-formulated map construction strategy.

[0138] In some examples, at least one candidate map is a plurality of candidate maps, and the step of determining a target map according to a consistency evaluation result of at least one candidate map may include: determining a first evaluation result that meets the above-mentioned preset deviation target from the consistency evaluation results of the plurality of candidate maps; when the first evaluation result is one, using the candidate map corresponding to the first evaluation result as the target map; when the first evaluation result is multiple, determining a second evaluation result with the smallest position deviation from the multiple first evaluation results; and using the candidate map corresponding to the second evaluation result as the target map.

[0139] When the candidate map is a partial map in the global map to be constructed, the map display method may further include steps S320 to S340.

[0140] Step S320: determining a target mapping strategy from at least one candidate mapping strategy according to a consistency evaluation result of at least one candidate map.

[0141] In some examples, at least one candidate map is a candidate map, and step S320 may include: when a consistency evaluation result of the candidate map indicates that a position deviation of the same target map element in two map segments meets a preset deviation target, using the candidate mapping strategy corresponding to the candidate map as the target mapping strategy.

[0142] In some examples, when the consistency evaluation result of the candidate map indicates that the above position deviation does not meet the preset deviation target, that is, the position deviation is greater than or equal to the preset deviation threshold, it can be determined that the mapping has failed. After determining that the mapping has failed, it is necessary to analyze the reason why the position deviation does not meet the preset deviation target, re-formulate the mapping strategy, and use the re-formulated mapping strategy as the candidate mapping strategy.

[0143] In some examples, at least one candidate map is a plurality of candidate maps, and step S320 may include: determining a first evaluation result that meets the above-mentioned preset deviation target from the consistency evaluation results of the plurality of candidate maps; when the first evaluation result is one, using the candidate mapping strategy corresponding to the first evaluation result as the target mapping strategy; when the first evaluation result is multiple, determining a second evaluation result with the smallest position deviation from the multiple first evaluation results; and using the candidate mapping strategy corresponding to the second evaluation result as the target mapping strategy.

[0144] In some examples, at least one candidate map is a plurality of candidate maps, and step S320 may include: determining a target mapping strategy from a plurality of candidate mapping strategies according to the consistency evaluation results of the plurality of candidate maps and the system performance results when the candidate maps are constructed. For example, determining an evaluation result that meets a preset deviation target from the consistency evaluation results of the plurality of candidate maps; determining a target evaluation result that has the best system performance result when the candidate maps are constructed from the evaluation results that meet the preset deviation target; and using the candidate mapping strategy corresponding to the target evaluation result as the target mapping strategy.

[0145] Step S330: Generate a target map according to the target mapping strategy.

[0146] In one example, the target map generated in step S330 can be combined with vehicle positioning technology to control the vehicle's driving trajectory. In another example, in the process of controlling the vehicle's driving according to the target map, dynamic road condition information is obtained in real time to continuously update the target map, thereby controlling the vehicle's driving more accurately.

[0147] Step S340, displaying the target map.

[0148] In some examples, step S340 may include: obtaining a vehicle location; and displaying a target map based on the vehicle location.

[0149] According to the quantitative evaluation results of the local consistency of the map obtained by the map evaluation method disclosed above, the target mapping strategy can be determined intuitively, and then the target map with local consistency that meets the requirements is generated according to the target mapping strategy. During the driving process of the vehicle, the target road scene map corresponding to the vehicle position is displayed, so that the driver can accurately know the road scene corresponding to the vehicle position, thereby improving driving safety.

[0150] The present disclosure also provides an electronic device. Figure 6 As shown, the electronic device 1000 may include a memory 1010 and a processor 1020, the memory 1010 may be used to store computer instructions, and the processor 1020 may be used to call computer instructions from the memory 1010 to execute all or part of the steps of the method described in any of the aforementioned embodiments of the present disclosure. It should be noted that the processor 1020 may include one or more processors to execute instructions, and the memory 1010 may also include one or more memories to store computer instructions. In one example, the electronic device 1000 may be a cloud server or a vehicle controller.

[0151] The present disclosure also provides a vehicle. Figure 7As shown, the vehicle 1100 may include a memory 1110 and a processor 1120. The memory 1110 may be used to store computer instructions, and the processor 1120 may be used to call computer instructions from the memory 1110 to execute all or part of the steps of the method described in any of the aforementioned embodiments of the present disclosure. It should be noted that the processor 1120 may include one or more processors to execute instructions, and the memory 1110 may also include one or more memories to store computer instructions. The vehicle may be, for example, a vehicle with auxiliary driving functions such as memory parking and / or memory driving.

[0152] The present disclosure also provides a chip. Figure 8 As shown, the chip 2000 may include a storage unit 2010 and a processing unit 2020. The storage unit 2010 is used to store a computer program. The processing unit 2020 is configured to implement a method according to any embodiment of the present disclosure when executing the computer program stored in the storage unit.

[0153] The embodiment of the present disclosure also provides a non-volatile computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method described in any one of the aforementioned embodiments of the present disclosure is implemented. Optionally, the computer-readable storage medium may be a non-transitory storage medium, but is not limited thereto, and may also be a transient storage medium.

[0154] The embodiments of the present disclosure further provide a computer program product, which may include a computer program. When the computer program is executed by a processor, the method described in any one of the aforementioned embodiments of the present disclosure can be implemented.

[0155] The present disclosure may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement any method in the foregoing embodiments of the present disclosure.

[0156] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0157] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0158] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0159] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0160] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0161] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0162] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of an instruction, and the module, a program segment or a part of an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0163] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A map evaluation method, characterized in that: include: Acquire a first map segment generated based on scene data of a first scene area, and a second map segment generated based on scene data of a second scene area; wherein the scene data of the first scene area is collected by a movable device at a first time, and the scene data of the second scene area is collected by the movable device at a second time, and the first scene area partially overlaps with the second scene area; Determining, according to the first map segment and the second map segment, a target map element common to the first map segment and the second map segment; Determine a first position of the target map element in the first map segment and a second position of the target map element in the second map segment respectively; wherein the first position and the second position are positions determined based on the same map coordinate system; A consistency evaluation result of the first map segment and the second map segment is determined according to a position deviation between the first position and the second position.

2. The method according to claim 1, characterized in that The respectively determining a first position of the target map element in the first map segment and a second position of the target map element in the second map segment comprises: Acquire a first position point set of the target map element in the first map segment and a second position point set of the target map element in the second map segment; wherein the first position point set and the second position point set correspond to the same sub-map element of the target map element; using a position determined based on the first position point set as the first position; A position determined based on the second position point set is used as the second position.

3. The method according to claim 2, characterized in that The obtaining of a first location point set of the target map element in the first map segment and a second location point set in the second map segment includes: Acquire a third position point set of the target map element in the first map segment and a fourth position point set in the second map segment; For each third position point in the third position point set, a neighbor search is performed in the fourth position point set, and if the search result of the neighbor search indicates that a neighbor position point corresponding to the third position point is found in the fourth position point set, the third position point is stored in the first position point set, and the neighbor position point is stored in the second position point set.

4. The method according to claim 1, characterized in that: Determining a consistency evaluation result of the first map segment and the second map segment according to a position deviation between the first position and the second position includes: Acquire the element type of the target map element; wherein the element type includes a linear element or a non-linear element; Determining a position deviation between the first position and the second position based on a position deviation calculation strategy corresponding to the element type; A consistency evaluation result of the first map segment and the second map segment is determined according to the position deviation.

5. The method according to claim 4, characterized in that The determining the position deviation between the first position and the second position based on the position deviation calculation strategy corresponding to the element type includes: Acquire a first position point set of the target map element in the first map segment and a second position point set of the target map element in the second map segment; wherein the first position point set and the second position point set correspond to the same sub-map element of the target map element; In the case where the element type is the linear element, fitting is performed using a first target position point set to obtain a fitting curve; wherein the first target position point set is one of the first position point set and the second position point set; Acquire a first distance from each position point in a second target position point set to the fitting curve; wherein the second target position point set is the other of the first position point set and the second position point set; According to each of the first distances, a position deviation between the first position and the second position is determined.

6. The method according to claim 4, characterized in that The determining the position deviation between the first position and the second position based on the position offset calculation strategy corresponding to the element type includes: In the case where the element type is a non-linear element, obtaining a first center point of the target map element in the first map segment and a second center point of the target map element in the second map segment; A second distance between the first center point and the second center point is used as a position deviation between the first position and the second position.

7. The method according to claim 1, characterized in that There are multiple target map elements, and determining the consistency evaluation result of the first map segment and the second map segment according to the position deviation between the first position and the second position includes: Acquire the element type of each target map element; wherein the element type includes a linear element or a non-linear element; Determine an average position deviation and a maximum position deviation according to the position deviation corresponding to each target map element of the element type; A consistency evaluation result of the first map segment and the second map segment is determined according to the average position deviation and the maximum position deviation.

8. A map display method, characterized in that: include: Acquire at least one candidate map obtained based on at least one candidate mapping strategy and a consistency evaluation result of the candidate map; wherein the candidate map includes a first map segment and a second map segment; Determining a target mapping strategy from the at least one candidate mapping strategy according to at least one of the consistency evaluation results; Generate a target map according to the target mapping strategy; Displaying the target map; Among them, the consistency evaluation result is used to characterize the consistency of the first map segment and the second map segment determined according to the position deviation between the first position and the second position, the first position is the position of the target map element in the first map segment in the map coordinate system, the second position is the position of the target map element in the second map segment in the map coordinate system, the target map element is a map element shared by the first map segment and the second map segment determined according to the first map segment and the second map segment, the first map segment is generated based on scene data of a first scene area, the second map segment is generated based on scene data of a second scene area, the scene data of the first scene area is collected by a movable device at a first time, the scene data of the second scene area is collected by the movable device at a second time, and the first scene area partially overlaps with the second scene area.

9. An electronic device, characterized in that: including memory and processor, The memory is used to store computer instructions, and the processor is used to call the computer instructions from the memory to execute the method according to any one of claims 1 to 8.

10. A chip, characterized in that: include: A storage unit for storing a computer program; as well as, A processing unit, wherein the processing unit is configured to implement the method according to any one of claims 1 to 8 when executing the computer program stored in the storage unit.

11. A vehicle, characterized in that: The system comprises a memory and a processor, wherein the memory is used to store computer instructions, and the processor is used to call the computer instructions from the memory to execute the method according to any one of claims 1 to 8.

12. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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