Map processing method and device, equipment and storage medium

Abstract

The invention provides a map processing method, device and equipment and a storage medium, and belongs to the field of intelligent vehicle networking, and the method comprises the steps: collecting parking space information in a driving area in a parking lot through an intelligent parking system in the driving process of the vehicle under the condition that the vehicle is detected to be currently located in the parking lot; in response to the end of vehicle driving, generating a local map of the parking lot through the intelligent parking system based on the acquired parking space information; a local map is sent to a cloud server through an intelligent parking system, the cloud server is used for receiving the local map of a parking lot, a global map of the parking lot is updated by adopting the local map, and the global map is used for displaying multiple areas of the parking lot and parking space information in the multiple areas. The global map can dynamically reflect the use conditions of the parking spaces in multiple areas of the parking lot in real time, so that real-time and accurate parking space information in the parking lot can be provided for other vehicles, and time and energy waste for finding the parking spaces can be reduced.

Description

Technical Field

[0001] The present application relates to the field of intelligent vehicle networking, and in particular to a map processing method, device, equipment and storage medium. Background Art

[0002] In recent years, with the development of science and technology, vehicles have become the main means of transportation in people's daily lives. With the rapid development of the automobile industry, the number of vehicles has increased rapidly, and the problem of parking difficulties has become increasingly prominent.

[0003] To solve the problem of parking difficulties, the scale of parking lots is expanding day by day, which in turn leads to the problem of finding vacant parking spaces. Users can only drive their vehicles randomly in the parking lot to find vacant parking spaces. However, this is not only inefficient, but also may not find vacant parking spaces, wasting a lot of time. Summary of the invention

[0004] The embodiments of the present application provide a map processing method, device, electronic device and storage medium, which can improve the convenience of the map processing method. The technical solution is as follows:

[0005] In one aspect, a map processing method is provided, which is applied to a vehicle, wherein the vehicle is equipped with an intelligent parking system, and the method comprises:

[0006] In the case where it is detected that the vehicle is currently located in a parking lot, during the driving of the vehicle, the intelligent parking system collects parking space information in the driving area in the parking lot, the parking space information includes the parking space location and the parking space usage status, and the parking space usage status includes an idle state and an occupied state;

[0007] In response to the vehicle completing its travel, the intelligent parking system generates a local map of the parking lot based on the collected parking space information, wherein the local map is used to display the parking space information in the travel area;

[0008] The local map is sent to a cloud server through the intelligent parking system. The cloud server is used to receive the local map of the parking lot and use the local map to update the global map of the parking lot. The global map is used to display multiple areas of the parking lot and parking space information in the multiple areas.

[0009] In a possible implementation, the intelligent parking system includes a camera, an ultrasonic probe, and an intelligent control module; and collecting parking space information in a driving area in the parking lot by using the intelligent parking system includes:

[0010] Collecting the marked parking space information by the camera, wherein the marked parking space information includes the parking space position and parking space usage status of the marked parking space;

[0011] Collecting space parking space information by using the ultrasonic probe, wherein the space parking space information includes the parking space position and parking space usage status of the space parking space;

[0012] The marked parking space information and the spatial parking space information are merged through the intelligent control module to obtain the parking space information.

[0013] In a possible implementation, the step of fusing the marked parking space information with the spatial parking space information to obtain the parking space information includes:

[0014] If the parking space position of any of the marked parking spaces indicated by the marked parking space information is the same as the parking space position of any of the space parking spaces indicated by the space parking space information, then it is determined that the marked parking space and the space parking space are the same parking space;

[0015] If the parking space usage status in the lined parking space information and the parking space usage status in the space parking space information are both in an idle state, the parking space usage status of the parking space is determined to be an idle state; if at least one of the parking space usage status in the lined parking space information and the parking space usage status in the space parking space information is in an occupied state, the parking space usage status of the parking space is determined to be an occupied state;

[0016] The parking space information is determined based on a parking space position and a parking space usage status of at least one parking space.

[0017] In a possible implementation, the method further includes:

[0018] During the driving process of the vehicle, the intelligent parking system collects traffic status information in the driving area in the parking lot, wherein the traffic status information indicates the number of vehicles and pedestrians in the driving area;

[0019] In response to the vehicle ending its travel, generating a local map of the parking lot based on the collected parking space information by the intelligent parking system includes:

[0020] In response to the vehicle completing its travel, the intelligent parking system generates a local map of the parking lot based on the collected parking space information and the traffic status information, wherein the local map is used to display the parking space information and the traffic status information in the travel area.

[0021] In another aspect, a map processing method is provided, the method comprising:

[0022] In response to a viewing operation on a parking lot, sending a viewing request for the parking lot to a cloud server;

[0023] Receiving a global map of the parking lot sent by the cloud server, wherein the global map is updated based on a local map of the parking lot sent by at least one vehicle, wherein the local map is used to display parking space information in a driving area collected when a vehicle is driving in the parking lot, wherein the parking space information includes a parking space location and a parking space usage status, wherein the parking space usage status includes an idle state and an occupied state;

[0024] A global map of the parking lot is displayed, where the global map is used to show multiple areas of the parking lot and parking space information in the multiple areas.

[0025] In a possible implementation, the method is applied to a vehicle, the vehicle is equipped with an intelligent parking system, and the method is executed by the intelligent parking system; or,

[0026] The method is applied to a mobile terminal, the mobile terminal is installed with vehicle management software associated with the intelligent parking system, and the method is executed by the vehicle management software.

[0027] In a possible implementation, the method is applied to the vehicle, and the method further includes:

[0028] By means of the intelligent parking system, a target parking space is determined in the global map, and the parking space usage status of the target parking space is an idle state;

[0029] Through the intelligent parking system, based on the global map, the route to the target parking space is navigated, or the vehicle is automatically driven to the target parking space.

[0030] In another aspect, a map processing device is provided, which is applied to an intelligent parking system in a vehicle, and the device comprises:

[0031] an environment perception module, for collecting parking space information in a driving area in the parking lot when the vehicle is driving, if it is detected that the vehicle is currently in the parking lot, wherein the parking space information includes a parking space location and a parking space usage status, wherein the parking space usage status includes an idle state and an occupied state;

[0032] an intelligent control module, configured to generate a local map of the parking lot based on the collected parking space information in response to the vehicle ending its travel, wherein the local map is used to display the parking space information in the travel area;

[0033] The remote communication module is used to send the local map to a cloud server, and the cloud server is used to receive the local map of the parking lot, and use the local map to update the global map of the parking lot. The global map is used to display multiple areas of the parking lot and parking space information in the multiple areas.

[0034] In a possible implementation, the environment perception module is used to:

[0035] Collecting the marked parking space information by the camera, wherein the marked parking space information includes the parking space position and parking space usage status of the marked parking space;

[0036] Collecting space parking space information by using the ultrasonic probe, wherein the space parking space information includes the parking space position and parking space usage status of the space parking space;

[0037] The intelligent control module is used to merge the marked parking space information and the spatial parking space information to obtain the parking space information.

[0038] In a possible implementation, the intelligent control module is used to:

[0039] If the parking space position of any of the marked parking spaces indicated by the marked parking space information is the same as the parking space position of any of the space parking spaces indicated by the space parking space information, then it is determined that the marked parking space and the space parking space are the same parking space;

[0040] If the parking space usage status in the lined parking space information and the parking space usage status in the space parking space information are both in an idle state, the parking space usage status of the parking space is determined to be an idle state; if at least one of the parking space usage status in the lined parking space information and the parking space usage status in the space parking space information is in an occupied state, the parking space usage status of the parking space is determined to be an occupied state;

[0041] The parking space information is determined based on a parking space position and a parking space usage status of at least one parking space.

[0042] In a possible implementation, the environment perception module is further configured to collect traffic status information in a driving area in the parking lot through the intelligent parking system during driving of the vehicle, wherein the traffic status information indicates the number of vehicles and pedestrians in the driving area;

[0043] The intelligent control module is used for:

[0044] In response to the vehicle completing its travel, the intelligent parking system generates a local map of the parking lot based on the collected parking space information and the traffic status information, wherein the local map is used to display the parking space information and the traffic status information in the travel area.

[0045] In another aspect, a map processing device is provided, the device comprising:

[0046] A sending module, configured to send a request for viewing the parking lot to a cloud server in response to a viewing operation on the parking lot;

[0047] a receiving module, configured to receive a global map of the parking lot sent by the cloud server, wherein the global map is updated based on a local map of the parking lot sent by at least one vehicle, wherein the local map is used to display parking space information in a driving area collected when a vehicle is driving in the parking lot, wherein the parking space information includes a parking space location and a parking space usage status, wherein the parking space usage status includes an idle state and an occupied state;

[0048] The display module is used to display a global map of the parking lot, wherein the global map is used to display multiple areas of the parking lot and parking space information in the multiple areas.

[0049] In a possible implementation, the device is applied to an intelligent parking system in a vehicle; or, the device is applied to vehicle management software in a mobile terminal, and the vehicle management software is associated with the intelligent parking system.

[0050] In a possible implementation, the device is applied to an intelligent parking system in the vehicle, and the device further includes:

[0051] A determination module, configured to determine a target parking space in the global map through the intelligent parking system, wherein the parking space usage status of the target parking space is an idle state;

[0052] A control module is used to navigate a route to the target parking space through the intelligent parking system based on the global map, or to automatically drive the vehicle to the target parking space.

[0053] On the other hand, a computer-readable storage medium is provided, wherein at least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by a processor to implement the map processing method as described in any of the above implementations.

[0054] On the other hand, a computer program product is provided, the computer program product comprising at least one program code, the at least one program code being loaded and executed by a processor to implement the map processing method as described in any of the above implementations.

[0055] The beneficial effects of the technical solution provided by the embodiments of the present application include at least:

[0056] The embodiment of the present application provides a map processing method, which can collect parking space information in a parking lot through vehicles and generate a local map of the parking lot, so as to provide real-time feedback on the parking space usage in the parking lot. The local map is uploaded to the cloud server, and the global map of the parking lot can be updated in time, so that the global map can dynamically reflect the parking space usage in multiple areas of the parking lot in real time, thereby facilitating the provision of real-time and accurate parking space information in the parking lot to other vehicles, which is conducive to reducing the time and energy waste in finding parking spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0058] Figure 1 is a system architecture diagram of a map processing method provided in an embodiment of the present application;

[0059] Figure 2 is a system architecture diagram of an intelligent parking system provided in an embodiment of the present application;

[0060] Figure 3 is a flow chart of a map processing method provided in an embodiment of the present application;

[0061] Figure 4 is a flow chart of another map processing method provided by an embodiment of the present application;

[0062] Figure 5 is a flowchart of another map processing method provided by an embodiment of the present application;

[0063] Figure 6 is a schematic diagram of a parking space recognition method provided in an embodiment of the present application;

[0064] Figure 7 is a schematic diagram of a vehicle processing method provided in an embodiment of the present application;

[0065] Figure 8 is a flowchart of another map processing method provided by an embodiment of the present application;

[0066] Fig. 9 is a structural schematic diagram of a map processing device provided in an embodiment of the present application;

[0067] Fig.10 is a structural schematic diagram of another map processing device provided in an embodiment of the present application;

[0068] Fig.11 is a structural schematic diagram of another map processing device provided in an embodiment of the present application;

[0069] Fig.12 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0071] The terms "first", "second", "third" and "fourth" in the specification, claims and drawings of this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0072] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals (including but not limited to signals transmitted between user terminals and other devices, etc.) involved in this application are all fully authorized by the user or relevant parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions. For example, the parking space information, traffic status information, local maps and global maps in this application are obtained with the full authorization of the user.

[0073] As the economy continues to develop, the number of cars continues to rise. At the same time, in order to solve the problem of parking difficulties, large parking lots are also being developed vigorously. However, the increasing scale of parking lots has brought a series of problems to users in finding parking spaces and picking up cars, which has deeply affected the travel efficiency of users. Therefore, there is an urgent need for a method to inform users of the parking space occupancy status and traffic status in the parking lot in advance, so that users can judge and decide whether to go to the parking lot in advance to improve travel efficiency.

[0074] With the development of science and technology, smart car technology is developing day by day. As an important part of the smart car field, smart parking technology is experiencing a rapid development period. The development stage of smart parking has mainly experienced automatic parking, remote parking, memory parking and autonomous valet parking. The problem to be solved by this application is the difficulty of users finding parking spaces in large parking lots, and at the same time, the traffic congestion in the parking lot is informed to users in advance. A major feature of memory parking is that it can memorize the information in the driving route in real time and generate relevant maps. Therefore, the memory parking mapping function is used to identify free parking spaces in advance, and when passing through the parking lot, the vehicle establishes a map of the parking space occupancy status and the traffic status in the parking lot, and shares it to the cloud server with one click. When other users want to go to the corresponding parking lot, they can check the parking lot information in real time in the APP on the car or mobile end in advance, so as to let users know the parking space occupancy status in the parking lot they are about to go to in advance, saving users time to find parking spaces and waiting time to go to the corresponding parking spaces, greatly improving the user's parking efficiency.

[0075] Figure 1 is a system architecture diagram of a map processing method provided in an embodiment of the present application, such as Figure 1 As shown, the system architecture of the fault reporting method includes a vehicle 101, a vehicle 102 and a cloud server 103. The vehicle 101 and the vehicle 102 are both connected to the cloud server 103 in communication.

[0076] Among them, the vehicle 101 is used to collect parking space information in the parking lot to generate a local map of the parking lot, and upload the local map to the cloud server 103. The cloud server 103 is used to use the received local map to update the global map of the parking lot. The vehicle 102 is used to receive the global map of the parking lot sent by the cloud server 103, and display the global map of the parking lot. The owner of the vehicle 102 can understand the parking space occupancy in the parking lot by viewing the global map of the parking lot, and then decide whether to go to the parking lot to park.

[0077] In one possible implementation, both vehicle 101 and vehicle 102 are equipped with an intelligent parking system, and the cloud server 103 is used to provide background services for the intelligent parking system. Vehicle 101 collects parking space information and generates a local map through the intelligent parking system. Vehicle 102 receives a global map of the parking lot sent by the cloud server 103 through the intelligent parking system.

[0078] In one possible implementation, Figure 4As shown, the system architecture also includes a mobile terminal 104, which establishes a communication connection with the cloud server 102. The mobile terminal 104 is installed with a vehicle management software associated with the intelligent parking system, and the mobile terminal receives the global map of the parking lot sent by the cloud server 103 through the vehicle management software and displays the global map.

[0079] Figure 2 is a system architecture diagram of an intelligent parking system provided in an embodiment of the present application, such as Figure 2 As shown, the intelligent parking system includes an environment perception module, an intelligent control module and a remote communication module.

[0080] The environment perception module includes a camera and an ultrasonic probe. For example, the camera includes a surround view camera and a forward multi-function camera. Figure 2 As shown, the surround view camera includes 4 channels and the ultrasonic probe includes 12 channels.

[0081] (1) The main function of the camera is to obtain real-time environmental information around the vehicle body. The camera captures the video stream, which is processed by the SOC processor in the intelligent control module and finally sent to the IHU host for display. At the same time, the intelligent control module integrates an environmental perception algorithm that can classify objects around the vehicle, such as parking spaces, pedestrians, vehicles (moving or stationary), trash cans, cones, etc. In addition, through the camera and the environmental perception algorithm in the intelligent control module, the distance between the objects around the vehicle body and the current vehicle can also be obtained. The intelligent parking system performs intelligent parking operations based on the obtained distance. (2) Ultrasonic probes are arranged around the vehicle body, for example, 6 are arranged at the front and rear of the vehicle body. The function of the 4 ultrasonic probes on the side is to identify the distance between the parking spaces and obstacles on both sides of the vehicle. The farthest detection distance is at least 5.5m, and the identified parking space information is transmitted to the intelligent control module in a timely manner. The main function of the front and rear ultrasonic probes is to detect the distance between the front and rear obstacles in real time when the vehicle speed is less than 15km / h and upload it to the intelligent control module in real time. The minimum detection distance is at least 5.5m. In summary, the environment perception modules around the vehicle body provide a basis for the intelligent parking system to build a map. After the intelligent parking system is turned on, it identifies the parking space information and traffic status information in the parking lot and generates a local map of the parking lot, which is then uploaded to the cloud server through the remote communication module.

[0082] The remote communication module may be TBOX, which is a bridge for communication between the cloud server and the smart parking system. The smart parking system generates a local map of the parking lot and uploads it to the cloud server via TBOX.

[0083] Among them, the intelligent control module includes panoramic imaging function, parking distance detection function, memory parking function, adaptive cruise function, highway navigation assist function, and automatic emergency braking function.

[0084] In one possible implementation, Figure 2 As shown in the figure, in addition to the environmental perception module, intelligent control module and remote communication module, the intelligent parking system also includes the following parts: (1) ESP (Electronic Stability Program, brake controller) is an important execution end to ensure the completion of longitudinal control driving during parking. During the parking process, ESP controls the smooth driving of the vehicle speed (including acceleration and deceleration) by controlling the brake pressure, requesting engine torque, and requesting gear shifting according to the acceleration command of the intelligent parking system. At the same time, after parking is completed, ESP can control the vehicle to remain stationary and activate EPB (Electronic Parking Brake). (2) EPS (Electric Power Steering, steering controller) is the execution end that controls the lateral driving of the vehicle during parking. During the parking process, the intelligent parking system sends steering commands to EPS, and EPS executes the corresponding steering commands to complete the parking operation. (3) BCM (Body Control Module, body control module) is used to control the closing of four doors and two lids, the closing of windows and sunroof, the locking of doors, the opening of high and low beam lights, and the horn during parking. (4) TCU (Transmission Control Unit) is used to respond to ESP shift requests during parking. (5) EMS (Engine Management System) is used to provide power output for parking.

[0085] Figure 3 is a flowchart of a map processing method provided in an embodiment of the present application, which is applied to a vehicle, wherein the vehicle is equipped with an intelligent parking system, see Figure 3 , the method comprising:

[0086] 301. When it is detected that the vehicle is currently located in a parking lot, during the driving process of the vehicle, the parking space information in the driving area is collected in the parking lot through the intelligent parking system. The parking space information includes the parking space location and the parking space usage status. The parking space usage status includes the idle state and the occupied state.

[0087] 302. In response to the vehicle completing its travel, the intelligent parking system generates a local map of the parking lot based on the collected parking space information, where the local map is used to display the parking space information in the travel area.

[0088] 303. Send a local map to a cloud server through the intelligent parking system. The cloud server is used to receive the local map of the parking lot and use the local map to update the global map of the parking lot. The global map is used to display multiple areas of the parking lot and parking space information in the multiple areas.

[0089] The method provided in the embodiment of the present application can provide real-time feedback on the use of parking spaces in the parking lot by collecting parking space information in the parking lot through vehicles and generating a local map of the parking lot. The local map is uploaded to the cloud server, and the global map of the parking lot can be updated in a timely manner, so that the global map can dynamically reflect the use of parking spaces in multiple areas of the parking lot in real time, thereby facilitating the provision of real-time and accurate parking space information in the parking lot to other vehicles, which is conducive to reducing the time and energy waste in finding parking spaces.

[0090] Figure 4 is a flowchart of a map processing method provided in an embodiment of the present application, which is applied to a vehicle or a mobile terminal, see Figure 4 , the method comprising:

[0091] 401. In response to the operation of viewing the parking lot, a request for viewing the parking lot is sent to the cloud server.

[0092] 402. Receive a global map of the parking lot sent by a cloud server. The global map is updated based on a local map of the parking lot sent by at least one vehicle. The local map is used to display parking space information in a driving area collected when the vehicle is driving in the parking lot. The parking space information includes a parking space location and a parking space usage status. The parking space usage status includes an idle state and an occupied state.

[0093] 403. Display a global map of the parking lot, where the global map is used to display multiple areas of the parking lot and parking space information in the multiple areas.

[0094] The method provided in the embodiment of the present application can provide real-time feedback on the use of parking spaces in the parking lot by collecting parking space information in the parking lot through vehicles and generating a local map of the parking lot. The local map is uploaded to the cloud server, and the global map of the parking lot can be updated in a timely manner, so that the global map can dynamically reflect the use of parking spaces in multiple areas of the parking lot in real time, thereby facilitating the provision of real-time and accurate parking space information in the parking lot to other vehicles, which is conducive to reducing the time and energy waste in finding parking spaces.

[0095] Figure 5 is a flowchart of another map processing method provided by an embodiment of the present application, which is applied to a vehicle and a cloud server. The vehicle is equipped with an intelligent parking system, which includes a camera, an ultrasonic probe, an intelligent control module and a remote communication module. Figure 5 , the method comprising:

[0096] 501. When a vehicle detects that it is currently in a parking lot, the vehicle collects information about a marked parking space through a camera during driving. The marked parking space information includes a parking space position and a parking space usage status of the marked parking space.

[0097] Among them, the parking space usage status includes idle state and occupied state.

[0098] Exemplarily, the camera includes a surround-view camera. When the intelligent parking system detects that the vehicle is currently in a parking lot, it collects the information of the marked parking spaces in the driving area in real time through the surround-view camera, and sends the collected marked parking space information to the intelligent control module. The driving area refers to the area where the vehicle's driving path is located, or the maximum area that the vehicle can perceive on the driving path through the surround-view camera and the ultrasonic probe. The marked parking space refers to the parking area divided by drawing signs and lines to make the parking of vehicles more orderly.

[0099] 502. The vehicle collects spatial parking space information through an ultrasonic probe, and the spatial parking space information includes the parking space position and parking space usage status of the spatial parking space.

[0100] When the vehicle is detected to be in a parking lot, the ultrasonic probe is used to collect the parking space information in the driving area in real time, and the collected parking space information is sent to the intelligent control module. A parking space usually refers to the space left between two parked vehicles for another vehicle to park. There is no clear marking for the parking space, but it is determined according to the actual situation of the vehicle parking.

[0101] 503. The vehicle collects traffic status information in the driving area in the parking lot through a surround view camera, and the traffic status information indicates the number of vehicles and pedestrians in the driving area.

[0102] Exemplarily, the camera includes a forward multifunctional camera. When the intelligent parking system detects that the vehicle is currently located in a parking lot, the intelligent parking system collects traffic status information in the driving area in real time through the forward multifunctional camera and sends the collected traffic status information to the intelligent control module.

[0103] Optionally, in addition to indicating the number of vehicles and pedestrians in the driving area, the traffic status information also includes the positions of the vehicles and pedestrians in the parking lot, so the traffic status information can reflect the congestion conditions on various roads in the parking lot.

[0104] 504. The vehicle integrates the marked parking space information and the spatial parking space information through the intelligent control module to obtain the parking space information.

[0105] The parking space information includes the parking space location and the parking space usage status, and the parking space usage status includes the idle state and the occupied state. The intelligent control module receives the marked parking space information and the spatial parking space information, and integrates the marked parking space information and the spatial parking space information to obtain more accurate parking space information.

[0106] In the embodiment of the present application, the surround view camera can accurately capture the parking position and usage status of the marked parking spaces in the parking lot, and is suitable for identifying the parking space status within the standard marked area. The ultrasonic probe can detect the spatial parking space information. By fusing the data collected by the surround view camera and the ultrasonic probe, the error and omission of a single sensor are effectively reduced, the accuracy and comprehensiveness of the parking space detection are improved, and the generated parking space information is ensured to be more reliable.

[0107] In one possible implementation, if the parking space position of any of the marked parking spaces indicated by the marked parking space information is the same as the parking space position of any of the spatial parking spaces indicated by the spatial parking space information, then the marked parking space and the spatial parking space are determined to be the same parking space. After any parking space is determined, the parking space usage status of the parking space is determined based on the following two situations: (1) If the parking space usage status of the parking space in the marked parking space information and the parking space usage status in the spatial parking space information are both idle, then the parking space usage status of the parking space is determined to be idle; (2) If at least one of the parking space usage status of the parking space in the marked parking space information and the parking space usage status in the spatial parking space information is occupied, then the parking space usage status of the parking space is determined to be occupied.

[0108] Furthermore, the parking space position and parking space usage status of at least one parking space are determined, and then the parking space information is determined based on the parking space position and parking space usage status of at least one parking space. That is, the parking space position and parking space usage status of at least one parking space are used as the parking space information, and the parking space information includes the parking space position and parking space usage status of at least one parking space.

[0109] Figure 6 is a schematic diagram of a parking space identification method provided in an embodiment of the present application, such as Figure 6As shown, the vehicle is traveling in the parking lot at a speed of less than or equal to 25KPh. The intelligent parking system searches the parking position and parking space usage status of the marked parking spaces in the driving area in real time through the surround view camera, thereby obtaining the marked parking space information, and releases the marked parking space information to the intelligent control module after a successful search. At the same time, the intelligent parking system searches the parking position and parking space usage status of the spatial parking spaces in the driving area in real time through the ultrasonic probes installed around the vehicle body, thereby obtaining the spatial parking space information, and releases the spatial parking space information to the intelligent control module after a successful search. Then, the intelligent control module merges the marked parking space information and the spatial parking space information, and only when the same parking space represented by both is in an idle state, does it determine that the parking space is in an idle state. When the vehicle moves forward, it senses the idle parking spaces and occupied parking spaces in real time and generates a parking space map.

[0110] In this implementation, by comparing the parking space positions, the marked parking spaces and the free parking spaces are accurately matched, which helps to avoid duplicate counting or misjudgment. The parking space usage status of the marked parking spaces and the free parking spaces are used to jointly determine whether the parking spaces are occupied or vacant, which can avoid misjudgment that may be caused by a single data source and improve the accuracy and reliability of the parking space usage status.

[0111] 505. In response to the end of the vehicle driving, the vehicle generates a local map of the parking lot based on the collected parking space information and traffic status information through the intelligent control module, and the local map is used to display the parking space information and traffic status information in the driving area.

[0112] The smart parking system uses cameras and ultrasonic probes to identify parking space information such as the location and usage status of parking spaces, and uses the forward-facing multi-function camera to identify traffic status information, including the number and location of pedestrians and vehicles in the driving area. The smart parking system generates a local map of the parking lot based on the parking space information and traffic status information in the smart control module. The local map can display the parking space location, parking space usage status, number of vehicles and pedestrians, and location of vehicles and pedestrians collected in the driving area.

[0113] In this implementation, in addition to collecting parking space information, traffic status information is also collected, which not only allows users to understand the parking space usage in the parking lot in advance, but also allows real-time grasp of the density of vehicles and pedestrians in the parking lot, improving the understanding of the overall environment in the parking lot, facilitating the selection of parking routes and strategies, and reducing the time and pressure of finding parking spaces.

[0114] Figure 7 is a schematic diagram of a vehicle processing method provided in an embodiment of the present application, such as Figure 7As shown, the camera is used to detect the parking position and parking usage status of the marked parking spaces, and detect the number and position of vehicles and pedestrians. The ultrasonic probe is used to detect the parking position and parking usage status of the spatial parking spaces, and is also used to detect obstacles in the driving direction during intelligent parking. Pipeline sensing IMU (Inertial Measurement Unit) and GPS (Global Positioning System) are used to provide vehicle position, body heading and posture information, etc. The information detected by the camera and ultrasonic probe is used for environmental modeling and positioning, and then the intelligent control module generates a parking lot map with parking space information and traffic status information. Integrated positioning, sensor fusion and safety verification are performed through the information detected by the IMU and GPS.

[0115] 506. The vehicle sends a local map to the cloud server via the remote communication module.

[0116] After generating a local map of the parking lot, the intelligent control module sends the local map to the remote communication module, and the remote communication module sends the local map to the cloud server.

[0117] Exemplarily, the remote communication module sends a map upload request to the cloud server, where the map upload request carries a parking lot identification of the parking lot and a local map of the parking lot.

[0118] 507. The cloud server receives a local map of the parking lot, and uses the local map to update a global map of the parking lot. The global map is used to display multiple areas of the parking lot and parking space information in the multiple areas.

[0119] The cloud server stores a global map of the parking lot. After receiving a local map of the parking lot uploaded by any vehicle, the cloud server uses the local map to update the global map of the parking lot. The global map can display multiple areas of the parking lot as well as parking space information and traffic status information in multiple areas.

[0120] Exemplarily, the global map of the parking lot stored in the cloud server may be a complete global map or an incomplete global map.

[0121] For example, all areas of the parking lot have not been collected yet, and the global map of the parking lot is an incomplete global map, which only includes part of the area in the parking lot. If the global map does not include the area represented by the partial map, the area represented by the partial map and the parking space information and traffic status information of the area are updated to the global map. If the global map includes the area represented by the partial map, the parking space information and traffic status information in the area represented by the partial map are updated to the global map.

[0122] By updating the local map uploaded by the vehicle to the global map, the parking space information and traffic status information displayed in the global map are guaranteed to be real-time. Vehicles equipped with the smart parking system or mobile terminals equipped with vehicle management software associated with the smart parking system can download the global map of the parking lot from the cloud server, so as to view the parking space information and traffic status information of the parking lot shared by other users in real time, so as to timely understand whether there are vacant parking spaces in the parking lot and whether the traffic is congested, etc., and then assist users in deciding whether to go to the parking lot for parking.

[0123] The method provided in the embodiment of the present application can provide real-time feedback on the use of parking spaces in the parking lot by collecting parking space information in the parking lot through vehicles and generating a local map of the parking lot. The local map is uploaded to the cloud server, and the global map of the parking lot can be updated in a timely manner, so that the global map can dynamically reflect the use of parking spaces in multiple areas of the parking lot in real time, thereby facilitating the provision of real-time and accurate parking space information in the parking lot to other vehicles, which is conducive to reducing the time and energy waste in finding parking spaces.

[0124] The following embodiments are described by taking an example where a vehicle equipped with an intelligent parking system downloads a global map of a parking lot from a cloud server. Figure 8 is a flowchart of another map processing method provided by an embodiment of the present application, which is applied to a vehicle and a cloud server. The vehicle is equipped with an intelligent parking system, which includes a surround view camera, an ultrasonic probe, an intelligent control module and a remote communication module. Figure 8 , the method comprising:

[0125] 801. The vehicle responds to the parking lot viewing operation through the intelligent parking system and sends a parking lot viewing request to the cloud server.

[0126] When the user of the vehicle wants to know the parking space information or traffic status information of the parking lot, he performs a viewing operation on the vehicle to view the parking lot. In response to the viewing operation on the parking lot, the smart parking system sends a viewing request for the parking lot to the cloud server.

[0127] Exemplarily, the viewing request carries a parking lot identification of the parking lot.

[0128] It should be noted that the embodiment of the present application is only described by taking the example of a vehicle obtaining a global map by sending a viewing request to a cloud server. In another embodiment, the cloud server stores the association relationship between any vehicle and any parking lot. If the cloud server stores the association relationship between the vehicle and the parking lot, then whenever the global map of the parking lot is updated, the cloud server actively sends the global map of the parking lot to the vehicle. Exemplarily, if the vehicle parks in the parking lot for a preset number of times within a preset time, the association relationship between the vehicle and the parking lot is established.

[0129] 802. In response to the request to view the parking lot, the cloud server sends a global map of the parking lot to the vehicle.

[0130] The global map is used to display multiple areas of the parking lot and parking space information in the multiple areas. The global map is updated based on the local map of the parking lot sent by at least one vehicle. The local map is used to display the parking space information in the driving area collected when the vehicle is driving in the parking lot. The parking space information includes the parking space location and the parking space usage status. The parking space usage status includes the idle state and the occupied state.

[0131] 803. The vehicle receives a global map of the parking lot from a cloud server through the intelligent parking system.

[0132] The intelligent parking system includes a remote communication module, through which the global map sent by the cloud server is received.

[0133] 804. The vehicle displays a global map of the parking lot through the intelligent parking system. The global map is used to display multiple areas of the parking lot and parking space information in the multiple areas.

[0134] After receiving the global map, the vehicle displays the global map. Users can use the global map to understand the parking space occupancy and traffic congestion in the parking lot, quickly understand whether there are vacant parking spaces in the parking lot and whether the traffic is congested, and then decide whether to go to the parking lot for parking.

[0135] In a possible implementation, a first display style is used to display non-vacant parking spaces in the global map, and a second display style is used to display vacant parking spaces. Non-vacant parking spaces refer to parking spaces that are occupied, and vacant parking spaces refer to parking spaces that are vacant. For example, the first display style refers to displaying in red, and the second display style refers to displaying in green.

[0136] In a possible implementation, an idle sign is added to an idle parking space in the global map, and the idle sign indicates that the current parking space is in an idle state.

[0137] In a possible implementation manner, the number of vehicles and pedestrians on each road in the global map is displayed.

[0138] 805. The vehicle determines the target parking space in the global map through the intelligent parking system, and the parking space usage status of the target parking space is idle.

[0139] In a possible implementation, in response to a selection operation on any vacant parking space displayed in the global map, the vehicle selects the selected vacant parking space as a target parking space, wherein the vacant parking space refers to a parking space in an idle state.

[0140] In one possible implementation, the intelligent parking system includes an intelligent control module, in which a parking space selection algorithm is integrated, which can intelligently select an idle parking space as a target parking space from multiple idle parking spaces based on the positions of each idle parking space in a global map and the number of vehicles and pedestrians on each road. Exemplarily, an idle parking space with the least number of vehicles and pedestrians on the road required to pass from the parking lot entrance to the idle parking space is determined, and the idle parking space is used as the target parking space.

[0141] 806. The vehicle uses the intelligent parking system to navigate the route to the target parking space based on the global map, or automatically drives the vehicle to the target parking space.

[0142] After the target parking space is determined, the vehicle is navigated to the target parking space based on the global map of the parking lot. Alternatively, after the target parking space is determined, the intelligent parking system automatically drives the vehicle to the target parking space based on the global map of the parking lot, thereby realizing intelligent parking.

[0143] In this implementation, the vehicle is guided to the target parking space based on the global map, reducing the chances of getting lost or unnecessary detours in the parking lot. In addition, the automatic driving function is supported, which automatically drives the vehicle to the target parking space, greatly reducing the driver's operating burden and further reducing the difficulty of finding the target parking space and parking operations. In addition, the global map is expanded from a simple information display to a driving guidance tool, which enhances the practicality of the global map.

[0144] It should be noted that the above embodiment is only described by taking the application of the map processing method to a vehicle as an example, and the vehicle can download a global map of the parking lot from a cloud server through the intelligent parking system. In another embodiment, the map processing method can also be applied to a mobile terminal, which is installed with a vehicle management software associated with the intelligent parking system, and the global map of the parking lot is downloaded from the cloud server through the vehicle management software, and the mobile terminal displays the global map in the vehicle management software. The user can view the global map on the mobile terminal, and the mobile terminal can also determine the target parking space in the global map, and navigate the route to the target parking space based on the global map.

[0145] In the embodiment of the present application, the intelligent parking system of the vehicle is utilized to automatically perform parking space identification and traffic condition identification while the intelligent parking system is turned on, and generate a local map of the parking lot. At the same time, each vehicle uploads its generated local map of the parking lot to a cloud server through crowdsourcing. The cloud server establishes a sharing community, which covers vehicles equipped with the intelligent parking system and mobile terminals equipped with vehicle management software associated with the intelligent parking system. Users of the sharing community can download a global map of the parking lot in real time, view the parking space information and traffic status information of the parking lot, and thus determine whether to go to the parking lot, as well as determine the best parking position and the best driving route in the parking lot, thereby greatly saving users' parking time and improving user experience.

[0146] Fig. 9 is a structural diagram of a map processing device provided in an embodiment of the present application, which is applied to an intelligent parking system in a vehicle, see Fig. 9 , the device comprises:

[0147] The environment perception module 901 is used to collect parking space information in the driving area in the parking lot when the vehicle is detected to be currently in the parking lot. The parking space information includes the parking space location and the parking space usage status. The parking space usage status includes the idle state and the occupied state.

[0148] The intelligent control module 902 is used to generate a local map of the parking lot based on the collected parking space information in response to the end of the vehicle driving, and the local map is used to display the parking space information in the driving area;

[0149] The remote communication module 903 is used to send a local map to a cloud server. The cloud server is used to receive the local map of the parking lot and use the local map to update the global map of the parking lot. The global map is used to display multiple areas of the parking lot and parking space information in the multiple areas.

[0150] The map processing device provided in the embodiment of the present application can collect parking space information in the parking lot through vehicles and generate a local map of the parking lot, which can provide real-time feedback on the use of parking spaces in the parking lot. The local map is uploaded to the cloud server, and the global map of the parking lot can be updated in a timely manner, so that the global map can dynamically reflect the use of parking spaces in multiple areas of the parking lot in real time, thereby facilitating the provision of real-time and accurate parking space information in the parking lot to other vehicles, which is conducive to reducing the time and energy waste in finding parking spaces.

[0151] Alternatively, see Fig. 9 , the environment perception module 901 is used to:

[0152] Collecting the marked parking space information through the surround view camera, the marked parking space information includes the parking space location and parking space usage status of the marked parking space;

[0153] The spatial parking space information is collected by using an ultrasonic probe, and the spatial parking space information includes the parking space location and parking space usage status of the spatial parking space;

[0154] The intelligent control module 902 is used to merge the marked parking space information and the spatial parking space information to obtain the parking space information.

[0155] Alternatively, see Fig. 9 , the intelligent control module 902 is used to:

[0156] If the parking space position of any of the marked parking spaces indicated by the marked parking space information is the same as the parking space position of any of the space parking spaces indicated by the space parking space information, then it is determined that the marked parking space and the space parking space are the same parking space;

[0157] If the parking space usage status in the lined parking space information and the parking space usage status in the space parking space information are both in an idle state, the parking space usage status of the parking space is determined to be an idle state; if at least one of the parking space usage status in the lined parking space information and the parking space usage status in the space parking space information is in an occupied state, the parking space usage status of the parking space is determined to be an occupied state;

[0158] Parking space information is determined based on a parking space position and a parking space usage status of at least one parking space.

[0159] Alternatively, see Fig. 9 The environment perception module 901 is also used to collect traffic status information in the driving area in the parking lot through the intelligent parking system during the driving of the vehicle, and the traffic status information indicates the number of vehicles and pedestrians in the driving area;

[0160] The intelligent control module 902 is used to:

[0161] In response to the end of vehicle travel, the intelligent parking system generates a local map of the parking lot based on the collected parking space information and traffic status information, and the local map is used to display the parking space information and traffic status information in the driving area.

[0162] It should be noted that the map processing device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the electronic device is divided into different functional modules to complete all or part of the functions described above. In addition, the map processing device provided in the above embodiment and the map processing method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0163] Fig.10 is a structural diagram of a map processing device provided in an embodiment of the present application, see Fig.10 , the device comprises:

[0164] The sending module 1001 is used to send a request for viewing the parking lot to the cloud server in response to the viewing operation on the parking lot;

[0165] The receiving module 1002 is used to receive a global map of the parking lot sent by the cloud server. The global map is updated based on a local map of the parking lot sent by at least one vehicle. The local map is used to display parking space information in the driving area collected when the vehicle is driving in the parking lot. The parking space information includes the parking space location and the parking space usage status. The parking space usage status includes an idle state and an occupied state.

[0166] The display module 1003 is used to display a global map of the parking lot. The global map is used to display multiple areas of the parking lot and parking space information in the multiple areas.

[0167] The map processing device provided in the embodiment of the present application can collect parking space information in the parking lot through vehicles and generate a local map of the parking lot, which can provide real-time feedback on the use of parking spaces in the parking lot. The local map is uploaded to the cloud server, and the global map of the parking lot can be updated in a timely manner, so that the global map can dynamically reflect the use of parking spaces in multiple areas of the parking lot in real time, thereby facilitating the provision of real-time and accurate parking space information in the parking lot to other vehicles, which is conducive to reducing the time and energy waste in finding parking spaces.

[0168] Optionally, the device is applied to an intelligent parking system in a vehicle; or, the device is applied to vehicle management software in a mobile terminal, and the vehicle management software is associated with the intelligent parking system.

[0169] Alternatively, see Fig.11 , the device is applied to an intelligent parking system in a vehicle, and the device also includes:

[0170] The determination module 1004 is used to determine the target parking space in the global map through the intelligent parking system, and the parking space usage status of the target parking space is an idle state;

[0171] The control module 1005 is used to navigate the route to the target parking space based on the global map through the intelligent parking system, or automatically drive the vehicle to the target parking space.

[0172] It should be noted that the map processing device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the electronic device is divided into different functional modules to complete all or part of the functions described above. In addition, the map processing device provided in the above embodiment and the map processing method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0173] An embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor to implement the operations performed in the map processing method of the above embodiment.

[0174] Fig.12 The electronic device includes a processor 1201 and a memory 1202 .

[0175] The processor 1201 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1201 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field Programmable Gate Array), and PLA (Programmable Logic Array). The processor 1201 may also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1201 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1201 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0176] The memory 1202 may include one or more computer-readable storage media, which may be non-transitory. The memory 1202 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 1202 is used to store at least one computer program, which is used by the processor 1201 to implement the map processing method provided in the method embodiment of the present application.

[0177] Those skilled in the art will understand that Fig.12 The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or less components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0178] An embodiment of the present application also provides a computer-readable storage medium, in which at least one program code is stored. The at least one program code is loaded and executed by a processor to implement the map processing method as described in any of the above implementations.

[0179] An embodiment of the present application also provides a computer program product, which includes at least one program code, and the at least one program code is loaded and executed by a processor to implement the map processing method as described in any of the above implementations.

[0180] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A map processing method, characterized in that: Applied to a vehicle, the vehicle being equipped with an intelligent parking system, the method comprising: When it is detected that the vehicle is currently located in a parking lot, during the driving of the vehicle, the intelligent parking system collects parking space information in the driving area in the parking lot, wherein the parking space information includes a parking space location and a parking space usage status, wherein the parking space usage status includes an idle state and an occupied state; In response to the vehicle ending its travel, the intelligent parking system generates a local map of the parking lot based on the collected parking space information, wherein the local map is used to display the parking space information in the travel area; The local map is sent to a cloud server through the intelligent parking system. The cloud server is used to receive the local map of the parking lot and use the local map to update the global map of the parking lot. The global map is used to display multiple areas of the parking lot and parking space information in the multiple areas.

2. The method according to claim 1, characterized in that The intelligent parking system includes a camera, an ultrasonic probe and an intelligent control module; the intelligent parking system is used to collect parking space information in the driving area in the parking lot, including: Collecting the marked parking space information by the camera, wherein the marked parking space information includes the parking space position and parking space usage status of the marked parking space; Collecting space parking space information by using the ultrasonic probe, wherein the space parking space information includes the parking space position and parking space usage status of the space parking space; The marked parking space information and the spatial parking space information are merged through the intelligent control module to obtain the parking space information.

3. The method according to claim 2, characterized in that The step of fusing the marked parking space information with the spatial parking space information to obtain the parking space information includes: If the parking space position of any of the marked parking spaces indicated by the marked parking space information is the same as the parking space position of any of the space parking spaces indicated by the space parking space information, then it is determined that the marked parking space and the space parking space are the same parking space; If the parking space usage status in the lined parking space information and the parking space usage status in the space parking space information are both in an idle state, the parking space usage status of the parking space is determined to be an idle state; if at least one of the parking space usage status in the lined parking space information and the parking space usage status in the space parking space information is in an occupied state, the parking space usage status of the parking space is determined to be an occupied state; The parking space information is determined based on a parking space position and a parking space usage status of at least one parking space.

4. The method according to claim 1, characterized in that: The method further comprises: During the driving process of the vehicle, the intelligent parking system collects traffic status information in the driving area in the parking lot, wherein the traffic status information indicates the number of vehicles and pedestrians in the driving area; In response to the vehicle ending its travel, generating a local map of the parking lot based on the collected parking space information by the intelligent parking system includes: In response to the vehicle completing its travel, the intelligent parking system generates a local map of the parking lot based on the collected parking space information and the traffic status information, wherein the local map is used to display the parking space information and the traffic status information in the travel area.

5. A map processing method, characterized in that: The method comprises: In response to a viewing operation on a parking lot, sending a viewing request for the parking lot to a cloud server; Receiving a global map of the parking lot sent by the cloud server, wherein the global map is updated based on a local map of the parking lot sent by at least one vehicle, wherein the local map is used to display parking space information in a driving area collected when the vehicle is driving in the parking lot, wherein the parking space information includes a parking space location and a parking space usage status, wherein the parking space usage status includes an idle state and an occupied state; A global map of the parking lot is displayed, where the global map is used to show multiple areas of the parking lot and parking space information in the multiple areas.

6. The method according to claim 5, characterized in that The method is applied to a vehicle, the vehicle is equipped with an intelligent parking system, and the method is performed by the intelligent parking system; or, The method is applied to a mobile terminal, the mobile terminal is installed with vehicle management software associated with the intelligent parking system, and the method is executed by the vehicle management software.

7. The method according to claim 6, characterized in that The method is applied to the vehicle, and the method further comprises: By means of the intelligent parking system, a target parking space is determined in the global map, and the parking space usage status of the target parking space is an idle state; Through the intelligent parking system, based on the global map, the route to the target parking space is navigated, or the vehicle is automatically driven to the target parking space.

8. A map processing device, characterized in that: An intelligent parking system applied to a vehicle, the device comprising: an environment perception module, for collecting parking space information in a driving area in the parking lot when the vehicle is driving, if it is detected that the vehicle is currently in the parking lot, wherein the parking space information includes a parking space location and a parking space usage status, wherein the parking space usage status includes an idle state and an occupied state; an intelligent control module, configured to generate a local map of the parking lot based on the collected parking space information in response to the vehicle finishing its travel, wherein the local map is used to display the parking space information in the travel area; The remote communication module is used to send the local map to a cloud server, and the cloud server is used to receive the local map of the parking lot, and use the local map to update the global map of the parking lot. The global map is used to display multiple areas of the parking lot and parking space information in the multiple areas.

9. A map processing device, characterized in that: The device comprises: A sending module, configured to send a request for viewing the parking lot to a cloud server in response to a viewing operation on the parking lot; a receiving module, configured to receive a global map of the parking lot sent by the cloud server, wherein the global map is updated based on a local map of the parking lot sent by at least one vehicle, wherein the local map is used to display parking space information in a driving area collected when a vehicle is driving in the parking lot, wherein the parking space information includes a parking space location and a parking space usage status, wherein the parking space usage status includes an idle state and an occupied state; The display module is used to display a global map of the parking lot, wherein the global map is used to display multiple areas of the parking lot and parking space information in the multiple areas.

10. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the map processing method as claimed in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one program code, and the at least one program code is loaded and executed by a processor to implement the map processing method according to any one of claims 1 to 8.

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