Map data processing method and device

Abstract

The invention discloses a map data processing method and device, and the method comprises the steps: obtaining value reference information which is used for indicating the collection value of geographic information of a geographic region in a map, the value reference information further comprises at least one of the following information: value information used for indicating the compliance degree of a geographic area in the map, and value information used for indicating the scene demand degree of the geographic area in the map; the value information is used for indicating a design operation range ODD condition which needs to be met by geographic information acquisition; and the value information is used for indicating the data scarcity degree of a geographic area in a map. By implementing the application, the acquisition value of the geographic information of the prior geographic area can be provided as a reference when the vehicle end acquires data, and the richness of the map is improved. In addition, the optimal acquisition path is planned based on the value reference information, so that the vehicle can be guided to acquire the geographic information of the high-value geographic area more accurately and efficiently.

Description

Technical Field

[0001] This application relates to the field of maps, and particularly to a method and device for processing map data. Background Art

[0002] Intelligent connected vehicles are equipped with multiple types of sensors such as cameras, lidar, millimeter-wave radars, and global navigation satellite systems, enabling them to have the ability to collect and perceive geographic information data in real time, providing data support for aspects such as map updates and the training of intelligent driving models.

[0003] Currently, as time goes by, the number of in-vehicle sensors is increasing, and the resulting data collection volume is also increasing, posing higher challenges to data storage and data transmission efficiency. How to enable the vehicle terminal to collect geographic information more accurately and efficiently is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This application discloses a method and device for processing map data, which can provide the acquisition value of the geographic information of the prior geographic area as a reference when the vehicle terminal collects data, improving the richness of map information.

[0005] In a first aspect, this application provides a method for processing map data. The method includes: obtaining value reference information, where the value reference information is used to indicate the acquisition value of the geographic information of the geographic area in the map, and the value reference information further includes at least one of the following information: value information for indicating the compliance degree of the geographic area in the map, value information for indicating the scene demand degree of the geographic area in the map, value information for indicating the designed operating range (ODD) conditions that should be met for geographic information acquisition, and value information for indicating the data scarcity degree of the geographic area in the map; storing the value reference information as the data of the map.

[0006] Exemplarily, the map can be a high-precision map, a standard-precision map, or other types of basic maps.

[0007] Exemplarily, the geographic area is located in a lane or a road in the map. It can be understood that the "geographic area" in different types of value information is not necessarily the same. For example, the "geographic area" in the "value information for indicating the compliance degree of the geographic area in the map" can be obtained by dividing based on compliance rules, the "geographic area" in the "value information for indicating the data scarcity degree of the geographic area in the map" can be obtained by dividing based on the data distribution of the historical collected geographic information, and the "geographic area" in the "value information for indicating the acquisition value of the geographic information of the geographic area in the map" can be the geographic area after superposition (i.e., taking the intersection) of the geographic areas corresponding to multiple types of value information.

[0008] Here, the compliance degree of a geographical area is used to determine whether the geographical information of that geographical area can be collected. The value reference information also provides the compliance degree of the geographical area from the perspective of compliance, and through the compliance degree of the geographical area, it can be determined whether the geographical information of the geographical area is allowed to be collected.

[0009] In one implementation, the collection of geographical information needs to comply with the compliance rules defined by laws and regulations, and the compliance degree of a geographical area can be represented by "1" and "0". When the geographical area meets the compliance rules, the compliance degree of that geographical area is recorded as "1", which means that the geographical information of that geographical area is allowed to be collected; when the geographical area does not meet the compliance rules, the compliance degree of that geographical area is recorded as "0", which means that the geographical information of that geographical area is not allowed to be collected.

[0010] In one implementation, the compliance degree of a geographical area can be expressed as the sensitivity of that geographical area. Different geographical areas have different sensitivities, and the geographical information of geographical areas with higher sensitivities is less allowed to be collected or more restricted from being collected.

[0011] Exemplarily, the ODD provided by the value reference information can be global or associated with a geographical area to achieve a refined expression of the ODD conditions. When an autonomous vehicle performs data collection, the value reference information enables the autonomous vehicle to independently determine whether the geographical areas along the driving route meet the corresponding ODD conditions by indicating the above ODD conditions.

[0012] The value reference information provides the scene requirement degree of the geographical areas in the map, taking into account the collection requirements in different spatial scenarios, which is conducive to more accurately and comprehensively evaluating the collection value of the geographical information of geographical areas. The value reference information also provides the data scarcity degree of the geographical areas in the map from the perspective of the scarcity of geographical information, which helps to judge the value tendency of the collection unit or project at different spatial positions and is conducive to more accurately and comprehensively evaluating the collection value of the geographical information of geographical areas.

[0013] Exemplarily, the value reference information can also include some conventional information such as the location information of the geographical areas in the map and the time information of the value reference information. The time information of the value reference information includes at least one of the generation timestamp of the value reference information and the version number of the value reference information. It can be understood that the value reference information is updatable, and by carrying the time information of the value reference information, different value reference information generated at different times or different versions of the value reference information can be distinguished.

[0014] Exemplarily, the value reference information is stored in the data structure corresponding to the identifier of the tile of the map, or the value reference information is stored in the data structure corresponding to the planned path to be collected.

[0015] Exemplarily, storing the value reference information as data of a map may be: storing the value reference information as dynamic layer data of the map. That is to say, the value reference information can be expressed in the form of a dynamic layer of the map. Among them, the dynamic layer carrying the value reference information can be displayed separately or superimposed with at least one other layer (such as a static layer) in the map.

[0016] Exemplarily, among the value reference information, the acquisition value corresponding to the geographical area, the value information for indicating the compliance degree of the geographical area, the value information for indicating the scenario demand degree of the geographical area, the value information for indicating the ODD condition, and the value information for indicating the data scarcity degree of the geographical area can all be separately displayed in the form of a dynamic layer, and each type of information corresponds to one layer.

[0017] In the above method, the obtained value reference information can provide the acquisition value of the geographical information of the geographical area of the map. The higher the acquisition value corresponding to the geographical area, the more worthy the geographical information of the geographical area is to be collected. Storing the value reference information as data of the map can not only improve the richness of the map but also be applicable to more diverse usage requirements.

[0018] Optionally, the geographical area in the map includes a first geographical area, and the acquisition value of the geographical information of the first geographical area is the compliance degree of the first geographical area; or, the acquisition value of the geographical information of the first geographical area is statistically obtained based on at least one of the scenario demand degree and the data scarcity degree of the first geographical area and the compliance degree of the first geographical area.

[0019] It can be understood that when it is determined based on the compliance degree of the geographical area that the geographical information of the geographical area is not allowed to be collected, regardless of whether at least one of the scenario demand degree and the corresponding data scarcity degree of the geographical area is also combined to determine the acquisition value of the geographical information of the geographical area, the acquisition value of the geographical information of the geographical area is the lowest.

[0020] That is to say, the acquisition value of the geographical information of the geographical area can be determined only based on the compliance degree of the geographical area, so that the receiving end can determine which geographical areas are allowed to be collected based on the acquisition value corresponding to the geographical area. Or, the acquisition value of the geographical information of the geographical area can also be determined based on the compliance degree of the geographical area and in combination with at least one of the scenario demand degree, the compliance degree of the corresponding ODD condition, and the corresponding data scarcity degree of the geographical area. In this case, the acquisition value of the geographical information of the geographical area is the acquisition value obtained through comprehensive evaluation, so that the receiving end can identify the geographical areas with relatively high acquisition values based on the acquisition value corresponding to the geographical area.

[0021] Optionally, the scene demand degree of the geographical area in the map is obtained based on at least one of the type of the road in the geographical area, the grade of the road, the curvature of the road, the slope of the road, and the type of driving scene in the geographical area.

[0022] The type of the road includes, for example, at least one of highway, expressway, urban road, etc. The grade of the road includes, for example, at least one of national road, provincial road, county road, and township road. The curvature of the road includes, for example, straight road and curved road. The slope of the road includes, for example, no slope and slope. The type of driving scene in the geographical area includes but is not limited to at least one of high-frequency takeover, automatic exit of the automatic driving system, high-frequency path replanning, perception detection error reporting, frequent traffic accidents, etc. In this way, the scene demand degree of the geographical area can be comprehensively evaluated from multiple dimensional features of the scene.

[0023] Optionally, the value information for indicating the scene demand degree of the geographical area in the map further includes at least one of the following information: the type of the road in the geographical area in the map, the grade of the road in the geographical area, the curvature of the road in the geographical area, the slope of the road in the geographical area, and the type of driving scene in the geographical area. Implementing the above implementation manner, the value reference information also provides various factors affecting the scene demand degree of the geographical area, enriching the content of the value reference information.

[0024] Optionally, the method further includes: sending at least one of the following information in the value reference information to the acquisition vehicle: the acquisition value of the geographical information of the geographical area through which the planned path of the acquisition vehicle passes; and, the value information corresponding to the geographical area through which the planned path of the acquisition vehicle passes.

[0025] Exemplarily, the value information corresponding to the geographical area includes at least one of the scene demand degree corresponding to the geographical area, the ODD condition corresponding to the geographical area, and the data scarcity degree corresponding to the geographical area.

[0026] The above implementation manner can be applied to the network-side device. As the generator of the value reference information, the network-side device can send the part of the value reference information associated with the planned path of the acquisition vehicle to the acquisition vehicle in the form of broadcast, multicast, or unicast, so that the acquisition vehicle can know the acquisition value and other information of the geographical area to be passed through.

[0027] Optionally, the method further includes: sending an acquisition strategy, where the acquisition strategy is used to indicate to acquire the geographical information of the geographical area whose acquisition value reaches the first threshold, or,

[0028] The acquisition strategy is used to indicate to acquire the geographical information of the geographical area that meets at least one of the following conditions:

[0029] The compliance of the geographical area reaches a second threshold;

[0030] The data scarcity of the geographical area reaches a third threshold; and

[0031] The scenario demand of the geographical area reaches a fourth threshold.

[0032] For example, the acquisition strategy may further include that the sensing result of the geographical area should meet the designed operating domain (ODD) conditions corresponding to the geographical area.

[0033] Implementing the above implementation methods, the vehicle's data acquisition work can be guided by issuing an acquisition strategy. The setting of the acquisition strategy can depend only on the acquisition value of the geographical information of the geographical area, or can be set based on at least one of the compliance of the geographical area, the data scarcity of the geographical area, and the scenario demand of the geographical area, with a flexible approach.

[0034] Exemplarily, the geographical area in the map includes a second geographical area, and the method further includes: when the ODD conditions of the second geographical area change, updating the acquisition value of the geographical information of the second geographical area and / or the value information corresponding to the second geographical area in the value reference information. In this way, when it is detected that the ODD conditions change, the value reference information can be actively updated. Optionally, the value reference information can also be updated based on the acquisition data transmitted back by the vehicle.

[0035] Optionally, when the method is applied to a vehicle, the method further includes: planning an optimal acquisition path according to the value reference information.

[0036] As an example, planning an optimal acquisition path according to the value reference information includes: determining multiple planned paths for the vehicle to reach a second position from a first position according to an acquisition task; determining the optimal acquisition path according to the multiple planned paths and the value reference information, and the optimal acquisition path belongs to the multiple planned paths.

[0037] Further, determining the optimal acquisition path according to the multiple planned paths and the value reference information includes: determining the acquisition value corresponding to each planned path in the multiple planned paths according to the value reference information; determining the planned path corresponding to the highest acquisition value as the optimal acquisition path of the vehicle; wherein, the acquisition value corresponding to each planned path is obtained by statistically collecting the value of the geographical information of each geographical area passed by the planned path.

[0038] When this method is applied to a vehicle, the value reference information provides a priori collection value of the geographical area for data collection at the vehicle end as a reference. The optimal collection path planned based on the value reference information can guide the vehicle to collect geographical information of high-value geographical areas more accurately and efficiently.

[0039] Optionally, the optimal collection path satisfies at least one of the following conditions:

[0040] The number of geographical areas with a collection value reaching the first value along the path is the largest;

[0041] The number of geographical areas with a compliance degree reaching the second value along the path is the largest;

[0042] The number of geographical areas with a data scarcity degree reaching the third value along the path is the largest; and

[0043] The number of geographical areas with a scenario demand degree reaching the fourth value along the path is the largest.

[0044] Exemplarily, in contrast to the description of the above collection strategy, the first value is greater than the above first threshold, the second value is greater than the above second threshold, the third value is greater than the above third threshold, and the fourth value is greater than the above fourth threshold.

[0045] Exemplarily, the optimal collection path can also be the planned path with the largest number of geographical areas with a collection value reaching the first value among the above multiple planned paths, or the optimal collection path can also be the planned path with the largest number of geographical areas with a compliance degree reaching the second value among the above multiple planned paths, or the optimal collection path can also be the planned path with the largest number of geographical areas with a data scarcity degree reaching the third value among the above multiple planned paths, or the optimal collection path can also be the planned path with the largest number of geographical areas with a scenario demand degree reaching the fourth value among the above multiple planned paths.

[0046] In this way, the determination criteria for the optimal collection path are diversified, suitable for different collection requirements, and can guide the vehicle to collect geographical information of high-value geographical areas more accurately and efficiently.

[0047] Optionally, the method further includes: receiving a collection strategy; and collecting geographical information of the target geographical area when it is determined that the target geographical area currently passed by the vehicle satisfies the collection strategy according to the perception result when the vehicle travels along the optimal collection path and the value reference information.

[0048] In the above implementation method, based on the current perception result of the vehicle and the ODD conditions of the corresponding geographical area in the value reference information, it can be known whether the target geographical area currently passed by the vehicle meets the ODD conditions. When the ODD conditions are met and it is also determined based on the value reference information that the target geographical area meets the acquisition strategy, the vehicle can be triggered to collect the geographical information of the target geographical area.

[0049] Optionally, the method further includes: presenting the value reference information on the map display interface in at least one of the following ways:

[0050] Marking the geographical areas in the value reference information whose compliance meets the first condition; it is possible to only mark the compliant geographical areas and not mark the non-compliant geographical areas, protecting the privacy of the non-compliant geographical areas;

[0051] Marking the geographical areas in the value reference information whose scene demand meets the second condition; it is possible to intuitively show the user the geographical areas with a relatively high current acquisition demand (i.e., scene demand);

[0052] Marking the geographical areas in the value reference information whose data scarcity meets the third condition; it is possible to intuitively present the geographical areas with a relatively high data scarcity;

[0053] Marking the geographical areas in the value reference information whose acquisition value meets the fourth condition; it can intuitively present to the user the geographical areas with a relatively high acquisition value, providing a reference for the planning of the vehicle's acquisition path;

[0054] Displaying the acquisition value of at least one geographical area associated with the planned path of the vehicle; in this way, the user can know the distribution of the acquisition values corresponding to the geographical areas that the planned path of the vehicle is about to pass through;

[0055] Displaying at least one of the scene demand, corresponding data scarcity, and corresponding ODD conditions of at least one geographical area associated with the planned path of the vehicle; and

[0056] Marking the geographical areas with different acquisition values in different colors.

[0057] In a second aspect, the present application provides a map data processing device, which includes: an acquisition unit configured to acquire value reference information for indicating the acquisition value of geographical information of geographical regions in a map, where the value reference information further includes at least one of the following information: value information for indicating the compliance degree of geographical regions in the map, value information for indicating the scene demand degree of geographical regions in the map, value information for indicating the operating design domain (ODD) conditions that geographical information acquisition should meet, and value information for indicating the data scarcity degree of geographical regions in the map; and a storage unit configured to store the value reference information as data of the map.

[0058] Optionally, the geographical regions in the map include a first geographical region, and the acquisition value of the geographical information of the first geographical region is the compliance degree of the first geographical region; or, the acquisition value of the geographical information of the first geographical region is statistically obtained based on at least one of the scene demand degree and the data scarcity degree of the first geographical region and the compliance degree of the first geographical region.

[0059] Optionally, the scene demand degree of the geographical regions in the map is obtained based on at least one of the type of roads in the geographical region, the grade of the roads, the curvature of the roads, the slope of the roads, and the type of driving scenes in the geographical region.

[0060] Optionally, the value information for indicating the scene demand degree of the geographical regions in the map further includes at least one of the following information: the type of roads in the geographical regions in the map, the grade of the roads in the geographical regions, the curvature of the roads in the geographical regions, the slope of the roads in the geographical regions, and the type of driving scenes in the geographical regions.

[0061] Optionally, the device further includes a sending unit configured to send at least one of the following information in the value reference information to a collection vehicle: the acquisition value of the geographical information of the geographical regions through which the planned path of the collection vehicle passes; and the value information corresponding to the geographical regions through which the planned path of the collection vehicle passes.

[0062] Optionally, the device further includes a sending unit configured to send a collection strategy, where the collection strategy is used to indicate the acquisition of geographical information of geographical regions whose acquisition value reaches a first threshold, or,

[0063] the collection strategy is used to indicate the acquisition of geographical information of geographical regions that meet at least one of the following conditions:

[0064] the compliance degree of the geographical region reaches a second threshold;

[0065] The data scarcity of the geographical area reaches a third threshold; and

[0066] The scenario demand of the geographical area reaches a fourth threshold.

[0067] Optionally, the device is a vehicle or is included in the vehicle, and the device further includes a processing unit for: planning an optimal acquisition path according to the value reference information.

[0068] Optionally, the optimal acquisition path satisfies at least one of the following conditions:

[0069] The number of geographical areas with an acquisition value reaching a first value along the path is the largest;

[0070] The number of geographical areas with a compliance degree reaching a second value along the path is the largest;

[0071] The number of geographical areas with a data scarcity reaching a third value along the path is the largest; and

[0072] The number of geographical areas with a scenario demand reaching a fourth value along the path is the largest.

[0073] Optionally, the device further includes: a receiving unit for receiving an acquisition strategy; the processing unit for collecting geographical information of the target geographical area when it is determined that the target geographical area currently passed by the vehicle satisfies the acquisition strategy according to the perception result when the vehicle travels along the optimal acquisition path and the value reference information.

[0074] Optionally, the device further includes a display unit for presenting the value reference information on a map display interface in at least one of the following ways:

[0075] Marking the geographical areas in the value reference information whose compliance degree satisfies a first condition;

[0076] Marking the geographical areas in the value reference information whose scenario demand satisfies a second condition;

[0077] Marking the geographical areas in the value reference information whose data scarcity satisfies a third condition;

[0078] Marking the geographical areas in the value reference information whose acquisition value satisfies a fourth condition;

[0079] Displaying the acquisition value of at least one geographical area associated with the planned path of the vehicle;

[0080] Displaying at least one of the scenario demand, corresponding data scarcity, and corresponding ODD condition of at least one geographical area associated with the planned path of the vehicle; and

[0081] Marking geographical areas with different acquisition values in different colors.

[0082] In a third aspect, the present application provides a map data processing device, which includes a processor and a memory. The memory is used to store program instructions. The processor calls the program instructions in the memory, so that the device executes the method in the first aspect or any possible implementation manner of the first aspect.

[0083] In a fourth aspect, the present application provides an electronic map, which includes value reference information. The value reference information is used to indicate the acquisition value of the geographical information of the geographical areas in the map. The value reference information further includes at least one of the following information: value information for indicating the compliance degree of the geographical areas in the map, value information for indicating the scenario demand degree of the geographical areas in the map, value information for indicating the design operating range (ODD) conditions that should be satisfied for geographical information acquisition, and value information for indicating the data scarcity degree of the geographical areas in the map.

[0084] Optionally, the value information for indicating the scenario demand degree of the geographical areas in the map further includes at least one of the following information: the type of roads in the geographical areas in the map, the grade of roads in the geographical areas, the curvature of roads in the geographical areas, the slope of roads in the geographical areas, and the type of driving scenarios in the geographical areas.

[0085] In a fifth aspect, the present application provides a vehicle, which includes the map data processing device in the second aspect or any possible implementation manner of the second aspect as described above, or includes the map data processing device in the third aspect as described above.

[0086] In a sixth aspect, the present application provides a computer-readable storage medium, which includes computer instructions. When the computer instructions are run by a processor, the method in the first aspect or any possible implementation manner of the first aspect as described above is implemented.

[0087] In a seventh aspect, the present application provides a computer-readable storage medium, which stores the electronic map in the fourth aspect or any possible implementation manner of the fourth aspect as described above.

[0088] In an eighth aspect, the present application provides a computer program product. When the computer program product is executed by a processor, the method in the first aspect or any possible embodiment of the first aspect as described above is implemented.

[0089] Exemplarily, the computer program product is a software installation package.

[0090] For the technical effects of the second aspect to the eighth aspect as described above, reference may be made to the description of the first aspect, and details are not described herein again. Description of the Drawings

[0091] Figure 1 is a schematic structural diagram of a data acquisition system provided by an embodiment of the present application;

[0092] Figure 2 is a flowchart of a map data processing method provided by an embodiment of the present application;

[0093] Figure 3A is a schematic expression diagram of some first value information provided by an embodiment of the present application;

[0094] Figure 3B is a schematic geometric expression diagram of a geographical area provided by an embodiment of the present application;

[0095] Figure 3C is a schematic diagram of the generation process of a second value information provided by an embodiment of the present application;

[0096] Figure 3D is a schematic expression diagram of some third value information provided by an embodiment of the present application;

[0097] Figure 3E is a schematic expression diagram of a fourth value information provided by an embodiment of the present application;

[0098] Figure 4 is a schematic diagram of the acquisition value of geographical information of a geographical area provided by an embodiment of the present application;

[0099] Figure 5 is a schematic layer diagram of value reference information provided by an embodiment of the present application;

[0100] Figure 6 is a schematic data storage structure diagram of value reference information provided by an embodiment of the present application;

[0101] Figure 7 is a flowchart of another map data processing method provided by an embodiment of the present application;

[0102] Figure 8 is a schematic interface diagram of optimal acquisition path recommendation provided by an embodiment of the present application;

[0103] Figure 9 is a schematic interface diagram of a display device provided by an embodiment of the present application;

[0104] Figure 10 is a schematic structural diagram of a map data processing device provided by an embodiment of the present application;

[0105] Figure 11 is a schematic structural diagram of a map data processing device provided by an embodiment of the present application;

[0106] Figure 12 This is a schematic structural diagram of a map data processing device provided in this embodiment of the present application. Detailed implementation manners

[0107] It should be noted that in the present application, prefix words such as "first" and "second" are only used to distinguish different described objects, and have no restrictive effect on the position, order, priority, quantity or content of the described objects. For example, if the described object is "field", the ordinal words before "field" in "the first field" and "the second field" do not limit the position or order between the "fields", and "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the described object is "level", the ordinal words before "level" in "the first level" and "the second level" do not limit the priority between the "levels". For another example, the quantity of the described object is not restricted by the prefix word and can be one or more. Taking "the first device" as an example, the quantity of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different. For example, if the described object is "device", then "the first device" and "the second device" can be the same device, devices of the same type or devices of different types; for another example, if the described object is "information", then "the first information" and "the second information" can be information with the same content or information with different content. In short, the use of prefix words for distinguishing described objects in the embodiments of the present application does not constitute a restriction on the described objects, and the statements of the described objects refer to the descriptions in the claims or the context of the embodiments, and should not constitute an unnecessary restriction due to the use of such prefix words.

[0108] It should be noted that in the embodiments of the present application, the description method such as "at least one (or at least one) of a1, a2,..., and an" includes the case where any one of a1, a2,..., and an exists alone, and also includes any combination of any number of a1, a2,..., and an, and each case can exist alone. For example, the description method of "at least one of a, b, and c" includes the cases of a alone, b alone, c alone, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b, and c.

[0109] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings.

[0110] See Figure 1 , Figure 1It is a schematic architecture diagram of a data acquisition system provided by an embodiment of the present application. This system is used for the generation and use of electronic maps. The electronic map includes value reference information, and the value reference information includes value information for indicating the compliance degree of a geographical area, where the compliance degree of the geographical area is used to determine whether the geographical area can be collected. The value reference information further includes the location information of the geographical area and the time information of the value reference information. As Figure 1 shown, the system includes a network-side device and a data acquisition vehicle, where the network-side device and the data acquisition vehicle communicate wirelessly.

[0111] Among them, the network-side device can be a device with computing capabilities. For example, the network-side device can be a server deployed on the network side (such as a map server or a server of a map provider), or a component or chip in the server. The network-side device can be deployed in a cloud environment or an edge environment. The network-side device can be an integrated device or a distributed multiple devices, and the embodiments of the present application do not make specific limitations.

[0112] The data acquisition vehicle can be, for example, a vehicle with environmental perception capabilities, decision-making and planning capabilities, and communication capabilities, or a device, component, or chip in the vehicle, such as an on-board unit (OBU). The embodiments of the present application do not make specific limitations. The sensing devices on the vehicle include at least one of on-vehicle cameras, millimeter-wave radars, lidars, etc.

[0113] Exemplarily, the data acquisition vehicle can be a dedicated vehicle for collecting map data or a social vehicle that selectively performs map data collection, and specific limitations are not made here. Here, the number and type of data acquisition vehicles are not limited.

[0114] In one implementation manner, the above value reference information is generated by the network-side device. Exemplarily, the network-side device can obtain the value reference information based on a basic map (including at least a static layer) and the compliance criteria of the geographical area. In some possible embodiments, the network-side device can also generate the above value reference information based on the basic map and the compliance criteria of the geographical area, in combination with at least one of spatial scene requirements, operational domain design (ODD) conditions, and data scarcity requirements. When the compliance criteria of the geographical area change or the ODD conditions change, the network-side device can also update the value reference information. Here, the basic map can be, for example, a high-precision map, a standard-precision map, or other types of maps. It can be understood that the network-side device can store the value reference information as data of the electronic map and publish it along with the electronic map, or publish it separately, and specific limitations are not made here. Figure 1 publish, or publish separately, and specific limitations are not made here.

[0115] Taking the release of an electronic map as an example, when releasing an electronic map, the network-side device can release the electronic map to the data collection vehicle through a wireless network, such as a cellular communication network; or, the network-side device can release the electronic map to other devices, and the other devices forward it to the data collection vehicle, and the forwarding can be carried out through Vehicle to Everything (V2X). For example, the map server in the cloud releases the electronic map to the vehicle, which can be released through the cellular communication network including the base station, or can be forwarded from the roadside device to the vehicle through V2X communication.

[0116] In the above system, the communication between the network-side device and the data collection vehicle can use cellular communication technologies, such as 2G cellular communication, such as Global System for Mobile Communication (GSM), General Packet Radio Service (GPRS); or 3G cellular communication, such as Wideband Code Division Multiple Access (WCDMA), Time Division-Synchronous Code Division Multiple Access (TS-SCDMA), Code Division Multiple Access (CDMA), or 4G cellular communication, such as Long Term Evolution (LTE), LTE-Vehicle to Everything (V2X), PC5 communication, or 5G cellular communication, such as New Radio (NR)-V2X PC5 communication, or other evolved cellular communication technologies. The wireless communication system can also utilize non-cellular communication technologies, such as Wi-Fi and Wireless Local Area Network (WLAN) communication, which are not specifically limited herein. In some embodiments, the direct communication between the above devices can also be carried out using an infrared link, Bluetooth, or ZigBee. In some embodiments, the communication between the above devices can also adopt other wireless protocols, such as various vehicle communication systems. For example, the system may include one or more Dedicated Short Range Communications (DSRC) devices, and these devices may include public and / or private data communication between vehicles and / or roadside stations, which is not specifically limited in this application.

[0117] Figure 1The communication system shown can be applied to a variety of application scenarios, such as the following application scenarios: various scenarios with data collection requirements such as mobile internet (MI), self-driving, transportation safety, internet of things (IoT), smart city, or smart home, etc.

[0118] It should be noted that Figure 1 it is only an exemplary architecture diagram, but does not limit Figure 1 the number of network elements included in the system shown. Although Figure 1 not shown, in addition to Figure 1 the functional entities shown, Figure 1 other functional entities may also be included. In addition, the method provided in the embodiments of the present application can be applied to Figure 1 the data collection system shown. Of course, the method provided in the embodiments of the present application can also be applied to other communication systems, and the embodiments of the present application do not limit this.

[0119] It can be understood that, for the convenience of narration, the data collection vehicle is simply referred to as a vehicle in the following description of the solution.

[0120] Refer to Figure 2 , Figure 2 which is a flowchart of a method for processing map data provided in the embodiments of the present application. This method can be applied to the system architecture described above. The method includes but is not limited to the following steps:

[0121] S201: Obtain value reference information. The value reference information is used to indicate the collection value of the geographical information of the geographical area in the map. The value reference information further includes at least one of the following information: value information for indicating the compliance degree of the geographical area in the map, value information for indicating the scenario requirement degree of the geographical area in the map, value information for indicating the operating design domain (ODD) conditions that the geographical information collection should meet, and value information for indicating the data scarcity degree of the geographical area in the map.

[0122] In one implementation, obtaining the value reference information includes: generating the value reference information. In this case, Figure 2 the method described in the embodiment can be used for the generation of a map including value reference information. This method includes but is not limited to being executed at a network-side device (for example, a map server or a map provider server), a component within the network-side device, a chip, a software module, or a hardware module.

[0123] In another implementation, obtaining the value reference information includes: receiving the value reference information. In this case, Figure 2The method described in the embodiments can be used for the use or storage of a map including value reference information, and the method includes, but is not limited to, being executed at devices, components, chips, software modules or hardware modules on the network side or the terminal side, and the devices on the terminal side include, but are not limited to, data acquisition vehicles.

[0124] Here, the map can be a high-precision map, a standard-precision map or other types of basic maps.

[0125] Exemplarily, the geographical area is located on a road or lane in the map.

[0126] In some possible embodiments, the value reference information further includes at least one of the location information of the above geographical area and the time information of the value reference information. Among them, the time information of the value reference information includes at least one of the generation timestamp of the value reference information and the version information of the value reference information.

[0127] The location information of the geographical area can be coordinate values obtained based on any coordinate system. For example, the three-dimensional coordinates composed of longitude, latitude and altitude corresponding to the World Geodetic System 1984 (WGS84), or the three-dimensional coordinates composed of the X coordinate, Y coordinate and Z coordinate in the natural coordinate system, or the three-dimensional coordinates composed of the S coordinate, D coordinate and H coordinate in the road coordinate system, or the coordinates in other coordinate systems.

[0128] The expression of the location information of the geographical area is related to the shape of the geographical area. In a specific implementation, the geographical area is a regular shape, and can be represented by one or more parameters (such as distance, coordinates, etc.) relative to a reference point (such as the starting point of a lane or a road). For example, the geographical area can be represented at the road level, that is, the geographical area is located on a road in the map, with the reference point being the starting point of the road, and (a, b) is the interval expression of a section of the road where the geographical area is located, or is represented by the geographical coordinates of the two endpoints of this section of the road. In some possible embodiments, the geographical area can also be represented at the lane level, that is, the geographical area is located on a lane in the map. In another specific implementation, when the geographical area is an irregular shape, it can be represented by the geographical coordinates of multiple corner points of the irregular shape, or the geometric position is expressed by the minimum circumscribed rectangle or the minimum circumscribed circle of the geographical area.

[0129] Before introducing the acquisition value of the geographical information of the geographical area, four types of value information defined in the embodiments of the present application are introduced first:

[0130] First value information:

[0131] The first value information is used to indicate the compliance degree of a geographical area in the map. Here, the compliance degree of the geographical area is used to determine whether the geographical information of the geographical area can be collected. The first value information is the value information used to indicate the compliance degree of the geographical area in the map as described above.

[0132] Exemplarily, since the collection of geographical information must strictly comply with the compliance rules defined by laws and regulations, based on whether each spatial position in the space conforms to the compliance rules, it is possible to determine the geographical areas where the geographical information in the map can be collected and the geographical areas where the geographical information cannot be collected.

[0133] Here, the compliance rules include, for example, at least one of the rules such as not including certain specific types of roads (such as dedicated highways or internal roads, etc.), not including low-grade roads, not exceeding the scope of the public road surface, and being outside a certain range from the boundary line.

[0134] For any of the above compliance rules, when the compliance rule is satisfied, the judgment result corresponding to the compliance rule can be recorded as "1"; when the compliance rule is not satisfied, the judgment result corresponding to the compliance rule can be recorded as "0". In one implementation, the compliance degree of a geographical area is used to indicate whether the geographical information of the geographical area can be collected. For example, "0" and "1" are used to indicate whether the geographical information of the geographical area can be collected. As an example, when the compliance degree of a geographical area takes "0", it indicates that the geographical information of the geographical area cannot be collected; when the compliance degree of the geographical area takes "1", it indicates that the geographical information of the geographical area can be collected. In this case, when there are multiple compliance rules, to determine whether the geographical area satisfies these multiple compliance rules, the compliance degree of the geographical area is the product of the judgment results corresponding to each compliance rule among these multiple compliance rules. It can be understood that when the geographical area does not satisfy one of the compliance rules, the compliance degree of the geographical area is "0"; when the geographical area satisfies all these multiple compliance rules, the compliance degree of the geographical area is "1".

[0135] In another implementation, the compliance degree of a geographical area is used to indicate the sensitivity of the geographical area. Considering that some geographical areas may have different sensitivities due to special geographical, ecological, or political reasons, etc., the higher the sensitivity of a geographical area, the less the geographical information of the geographical area is allowed to be collected or the more restricted it is to be collected. For example, the sensitivity of a military area is greater than the sensitivity of the area where a government agency is located. Exemplarily, the sensitivities of different geographical areas can be represented in integer form.

[0136] See Figure 3A , Figure 3A which is a schematic diagram showing the expression of some first value information provided by an embodiment of the present application.

[0137] In Figure 3AIn (1), the compliance of a geographical area can be indicated by "0" and "1". Suppose the compliance of the geographical area where geographical information can be collected (e.g., the disclosed area shown in gray) is represented as "1", and the compliance of the geographical area where geographical information cannot be collected (e.g., the military area and the location of government agencies shown by the solid white rectangle) is represented as "0". It can be understood that Figure 3A Each geographical area shown in (1) can be delimited, for example, based on a base map and the above compliance rules. Figure 3A (1) is only a partial example of the first value information, and does not limit the expression of the first value information to only Figure 3A shown in (1).

[0138] In Figure 3A (2), the compliance of a geographical area can indicate the sensitivity of the geographical area through the integer range "0 - 10", where "0" represents the highest sensitivity, "10" represents the lowest sensitivity, and the larger the value, the lower the sensitivity. From Figure 3A (2), it can be seen that multiple different geographical areas are divided based on different sensitivities, and in comparison with Figure 3A (1) in it, the sensitivity of the geographical area where the military area is located is "0", the sensitivity of the geographical area where the government agency is located is "1", and for the disclosed area, the sensitivity of some geographical areas is "5" and the sensitivity of some geographical areas is "8". Thus, it can be known that the sensitivity corresponding to the military area is greater than the sensitivity corresponding to the government agency, and the sensitivity corresponding to the government agency is greater than the sensitivity corresponding to the disclosed area (which is "5" or "8"). It can be understood that Figure 3A Each geographical area shown in (2) can be obtained, for example, by further dividing the geographical area shown in Figure 3A (1) based on sensitivity. Figure 3A (2) is only a partial example of the first value information, and does not limit the expression of the first value information to only Figure 3A shown in (2).

[0139] From Figure 3A it can be seen that the geographical area is expressed by a planar geometric figure. In the embodiments of the present application, the planar geometric figure is not limited. For example, it can be expressed as geometric figures such as rectangles, squares, circles, sectors, trapezoids, polygons, etc. Here, the planar geometric figure can be a regular geometric figure or an irregular geometric figure, and no specific limitation is made here. Also, the coordinate system corresponding to the geometric figure is not limited, and the specific coordinates can refer to the description of the corresponding content above.

[0140] Here, the embodiments of the present application do not limit the expression granularity of the geographical area either. For example, the geographical area can be expressed granularly based on the lane level and / or the road level, or it can refer to map information (such as some layers or map elements in the map) for expression, which is not specifically limited herein. In addition, the geographical area can be expressed for one or more specified cities according to the actual needs of the collection unit or collection project, or it can be expressed for a specific area within the city in combination with the actual needs, or it can also be expressed in combination with auxiliary information such as road surfaces, block surfaces, and points of interest (POIs) in the map, which is not specifically limited herein.

[0141] See Figure 3B , Figure 3B is a schematic diagram of the geometric expression of a geographical area provided by the embodiments of the present application, which is composed of Figure 3B It can be seen that different planar geometric figures and different granularities are used to express the geographical area. Among them, the planar geometric figures include rectangles, trapezoids, circles, and polygons. Among them, the two planar geometric figures of trapezoids and circles express the geographical area based on the road-level granularity, and rectangles and polygons express the geographical area based on the lane-level granularity. It can be understood that Figure 3B only as an example, it should not constitute a limitation to the expression of the geographical area.

[0142] Second value information:

[0143] The second value information is used to indicate the scene demand degree of the geographical area in the map. The second value information is the value information used to indicate the scene demand degree of the geographical area in the map as described above.

[0144] Among them, the scene demand degree of the geographical area is obtained based on at least one of the type of road, the grade of road, the curvature of road, the slope of road, and the driving scene type of the geographical area.

[0145] Exemplarily, the type of road includes at least one of highways, expressways, urban roads, etc.; the grade of road includes at least one of national roads, provincial roads, county roads, and township roads; the curvature of road can be divided into straight roads and curved roads; the slope of road can be divided into no slope, gentle slope, and steep slope, where the gentle slope and the steep slope can be distinguished by a preset slope threshold or slope range. The driving scene type of the geographical area includes but is not limited to at least one of high-frequency takeover, automatic exit of the autonomous driving system, high-frequency path replanning, perception detection error reporting, frequent traffic accidents, etc.

[0146] Here, the various factors that affect the scene demand degree of a geographical area can be referred to as value factors. Exemplarily, a corresponding scene value score can be set for each value factor. The higher the scene collection score, the greater the corresponding collection demand. Taking the type of road as an example, if the type of road is an expressway, the corresponding scene value score for the type of road can be set to 5 points; if the type of road is an arterial road, the corresponding scene value score for the type of road can be set to 5 points; if the type of road is an urban road, the corresponding scene value score for the type of road can be set to 8 points. In some possible embodiments, after determining multiple value factors that affect the scene demand degree of a geographical area, a corresponding scene value score can be set for each set of mapping relationships based on the possible mapping relationships between these multiple value factors. For example, the scene value score set for the mapping relationship of "urban road - high-frequency takeover" is 10 points.

[0147] Further, for any spatial position in the map, the scene value scores corresponding to the value factors (such as at least one of the type of road, the grade of the road, the curvature of the road, the slope of the road, and the driving scene type) that affect the scene demand degree at this spatial position are statistically processed to obtain the statistical value of the scene value score at this spatial position. Here, "statistical processing" can be weighted summation, summation, multiplication, taking the maximum value, averaging, or other statistical methods. Here, the statistical processing methods used for different spatial positions are the same. In this way, each spatial position in the map corresponds to a statistical value of the scene value score. Based on the positional relationship of the spatial positions, the spatial positions with the same statistical value of the scene value score can be geometrically expressed as a geographical area by a planar shape, and the statistical value of the scene value score is the statistical value of the scene value score of this geographical area. It can be understood that this geographical area is composed of a continuous plurality of spatial positions, thereby determining the geographical area in the map indicated by the second value information.

[0148] Exemplarily, the scene demand degree of the above-mentioned geographical area is obtained based on at least one of the type of road, the grade of the road, the curvature of the road, the slope of the road, and the driving scene type in this geographical area. It can be: the scene demand degree of the geographical area is obtained based on at least one of the scene value score corresponding to the type of road in this geographical area, the scene value score corresponding to the grade of the road, the scene value score corresponding to the curvature of the road, the scene value score corresponding to the slope of the road, and the scene value score corresponding to the scene type of this geographical area.

[0149] As an example, for the scene demand degree of any geographical area (such as geographical area 1), the scene demand degree of geographical area 1 can be the statistical value of the scene value score of geographical area 1. As can be seen from the above, the statistical value of the scene value score of geographical area 1 is the statistical value of the scene value score at any spatial position in geographical area 1.

[0150] As another example, for the scenario demand degree of any geographical area (e.g., geographical area 1), the scenario demand degree of geographical area 1 is determined based on the statistical value of the scenario value score of geographical area 1.

[0151] In one implementation, based on the comparison result between the statistical value of the scenario value score of geographical area 1 and a preset threshold, "0" or "1" can be used to represent the scenario demand degree of geographical area 1. That is, when the statistical value is greater than or equal to the preset threshold, it is determined that the scenario demand degree of geographical area 1 is "1", indicating that there is a collection demand for geographical area 1; when the statistical value is less than the preset threshold, it is determined that the scenario demand degree of geographical area 1 is "0", indicating that there is no collection demand for geographical area 1.

[0152] In another implementation, the scenario demand degree of the geographical area can also be expressed in a hierarchical manner. For example, when the statistical value of the scenario value score of geographical area 1 is within the first numerical range, the scenario demand degree of geographical area 1 is the first value, indicating a low degree of collection demand; when the statistical value of the scenario value score of geographical area 1 is within the second numerical range, the scenario demand degree of geographical area 1 is the second value, indicating a medium degree of collection demand; when the statistical value of the scenario value score of geographical area 1 is within the third numerical range, the scenario demand degree of geographical area 1 is the third value, indicating a high degree of collection demand; where the minimum value of the third data range is greater than or equal to the maximum value of the second data range, and the minimum value of the second numerical range is greater than or equal to the first data range. Here, it is not limited that the number of levels is only 3, and it can also be 4, 5 or other numbers of levels, nor is it limited that the determination of the levels is only through the method of judging by data ranges.

[0153] Next, based on Figure 3C Specifically illustrate the second value information. Figure 3C It is a schematic diagram of the generation process of a second value information provided by an embodiment of the present application. The generation process of the second value information can be, for example: Assume that the scenario demand degree of the geographical area is associated with three value factors: the grade of the road, the type of the road, and the driving scenario type of the geographical area. Figure 3C (1) of shows the geographical areas divided based on the grade of the road on the base map. Each geographical area corresponds to a scenario value score. It can be seen that the scenario value scores corresponding to the two shown geographical areas are 3 and 4 respectively; Figure 3C (2) of shows the geographical areas divided based on the type of the road on the base map. Each geographical area corresponds to a scenario value score. It can be seen that the scenario value score of one shown geographical area is 5; Figure 3C (3) of shows the geographical areas divided based on the driving scenario type on the base map. Each geographical area also corresponds to a scenario value score. The scenario value scores of the three shown geographical areas are 4, 6, and 10 respectively; Figure 3Cof (1), Figure 3C of (2) and Figure 3C of (3) among the three scene value scores corresponding to the same spatial position are accumulated (only as an example), obtaining the statistical value of the scene value score at each spatial position, so as to obtain Figure 3C of (4), Figure 3C of (4) shows the scene demand degree of the geographical area in the base map. Taking the statistical value of the scene demand degree of the geographical area as the scene value score of the geographical area as an example, it can be seen that Figure 3C of (4) shows 5 geographical areas, and these 5 geographical areas can be sequentially marked as geographical area 1 - geographical area 5 in the order from left to right and from bottom to top. Among them, the scene demand degree 1 of geographical area 1 is 13, the scene demand degree 2 of geographical area 2 is 19, the scene demand degree 3 of geographical area 3 is 9, the scene demand degree 4 of geographical area 4 is 18, and the scene demand degree 5 of geographical area 5 is 14. Taking the scene demand degree 1 of geographical area 1 as an example, it can be seen that Figure 3C in (1) of, the scene value score corresponding to geographical area 1 is 4, in Figure 3C in (2) of, the scene value score corresponding to geographical area 1 is 5, in Figure 3C in (3) of, the scene value score corresponding to geographical area 1 is 4, and the scene demand degree 1 of geographical area 1 is the statistical value of the scene value score of this geographical area. Therefore, the scene demand degree 1 of geographical area 1 is 13.

[0154] It can be understood that in Figure 3C of (4), if the scene demand degree 5 is equal to the scene demand degree 4, then the corresponding geographical area 5 and geographical area 4 can be merged into one geographical area. In some possible embodiments, the scene demand degree 5 may be the same as the scene demand degree 1, but the geographical area 5 corresponding to the scene demand degree 5 and the geographical area 1 corresponding to the scene demand degree 1 are still two different geographical areas because their spatial positions are not continuous.

[0155] It can be understood that Figure 3C only as an example, it does not limit that the generation of the second value information is only as Figure 3C shown, nor does it limit that the scene demand degree of the geographical area is only associated with these three value factors: the grade of the road, the type of the road, and the driving scene type of the geographical area, nor does it limit that the setting of the scene value score of the value factor when dividing the geographical area based on different value factors is only as Figure 3C shown.

[0156] In one implementation manner, the above second value information further includes at least one of the following information: the type of the road in the geographical area in the map, the grade of the road in the geographical area, the curvature of the road in the geographical area, the slope of the road in the geographical area, and the driving scene type of the geographical area.

[0157] Third value information:

[0158] The third value information is used to indicate the Operational Design Domain (ODD) conditions that the geographic information collection should meet. The third value information is the value information used to indicate the ODD conditions that the geographic information collection should meet as described above.

[0159] Here, the ODD conditions include at least one of weather conditions, lighting conditions, road surface conditions, and road surface materials. Exemplarily, the weather conditions can be divided into sunny, cloudy, rainy, and foggy days; the lighting conditions can be divided into day and night; the road surface conditions can be divided into normal, icy, snowy, and waterlogged; and the road surface materials can be divided into asphalt, concrete, mixed, grille, masonry, and dirt.

[0160] It can be understood that the setting of the ODD conditions is associated with the autonomous driving system. Here, the autonomous driving system is not limited to a fully autonomous driving system, a highly autonomous driving system, a conditionally autonomous driving system, or a partially autonomous driving system, etc. Those skilled in the art can understand that non-fully manual driving systems that provide intelligent driving can all be covered under this concept.

[0161] In one implementation, the ODD conditions can also correspond to geographic regions in the map. For example, the ODD conditions that the geographic information collection in different geographic regions meets can be different.

[0162] See Figure 3D , Figure 3D which is a schematic diagram showing some expressions of the third value information provided by the embodiments of the present application.

[0163] Figure 3D The third value information shown in (1) of indicates the global ODD conditions, and the ODD conditions include the weather condition being "sunny", the lighting condition being "day", and the road surface condition being "normal", meaning that the collection vehicle equipped with the autonomous driving system needs to meet these ODD conditions before collecting the geographic information of the corresponding geographic region. Here, Figure 3D the ODD conditions shown in (1) of are only an example, and do not limit the ODD conditions to only Figure 3D those shown in (1) of .

[0164] Figure 3D The ODD conditions indicated by the third value information shown in (2) of are associated with the geographic region of the geography. From Figure 3DAs can be seen from (2), the ODD conditions corresponding to different geographical regions can be different. The geographical regions can be sequentially labeled as geographical region 1, geographical region 2, and geographical region 3 from left to right and from bottom to top. Among them, geographical region 1 corresponds to ODD condition 1, which means that the acquisition vehicle equipped with the autonomous driving system needs to meet ODD condition 1 before collecting the geographical information of geographical region 1. Geographical region 2 corresponds to ODD condition 2, which means that the acquisition vehicle equipped with the autonomous driving system needs to meet ODD condition 2 before collecting the geographical information of geographical region 2. Geographical region 3 corresponds to ODD condition 3, which means that the acquisition vehicle equipped with the autonomous driving system needs to meet ODD condition 3 before collecting the geographical information of geographical region 3. It can be understood that Figure 3D (2) is only an example of the association between the ODD condition and the geographical region, and does not limit that when the ODD condition indicated by the third value information is associated with the geographical region, it is only Figure 3D as shown in (2).

[0165] In some possible embodiments, the above-mentioned third value information further includes: the compliance degree corresponding to meeting the ODD condition and the compliance degree corresponding to not meeting the ODD condition. For example, the compliance degree corresponding to meeting the ODD condition is "1", and the compliance degree corresponding to not meeting the ODD condition is "0". Correspondingly, when the ODD condition is associated with the geographical region in the map, each geographical region corresponds to a compliance degree corresponding to meeting the ODD condition associated with the geographical region and a compliance degree corresponding to not meeting the ODD condition associated with the geographical region.

[0166] Fourth value information:

[0167] The fourth value information is used to indicate the data scarcity degree of the geographical region in the map. The fourth value information is the above-mentioned value information used to indicate the data scarcity degree of the geographical region in the map.

[0168] In one implementation manner, the scarcity value score of the geographical region in the map can be determined according to the stock data of the geographical information provided by the cloud, and the data scarcity degree of the geographical region can be determined according to the scarcity value score of the geographical region. As an example, the higher the scarcity value score of the geographical region, the scarcer the geographical information of the geographical region, the greater the data scarcity degree of the geographical region, and the more it needs to be collected.

[0169] Exemplarily, based on the stock data of the geographical information provided by the cloud, the coverage of the geographical region in the map, the richness of the types of data information in the geographical region, etc. can be analyzed. It can be understood that under the condition that other factors remain unchanged, the higher the coverage degree of the geographical region, the lower the scarcity value score of the geographical region; under the condition that other factors remain unchanged, the richer the types of data information in the geographical region, the lower the scarcity value score of the geographical region.

[0170] As an example, to determine the data scarcity of a geographical area according to the scarcity value score of the geographical area, it can be: determining the data scarcity of the geographical area as the scarcity value score of the geographical area. For example, the scarcity value score of the geographical area can be represented by a numerical value of "0-10".

[0171] As another example, it is also possible to represent the data scarcity of the geographical area in a graded manner based on the scarcity value score of the geographical area. For example, it can be graded as abundant, average, scarce, and missing. Taking geographical area 1 as an example, if the scarcity value score of geographical area 1 is less than or equal to threshold one, then the data scarcity of the geographical area takes a first value, which indicates that the corresponding level of the data scarcity is abundant; if the scarcity value score of geographical area 1 is greater than threshold one and less than or equal to threshold two, then the data scarcity of the geographical area takes a second value, which indicates that the corresponding level of the data scarcity is average; if the scarcity value score of geographical area 1 is greater than threshold two and less than or equal to threshold three, then the data scarcity of the geographical area takes a third value, which indicates that the corresponding level of the data scarcity is scarce; if the scarcity value score of geographical area 1 is greater than threshold three and less than or equal to threshold four, then the data scarcity of the geographical area takes a fourth value, which indicates that the corresponding level of the data scarcity is missing. Here, it is not limited that the number of grades is only 4. In some possible embodiments, the data scarcity can also be graded into three levels, namely low, medium, and high, or other numbers of levels.

[0172] See Figure 3E , Figure 3E which is a schematic diagram of the expression of a fourth value information provided by an embodiment of the present application. Figure 3E It shows the data scarcity of multiple geographical areas. These multiple geographical areas can be sequentially marked as geographical area 1 - geographical area 4 in the order from left to right and from bottom to top. Among them, geographical area 1 corresponds to data scarcity 1, geographical area 2 corresponds to data scarcity 2, geographical area 3 corresponds to data scarcity 3, and geographical area 4 corresponds to data scarcity 4. Exemplarily, data scarcity 2 is different from data scarcity 4, otherwise the geographical area 2 corresponding to data scarcity 2 and the geographical area 4 corresponding to data scarcity 4 can be combined into one geographical area. It can be understood that Figure 3E Only as an example, it is not limited that the expression of the fourth value information is only Figure 3E as shown.

[0173] In this way, from the perspective of the scarcity of geographical information, it is possible to judge the value tendency of the acquisition unit or project at different spatial positions, so as to more accurately determine the high-value areas to be acquired.

[0174] In the embodiments of the present application, the geographical regions in the map include a first geographical region. The acquisition value of the geographical information of the first geographical region is the compliance degree of the first geographical region, or the acquisition value of the geographical information of the first geographical region is statistically obtained based on at least one of the scenario demand degree and data scarcity degree of the first geographical region and the compliance degree of the first geographical region. Here, the "statistical" method can be obtained, for example, by weighted summation, multiplication or other methods.

[0175] See Figure 4 , Figure 4 is a schematic diagram of the acquisition value of the geographical information of a geographical region provided by the embodiments of the present application. As can be seen from Figure 4 , the acquisition value of the geographical information of a geographical region is obtained based on the compliance degree, scenario demand degree and data scarcity degree of the geographical region. Taking the acquisition value of the geographical information of a geographical region as the product of the compliance degree, scenario demand degree and data scarcity of the geographical region as an example, the acquisition value corresponding to each spatial position is the product of the compliance degree corresponding to the spatial position, the scenario demand degree corresponding to the spatial position and the data scarcity degree corresponding to the spatial position. The spatial positions with the same acquisition value can form a geographical region, and the spatial positions in the same geographical region are continuous. That is to say, the acquisition values corresponding to the spatial positions in the same geographical region are equal, and the acquisition of the geographical information of the geographical region can be the acquisition value corresponding to any spatial position in the geographical region. Thus, Figure 4 (4) of shows the acquisition values of the geographical information of multiple geographical regions. These multiple geographical regions can be sequentially marked as geographical region 1 - geographical region 7 in the order from left to right and from bottom to top. Among them, the acquisition value 1 of the geographical information of geographical region 1 is 13, the acquisition value 2 of the geographical information of geographical region 2 is 76, the acquisition value 3 of the geographical information of geographical region 3 is 81, the acquisition value 4 of the geographical information of geographical region 4 is 0, the acquisition value 5 of the geographical information of geographical region 5 is 36, the acquisition value 6 of the geographical information of geographical region 6 is 0, and the acquisition value 7 of the geographical information of geographical region 7 is 28.

[0176] Taking the above acquisition value 7 as an example, the acquisition value 7 corresponds to geographical region 7. As can be seen from (1) of Figure 4 , the compliance degree of geographical region 7 is "1". As can be seen from (2) of Figure 4 , the scenario demand degree of geographical region 7 is "14". As can be seen from (3) of Figure 4 , the data scarcity degree of geographical region 7 is "2". According to the calculation method (i.e., product) of the acquisition value shown in Figure 4 , the acquisition value 7 of the geographical information of geographical region 7 is the product of "1", "14" and "2", that is, "28".

[0177] It can be understood that Figure 4 As an example (obtained by multiplication) of calculating the acquisition value of geographical information only as a geographical area, it should not limit the calculation of the acquisition value of geographical information of geographical areas. Additionally, Figure 4 Most of the geographical areas in [[ ]] are geometrically expressed by rectangular frames. This is only for the convenience of display. In actual applications, the geometric expression form of the geographical areas in various types of value information and value reference information is not limited. For the specific expression form of geographical areas, reference can be made to the description of the corresponding content above, which will not be elaborated here.

[0178] In addition, from Figure 4 (4), it can be seen that since the compliance of some geographical areas is 0 (which means that the geographical information of the corresponding geographical areas cannot be collected), the acquisition value of the geographical information of the corresponding geographical areas is also 0. In some possible embodiments, in Figure 4 (4), geographical areas with an acquisition value of "0" may not be marked either.

[0179] In some possible embodiments, the value reference information can be represented by creating a new layer, or at least one of the values such as acquisition value, scenario requirement degree, and data scarcity degree can be directly attached to the currently existing map layer. When representing the value reference information in the form of a new layer, if the value reference information includes different types of value information, each type of value information can correspond to a separate layer. Here, a layer can be understood as a map data set. In this case, each layer can be displayed separately or superimposed with at least one other layer in the map (such as a static layer, etc.), and no specific limitation is made here.

[0180] See Figure 5 , Figure 5 is a schematic diagram of a layer of value reference information provided by an embodiment of the present application. From Figure 5 it can be seen that the value reference information includes a comprehensive value layer, a first value layer, a second value layer, a third value layer, and a fourth value layer. Among them, the comprehensive value layer corresponds to the acquisition value of the geographical information of the above-mentioned geographical areas, the first value layer corresponds to the above-mentioned first value information, the second value layer corresponds to the above-mentioned second value information, the third value layer corresponds to the above-mentioned third value information, and the fourth value layer corresponds to the above-mentioned fourth value information. Here, Figure 5The layers shown are just an example of value reference information existing in the form of layers. In actual applications, there is no limit that the number of layers corresponding to the value reference information can only be 5. For example, the above-mentioned second value layer, third value layer, and fourth value layer are all optional layers. In addition, the display of each layer among these layers is optional. For example, only the acquisition value layer can be displayed, or a specific one or more layers can be displayed according to user needs, which is not specifically limited here. In some possible embodiments, since the first value layer involves compliance laws and considering information sensitivity, the first value layer can be non-interactively displayed.

[0181] It can be understood that Figure 5 Each layer of the value reference information shown corresponds to a generation timestamp. In some possible embodiments, the layers of the value reference information corresponding to each generation timestamp can also be dynamically presented.

[0182] S202: Store the value reference information as data of the map.

[0183] In one implementation, the value reference information can be stored in the data structure corresponding to the identifier of the map tile.

[0184] See Figure 6 , Figure 6 is a schematic diagram of the data storage structure of value reference information provided by an embodiment of the present application. In Figure 6 , the value reference information is stored based on the identifier of the tile in the map. Taking tile 1 as an example to illustrate the representation of the value reference information of tile 1, the value reference information of tile 1 includes the acquisition value of the geographical information of the geographical area in tile 1 and the location information of this geographical area. The location information of the geographical area, for example, includes the central point coordinates and corner point coordinates of the geometric planar graph corresponding to the geographical area. Exemplarily, the location information of the geographical area may also include at least one of the identifier of the road associated with this geographical area, the identifier of the lane associated with this geographical area, etc. In some possible embodiments, the value reference information of tile 1 also includes at least one of the first value information, second value information, third value information, fourth value information, and time information of tile 1. Figure 6 For the specific content of each of the information shown, reference can be made to the relevant descriptions in the above embodiments. For the sake of brevity of the specification, it will not be elaborated here.

[0185] It can be understood that the above Figure 6The data storage structure of the value reference information shown is only an example, and the embodiments of the present application do not limit the composition content and data structure of the value reference information. In one implementation, the value reference information of tile 1 includes the acquisition value of the geographical information of the geographical area in tile 1, the location information of the geographical area, the first value information of tile 1, and the time information. The other information exemplified above is not necessarily included in the value reference information of tile 1, that is, it can be selectively included in the value reference information of tile 1 according to actual application requirements.

[0186] In some possible embodiments, the value reference information can be stored in the data structure corresponding to the planned road to be collected. For example, if the planned path to be collected passes through multiple tiles, the value reference information of each tile can be stored in sequence according to the order of the tiles passed by the planned path. The data storage structure of the value reference information of each tile can, for example, refer to the storage structure of the value reference information of tile 1 above, which will not be elaborated here. In some possible embodiments, the value reference information can also be stored in units of custom regions. Figure 6 In some possible embodiments, when the method is applied to the generation side of the value reference information, it can also perform: sending the value reference information. As an example, the value reference information is sent to the usage side of the value reference information (such as a collection vehicle). Here, "sending" can be performed in the form of broadcast or multicast, or in the form of unicast.

[0187] In some possible embodiments, when the method is applied to the user side of the value reference information (such as a data collection vehicle or a map server), it can also plan an optimal collection path for the data collection vehicle based on the value reference information. It can be understood that when the optimal collection path is planned by a geographical server, the map server can also send the optimal collection path to the corresponding data collection vehicle. Here, the specific planning of the optimal collection path can refer to the relevant description of the following

[0188] embodiment. For the sake of simplicity of illustration, it will not be elaborated here.

[0189] In some possible embodiments, when the method is applied to the user side of the value reference information (such as a data collection vehicle or a map server), it can also plan an optimal collection path for the data collection vehicle based on the value reference information. It can be understood that when the optimal collection path is planned by a geographical server, the map server can also send the optimal collection path to the corresponding data collection vehicle. Here, the specific planning of the optimal collection path can refer to the relevant description of the following Figure 7 embodiment. For the sake of simplicity of illustration, it will not be elaborated here.

[0190] It can be seen that by implementing the embodiments of the present application, the acquisition value of the geographical information of a geographical area is determined at least from the perspective of the compliance of the geographical area. Moreover, factors such as the scene demand degree (i.e., the acquisition demand degree) of the geographical area, the data scarcity degree, and the corresponding ODD conditions can be combined to comprehensively determine the acquisition value of the geographical information of the geographical area, improving the accuracy of the evaluated acquisition value. It can provide prior and reference-worthy value reference information for the acquisition vehicle, and can guide the acquisition vehicle to more accurately and efficiently acquire the geographical information of high-value geographical areas.

[0191] See Figure 7 , Figure 7 is a flowchart of another map data processing method provided by the embodiments of the present application. Figure 7 The method shown mainly describes the use of value reference information on the vehicle side. This method can be applied to Figure 1 the data acquisition system shown. In Figure 7 , the network-side device takes the map server as an example to exemplarily elaborate the solution, but it is not limited that the network-side device in the embodiments of the present application is only the map server. This method includes but is not limited to the following steps:

[0192] S701: The map server generates value reference information. For the specific implementation of this step, reference can be made to the description of S201 in the above Figure 2 embodiment. For the content in the value reference information, reference can be made to the corresponding content description in S201. For the sake of simplicity of the specification, it will not be repeated here.

[0193] S702: The map server sends the value reference information.

[0194] Correspondingly, the data acquisition vehicle receives the value reference information sent by the map server.

[0195] In one implementation, when the map server sends the value reference information, it includes: the map server can send some or all of the information in the value reference information to the data acquisition vehicle.

[0196] For example, the map server can only send down the acquisition value of the geographical information of the geographical area (i.e., Figure 5 the comprehensive value layer in it) for the vehicle to directly apply. For another example, it can also send down the value information specified by the user in the value reference information based on the user's requirements.

[0197] For example, to reduce the bandwidth consumption caused by data transmission, the map server may send the acquisition value of the geographical information of the geographical areas within a preset range from the target location of the data collection vehicle to the data collection vehicle based on the target location where the data collection vehicle is currently located. Further, at least one type of value information of the geographical areas within a preset range from the target location may also be sent to the data collection vehicle in the value reference information.

[0198] For example, the map server may also send the corresponding value reference information based on the identifier of the tile associated with the target location where the data collection vehicle is currently located.

[0199] Exemplarily, when the data collection vehicle is not equipped with an autonomous driving system, the map server does not need to send the value information indicating the ODD conditions that the data collection should meet to the data collection vehicle.

[0200] Another example, to improve the transmission efficiency of map data, the value reference information may not be sent all at once. For example, it may be sent in multiple times based on the priority order of each piece of information in the value reference information. Figure 5 Taking this as an example, assuming that in the value reference information, the priority order of each layer is: comprehensive value layer > first value layer > fourth value layer = second value layer > third value layer, then the comprehensive value layer may be sent first, then the first value layer, followed by the fourth value layer and the second value layer, and finally the third value layer.

[0201] In another implementation, the map server sends the value reference information, including: the map server receives the path planning request of the data collection vehicle; in response to the path planning request, the map server sends the value reference information under the corresponding planned path to the data collection vehicle.

[0202] In some possible embodiments, the map server also issues an acquisition strategy. The acquisition strategy is used to indicate the acquisition of the geographical information of the geographical areas whose acquisition value reaches the first threshold; or, the acquisition strategy is used to indicate the acquisition of the geographical information of the geographical areas that meet at least one of the following conditions:

[0203] Condition 1: The compliance degree of the geographical area reaches the second threshold;

[0204] Condition 2: The data scarcity degree of the geographical area reaches the third threshold; and

[0205] Condition 3: The scene demand degree of the geographical area reaches the fourth threshold.

[0206] Here, the above first threshold, second threshold, and third threshold are preset by the formulators of the acquisition strategy, or may also be default settings.

[0207] It can be seen that the collection strategy can be directed at the above-mentioned comprehensive value layer. When the collection value of the geographical information of a geographical area is greater than the first threshold, it means that the data collection vehicle can collect the geographical information of that geographical area.

[0208] In some possible embodiments, corresponding collection strategies can also be set for each value information in the value reference information. Taking the above condition 1 as an example, if the compliance of a geographical area is represented by "0" and "1", where "0" represents non-compliance and "1" represents compliance, then the first threshold can be "1"; or, if the compliance of a geographical area is represented by an integer range "0-10" (i.e., indicating the sensitivity of the geographical area), where "0" represents the highest sensitivity and "10" represents the lowest sensitivity, then the first threshold can be, for example, 5, 6, 8, or other numbers that are not 0 but less than or equal to 10.

[0209] S703: The data collection vehicle plans an optimal collection path according to the value reference information.

[0210] In one implementation, planning an optimal collection path according to the value reference information includes: determining multiple planned paths for the data collection vehicle to reach the second position from the first position according to the collection task; determining the optimal collection path according to these multiple planned paths and the value reference information, where the optimal collection path belongs to these multiple planned paths.

[0211] Here, the collection task can be obtained by the data collection vehicle from the map server. Optionally, in the crowdsourcing collection method, the collection task can not only be obtained by the data collection vehicle from the map server, but may also be obtained by the data collection vehicle from other data collection vehicles through vehicle-to-vehicle communication.

[0212] Exemplarily, the first position can be the starting departure position or the current position of the data collection vehicle, the second position can be the end position of the collection task, and the second position can also be any position between the starting departure position of the data collection vehicle and the end position of the collection task.

[0213] Furthermore, determining the optimal collection path according to these multiple planned paths and the value reference information includes: determining the collection value corresponding to each planned path among these multiple planned paths according to the value reference information; determining the planned path corresponding to the highest collection value as the optimal collection path of the data collection vehicle. In this way, the data collection vehicle can determine the optimal collection path from the first position to the second position based on the prior value reference information, and based on this optimal collection path, it can control the driving of the vehicle in real time to preferentially collect the geographical information of the currently high-value geographical area.

[0214] Exemplarily, the acquisition value corresponding to each planned path is obtained by collecting and statistically analyzing the values of the geographical information of each geographical area passed by the planned path. For example, the "statistics" here can be summation or weighted summation, which is not specifically limited herein.

[0215] Exemplarily, the acquisition value corresponding to each planned path can also be obtained by weighted summation based on the number of geographical areas where the compliance degree of the planned path reaches the second value and the acquisition value of the geographical information of the geographical area, the number of geographical areas where the data scarcity degree of the planned path reaches the third value and the acquisition value of the geographical information of the geographical area, and the number of geographical areas where the scenario demand degree of the planned path reaches the fourth value and the acquisition value of the geographical information of the geographical area. In this case, the calculation of the acquisition value corresponding to each planned path satisfies the following formula (1):

[0216]

[0217] Where, Path i represents the acquisition value corresponding to the i-th planned path, a represents the number of geographical areas where the compliance degree of the planned path reaches the second value, b represents the number of geographical areas where the data scarcity degree of the planned path reaches the third value, c represents the number of geographical areas where the scenario demand degree of the planned path reaches the fourth value, V j represents the acquisition value of the geographical information of the j-th geographical area where the compliance degree reaches the second value, V m represents the acquisition value of the geographical information of the m-th geographical area where the data scarcity degree reaches the third value, V n represents the acquisition value of the geographical information of the n-th geographical area where the scenario demand degree reaches the fourth value. Exemplarily, in contrast to the settings of the respective thresholds of the acquisition strategy in the above S702, the second value is greater than or equal to the above second threshold, the third value is greater than or equal to the above third threshold, and the fourth value is greater than or equal to the above fourth threshold.

[0218] It can be understood that the weighted method shown in the above formula (1) is only an example. In some possible embodiments, the acquisition value corresponding to each planned path can also be obtained based on the number of geographical areas where the acquisition value of the planned path is greater than the first value and the acquisition value of the geographical information of the geographical area. Exemplarily, in contrast to the settings of the respective thresholds of the acquisition strategy in the above S702, the first value is greater than or equal to the above first threshold.

[0219] In some possible embodiments, the optimal acquisition path can be any of the following paths:

[0220] The planned path with the largest number of geographical areas where the acquisition value passed by the multiple planned paths reaches the first value;

[0221] Among these multiple planned paths, the planned path that passes through the largest number of geographical regions where the compliance degree of the path reaches the second value;

[0222] Among these multiple planned paths, the planned path that passes through the largest number of geographical regions where the data scarcity degree of the path reaches the third value; or

[0223] Among these multiple planned paths, the planned path that passes through the largest number of geographical regions where the scenario demand degree of the path reaches the fourth value.

[0224] It can be seen that the examples of the above optimal acquisition paths only need to meet one condition. In some possible embodiments, the optimal acquisition path can also be a planned path among these multiple planned paths that simultaneously meets multiple conditions, such as the largest number of geographical regions where the acquisition value of the path reaches the first value, the largest number of geographical regions where the compliance degree of the path reaches the second value, the largest number of geographical regions where the data scarcity degree of the path reaches the third value, and the largest number of geographical regions where the scenario demand degree of the path reaches the fourth value.

[0225] In some possible embodiments, after determining the optimal acquisition path, the optimal acquisition path can also be recommended to the user, or the vehicle can be controlled to drive along the optimal acquisition path. Here, the user can be the driver of the data acquisition vehicle, the passenger in the data acquisition vehicle, or other users of the data acquisition vehicle.

[0226] See Figure 8 , Figure 8 is a schematic diagram of an interface for recommending an optimal acquisition path provided by an embodiment of the present application. Figure 8 Shows multiple acquisition paths planned for the data acquisition vehicle from location A to location K. The rectangular box in the lower right corner explains each path in text: The sum of the acquisition values corresponding to path 1 via A - B - C - F - E - K is 220 and path 1 is recommended as the optimal acquisition path; the sum of the acquisition values corresponding to path 2 via A - B - C - D - E - K is 90; the sum of the acquisitions corresponding to path 3 via A - G - H - G - K is 110. In Figure 8 , the numbers represent the acquisition values of the geographical information of the corresponding geographical regions, and the geographical regions may be expressed in geometric shapes such as circles, ellipses, rectangles, squares, etc. Additionally, the larger the number, the higher the acquisition value of the geographical information of the geographical region. Assuming that a geographical region with an acquisition value greater than or equal to 50 can be called a region with high acquisition value (can be simply referred to as a high - value region), thus, it can be seen that path 1 passes through 2 high - value regions, path 2 passes through 0 high - value regions, and path 3 passes through 1 high - value region. Optionally, the user can select the optimal acquisition path from the Figure 8 three acquisition paths shown, and in response to the user's selection operation, control the vehicle to drive along the path selected by the user. It can be understood,Figure 8 This is only an example of a recommended optimal acquisition path, and does not limit the determination of the optimal acquisition path to only Figure 8 the form shown.

[0227] Optionally, in some possible embodiments, S704 may also be executed:

[0228] S704: The data acquisition vehicle generates a map display interface according to the value reference information.

[0229] In the embodiments of the present application, the display device of the data acquisition vehicle may present a map display interface. For example, the display device may be a vehicle-mounted tablet computer, an in-vehicle display, or a head-up display (HUD) system of the data acquisition vehicle, etc., which is not specifically limited herein.

[0230] In one implementation manner, the value reference information may be presented on the map display interface through at least one of the following methods:

[0231] (1) Mark the geographical areas in the value reference information where the compliance degree meets the first condition; in this way, only the compliant geographical areas can be marked, and the non-compliant geographical areas are not presented, protecting the privacy of the non-compliant geographical areas;

[0232] (2) Mark the geographical areas in the value reference information where the scenario demand degree meets the second condition; in this way, the geographical areas with a relatively large current acquisition demand degree (i.e., the scenario demand degree) can be intuitively shown to the user;

[0233] (3) Mark the geographical areas in the value reference information where the data scarcity degree meets the third condition; in this way, the geographical areas with a relatively large data scarcity degree can be preferentially shown to the user;

[0234] (4) Mark the geographical areas in the value reference information where the acquisition value meets the fourth condition; in this way, the geographical areas with a relatively high acquisition value can be intuitively shown to the user, providing a reference for the planning of the acquisition path of the vehicle;

[0235] (5) Display the acquisition value of at least one geographical area associated with the planned path of the vehicle; in this way, the user can know the distribution of the acquisition values of the geographical areas that the planned path of the vehicle is about to pass through;

[0236] (6) Display at least one of the scenario demand degree, the corresponding data scarcity degree, and the corresponding ODD condition of at least one geographical area associated with the planned path of the vehicle; in this way, the factors (such as the scenario demand degree, the data scarcity degree, and the ODD condition of the geographical area) that affect the acquisition value of the geographical information of the geographical area are displayed;

[0237] (7) Mark geographical regions with different collection values with different colors. Exemplarily, geographical regions with different collection values can also be compared by different filling patterns. For example, in (4) above, different grayscales are used to mark different geographical regions. In this way, regions with different collection values can be better distinguished. Figure 4 In (4) above, different grayscales are used to mark different geographical regions. In this way, regions with different collection values can be better distinguished.

[0238] Exemplarily, geographical regions can also be divided into three value levels based on the collection value of the geographical information of the geographical region, such as high-value geographical regions, medium-value and low-value. Geographical regions belonging to different value levels can be marked with different colors.

[0239] Exemplarily, when making the above corresponding marks on the map display interface, considering the display clarity, geographical regions that meet the above display conditions, the collection value of the geographical region or other information within a certain range from the current vehicle position can also be marked first, which is not specifically limited here.

[0240] Exemplarily, the marks shown in any one of the above methods (1)-(4) can be marks made in response to a user's operation. Here, the user's selection operation can be generated in any form such as touch, drag, slide, voice, etc.

[0241] See Figure 9 , Figure 9 is a schematic diagram of the interface of a display device provided by an embodiment of the present application. Figure 9 It mainly presents two interfaces, one of which is a display selection interface and the other is a map display interface. In the display selection interface, the layers that can be selected for display are listed, including the collection value layer, the first layer (for indicating the above compliance), the second layer (for indicating the above scenario requirement degree), the third layer (for indicating the above ODD condition), and the fourth layer (for indicating the above data scarcity). In the map display interface, when the user selects a certain layer in the left display selection interface and performs a corresponding operation, in response to this operation, the corresponding information is presented in the display area of the right map display interface. Here, the collection value layer is, for example, equivalent to the comprehensive value layer in the above Figure 5 Similarly, the first layer to the fourth layer can also correspond to the first value layer to the fourth value layer in Figure 5 above.

[0242] For example, Figure 9In the [system], on the display selection interface, the user selects the "acquisition value layer", and the display mode of the "acquisition value layer" is selected as "local". Assuming that the display condition corresponding to "local" is "mark the geographical areas where the acquisition value is greater than or equal to 50", in response to the user's operation, on the display box of the map display interface, a map display interface generated based on the user's operation will be presented, and the dark gray areas marked with numbers indicate the geographical areas where the acquisition value is greater than or equal to 50.

[0243] Exemplarily, in Figure 9 the [system], the display condition corresponding to "local" may not be the system default. A configuration box for display conditions can be further presented on the display selection interface. After the user selects the layer of interest, the display conditions can be set in the configuration box for display conditions. After the setting is completed, click the "confirm" button.

[0244] It can be understood that Figure 9 the interface of the display device shown is only an example, and the embodiments of the present application do not limit the interface of the display device to be only Figure 9 the form shown. For example, it does not limit the marking form of geographical areas, including the displayed shape, displayed color, etc. In some possible embodiments, Figure 9 it can also be split into multiple display interfaces. For example, the above display selection interface and map display interface can be separately displayed through two independent interfaces. In some possible embodiments, Figure 9 more or less information than currently shown can also be presented. For example, the above first layer may not be displayed either.

[0245] S705: When the data acquisition vehicle determines that the target geographical area currently passed meets the acquisition strategy based on the perception result and value reference information when driving along the optimal acquisition path, collect the geographical information of the target geographical area.

[0246] Here, the acquisition strategy can be obtained by the data acquisition vehicle from the map server. The specific content of the acquisition strategy can refer to the corresponding description in the above S702. For the sake of simplicity of the specification, it will not be elaborated here.

[0247] In one implementation, when the data acquisition vehicle is driving along the optimal acquisition path, based on the perception result of the data acquisition vehicle and the value reference information, it is determined that the target geographical area currently passed by the data acquisition vehicle meets the ODD condition corresponding to the target geographical area in the value reference information, and it is determined that the target geographical area also meets the acquisition strategy. In this case, collect the geographical information of the target geographical area. That is to say, it is possible to comprehensively judge whether to trigger the data acquisition vehicle to collect the geographical information of the target geographical area currently passed based on the perception result when the vehicle is driving along the optimal acquisition path and the corresponding acquisition strategy.

[0248] For example, the data collection vehicle is equipped with an autonomous driving system. The data collection vehicle travels along the optimal collection path. The current target geographical area is Area 1. The data collection vehicle determines from the value reference information that the ODD condition corresponding to Area 1 is ODD Condition 1 based on the position information of Area 1. Assume that the collection strategy obtained by the data collection vehicle includes instructing the collection of geographical information of geographical areas where the collection value reaches a first threshold. Then, when the data collection vehicle determines that the current ODD Condition 1 is satisfied based on the perception result at the current position and determines that the collection value of the geographical information of Area 1 is greater than the first threshold based on the value reference information, the collection of the geographical information of Area 1 is started.

[0249] S706: The data collection vehicle sends the collected data to the map server.

[0250] Correspondingly, the map server receives the collected data sent by the data collection vehicle.

[0251] Exemplarily, the collected data is the geographical information of the geographical areas actually collected when the data collection vehicle travels along the optimal collection path.

[0252] S707: The map server updates the value reference information according to the collected data.

[0253] In one implementation, updating the value reference information according to the collected data includes: when the data volume of the collected data reaches a first value and / or the coverage of the geographical area of the collected data reaches a second value, updating the value reference information.

[0254] Exemplarily, the collected data may affect at least one of the data scarcity degree, scenario demand degree, etc. of a certain geographical area.

[0255] For example, assume that before the map server receives the collected data, the map server determines that the geographical information of geographical area 1 in the map is missing based on the stock data of geographical information provided by the cloud. If the collected data includes the geographical information of geographical area 1, when updating the value reference information, the scarcity value score of geographical area 1 will change (for example, decrease, or geographical area 1 is further divided into multiple smaller geographical areas based on the data coverage, and the scarcity value scores of each geographical area are different), so the data scarcity degree of geographical area 1 will also change. The value information used to indicate the data scarcity degree of geographical areas in the map is also updated. Since the collection value of the geographical information of a geographical area is related to the data scarcity degree of the geographical area, the collection of the geographical information of geographical areas in the map will also be updated.

[0256] For another example, when the map server discovers, based on the collected data, that at least one of the value factors such as the type of roads, the grade of roads, the curvature of roads, and the slope of roads in a certain geographical area (e.g., geographical area 2) has changed, in this case, the scene demand degree of the geographical area 2 needs to be updated. The update of the scene demand degree of the geographical area 2 will also cause the update of the above-mentioned value information used to indicate the scene demand degree of the geographical area in the map. Since the acquisition value of the geographical information of the geographical area is related to the scene demand degree of the geographical area, the acquisition of the geographical information of the geographical area in the map will also be updated.

[0257] In some possible embodiments, the map server can also actively update the value reference information. For example, when the compliance rules change, the map server can update the above-mentioned first value information used to indicate the compliance degree of the geographical area in the map, and then update the reference value of the geographical information of the geographical area in the value reference information based on the updated first value information. In some possible embodiments, when the global ODD conditions change or the ODD conditions corresponding to a local geographical area change, and the compliance degree of the ODD conditions corresponding to the geographical area is involved in the acquisition value of the geographical information of the geographical area, the map server can timely update the above-mentioned third value information in the value reference information and the acquisition value of the geographical information of the geographical area.

[0258] It can be seen that by implementing the embodiments of the present application, the map server can provide the vehicle terminal with value reference information indicating the acquisition value of the geographical information of the geographical area. This value reference information is a priori and has reference significance. Based on this value reference information, the vehicle terminal device can perform the planning of the acquisition path and collect the geographical information of high-value geographical areas more accurately and efficiently. In addition, based on the value reference information, a map display interface can also be generated to intuitively and clearly display the distribution of the acquisition value of the geographical information of the geographical area to the user.

[0259] See Figure 10 , Figure 10 FIG. is a schematic structural diagram of a map data processing device provided by an embodiment of the present application. The map data processing device 30 includes an acquisition unit 310 and a storage unit 312. The map data processing device 30 can be implemented in a hardware, software, or a combination of hardware and software manner.

[0260] Among them, an acquisition unit 310 is configured to acquire value reference information, which is used to indicate the acquisition value of geographical information of geographical regions in a map. The value reference information further includes at least one of the following information: value information for indicating the compliance degree of geographical regions in the map, value information for indicating the scene demand degree of geographical regions in the map, value information for indicating the designed operating range ODD conditions that geographical information acquisition should meet, and value information for indicating the data scarcity degree of geographical regions in the map; a storage unit 312 is configured to store the value reference information as map data.

[0261] The map data processing device 30 can be used to implement Figure 2 the method described in the embodiment. In Figure 2 the embodiment, the acquisition unit 310 can be used to execute S201, and the storage unit 312 can be used to execute S202.

[0262] In some possible embodiments, the map data processing device 30 can also be used to implement Figure 7 the method on the map server side described in the embodiment. The map data processing device 30 further includes a sending unit and a processing unit (not shown in the figure). Among them, the acquisition unit 310 and the storage unit 312 are used to execute S701 and S706, the sending unit is used to execute S702, and the processing unit can be used to execute S707.

[0263] See Figure 11 , Figure 11 is a schematic structural diagram of a map data processing device provided by an embodiment of the present application. The map data processing device 40 includes a receiving unit 410 and a processing unit 412. The map data processing device 40 can be implemented in a hardware, software, or a combination of hardware and software manner.

[0264] Among them, the receiving unit 410 is configured to receive value reference information, which is used to indicate the acquisition value of geographical information of geographical regions in a map. The value reference information further includes at least one of the following information: value information for indicating the compliance degree of geographical regions in the map, value information for indicating the scene demand degree of geographical regions in the map, value information for indicating the designed operating range ODD conditions that geographical information acquisition should meet, and value information for indicating the data scarcity degree of geographical regions in the map; the processing unit 412 is configured to plan an optimal acquisition path according to the value reference information.

[0265] The map data processing device 40 can be used to implement Figure 7 the method on the data acquisition vehicle side described in the embodiment. In Figure 7In the embodiment, the receiving unit 410 may be configured to execute S702, and the processing unit 412 may be configured to execute S703 and S705. In some possible embodiments, the map data processing apparatus 40 further includes a sending unit and a display unit (not shown in the figure), where the sending unit may be configured to execute S706, and the display unit may be configured to execute S704.

[0266] It should be understood that the division of each unit in the above apparatuses (such as the map data processing apparatus 30 and the map data processing apparatus 40) is only a division of logical functions. In actual implementation, they may be fully or partially integrated into a physical entity, or physically separated. In addition, the units in the apparatus may be implemented in the form of a processor invoking software. For example, the apparatus includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor invokes the instructions stored in the memory to implement any of the above methods or the functions of each unit of the apparatus. The processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory inside or outside the apparatus. Alternatively, the units in the apparatus may be implemented in the form of a hardware circuit, and the functions of some or all of the units may be implemented by designing the hardware circuit. The hardware circuit may be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of some or all of the above units are implemented by designing the logical relationship between the components in the circuit. Again, for example, in another implementation, the hardware circuit may be implemented by a programmable logic device (PLD). Taking a field programmable gate array (FPGA) as an example, it may include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured through a configuration file to implement the functions of some or all of the above units. All units of the above apparatuses may be all implemented in the form of a processor invoking software, or all implemented in the form of a hardware circuit, or some implemented in the form of a processor invoking software, and the remaining part implemented in the form of a hardware circuit.

[0267] In the embodiments of the present application, a processor is a circuit with the ability to process signals. In one implementation, the processor can be a circuit with the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), or a digital signal processor (DSP), etc.; in another implementation, the processor can implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or can be reconfigured. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0268] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0269] In addition, each unit in the above device can be integrated in whole or in part, or can be independently implemented. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC can include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The types of the at least one processor can be different, such as including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0270] See Figure 12 , Figure 12 is a schematic structural diagram of a map data processing device provided by the embodiments of the present application. As Figure 12As shown in the figure, the map data processing device 50 includes: a processor 501, a communication interface 502, a memory 503, and a bus 504. The processor 501, the memory 503, and the communication interface 502 communicate with each other through the bus 504. It should be understood that the number of processors and memories in the map data processing device 50 is not limited in this application.

[0271] In one implementation, the map data processing device 50 may be a generation end of value reference information (such as a network-side device). Such a network-side device may be, for example, a server deployed on the network side (such as a map server or a server of a map provider), or a component or chip in the server. The network-side device may be deployed in a cloud environment, that is, a cloud computing server, or the network-side device may also be deployed in an edge environment, that is, an edge computing server. The network-side device may be an integrated device or a distributed multiple devices, which is not specifically limited herein.

[0272] In another implementation, the map data processing device 50 may be a usage end of value reference information (such as a terminal device). Such a terminal device may be, for example, a vehicle, a robot, a drone, or other intelligent terminals that can perform data collection, or a component (such as a chip or an integrated circuit) within the intelligent terminal.

[0273] The bus 504 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 12 only one line is shown herein, but it does not mean that there is only one bus or one type of bus. The bus 504 may include a path for transmitting information between various components of the map data processing device 50 (such as the memory 503, the processor 501, and the communication interface 502).

[0274] The processor 501 may refer to the relevant description of the processor in the above embodiments, and will not be elaborated herein.

[0275] The memory 503 is used to provide storage space, in which data such as an operating system and computer programs can be stored. The memory 503 can be one or a combination of a random access memory (RAM), an erasable programmable read only memory (EPROM), a read-only memory (ROM), or a compact disc read memory (CD-ROM), etc. The memory 503 can exist independently or be integrated inside the processor 501.

[0276] The communication interface 502 can be used to provide information input or output for the processor 501. Alternatively, the communication interface 502 can be used to receive data sent from the outside and / or send data to the outside, and can be a wired link interface including, for example, an Ethernet cable, or a wireless link (such as Wi-Fi, Bluetooth, general wireless transmission, etc.) interface. Alternatively, the communication interface 502 can also include a transmitter (such as a radio frequency transmitter, an antenna, etc.) coupled to the interface, or a receiver, etc.

[0277] In some possible embodiments, the map data processing device 50 further includes a display 505. The display 505 is connected or coupled to the processor 501 through a bus 504. The display 505 can be used to display a map display interface to the user according to the value reference information. The display 505 can be a display screen, and the display screen can be a liquid crystal display (LCD), an organic or inorganic light-emitting diode (OLED), an active matrix / organic light emitting diode panel (AMOLED), etc. The display 505 can also be a car machine tablet, an in-vehicle display, or a head up display (HUD) system, etc.

[0278] The processor 501 in the map data processing device 50 is used to read the computer program stored in the memory 503 and execute the foregoing method, for example Figure 2 or Figure 7 the described method.

[0279] In a possible design, the map data processing device 50 can be for executing Figure 2One or more modules in the execution entity of the method shown. The processor 501 can be used to read one or more computer programs stored in the memory and perform the following operations:

[0280] Obtain value reference information through the obtaining unit 310. The value reference information is used to indicate the acquisition value of the geographical information of the geographical area in the map. The value reference information further includes at least one of the following information: value information for indicating the compliance degree of the geographical area in the map, value information for indicating the scene demand degree of the geographical area in the map, value information for indicating the design operating range ODD conditions that the geographical information acquisition should meet, and value information for indicating the data scarcity degree of the geographical area in the map;

[0281] Store the value reference information as map data through the storage unit 312.

[0282] In a possible design, the map data processing device 50 can be one or more modules in the execution entity (such as a data collection vehicle) of the Figure 7 method shown. The processor 501 can be used to read one or more computer programs stored in the memory and perform the following operations:

[0283] Receive value reference information through the receiving unit 410. The value reference information is used to indicate the acquisition value of the geographical information of the geographical area in the map. The value reference information further includes at least one of the following information: value information for indicating the compliance degree of the geographical area in the map, value information for indicating the scene demand degree of the geographical area in the map, value information for indicating the design operating range ODD conditions that the geographical information acquisition should meet, and value information for indicating the data scarcity degree of the geographical area in the map;

[0284] Plan the optimal acquisition path according to the value reference information.

[0285] In the above embodiments of the present application, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. In addition, in the various embodiments of the present application, if there is no special explanation and logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referred to each other. The technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.

[0286] It should be noted that those of ordinary skill in the art can see that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and this program can be stored in a computer-readable storage medium. The storage medium includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc memories, magnetic disc memories, tape memories, or any other computer-readable medium capable of carrying or storing data.

[0287] Essentially, or the part that makes a contribution, or all or part of the technical solution of this application can be embodied in the form of a software product. This computer program product is stored in a storage medium and includes several instructions to enable a device (which can be a personal computer, server, or network device, robot, single-chip microcomputer, chip, robot, etc.) to execute all or part of the steps of the methods described in various embodiments of this application.

Claims

1. A method for processing map data, characterized in that, the method includes: obtaining value reference information, where the value reference information is used to indicate the acquisition value of geographical information of geographical regions in the map, and the value reference information further includes at least one of the following information: value information for indicating the compliance degree of geographical regions in the map, value information for indicating the scenario demand degree of geographical regions in the map, value information for indicating the design operating range ODD conditions that geographical information acquisition should meet, and value information for indicating the data scarcity degree of geographical regions in the map; storing the value reference information as data of the map.

2. The method according to claim 1, characterized in that, the geographical regions in the map include a first geographical region, the acquisition value of the geographical information of the first geographical region is the compliance degree of the first geographical region; or, the acquisition value of the geographical information of the first geographical region is statistically obtained based on at least one of the scenario demand degree of the first geographical region and the data scarcity degree of the first geographical region and the compliance degree of the first geographical region.

3. The method according to claim 1 or 2, characterized in that, the scenario demand degree of the geographical regions in the map is obtained based on at least one of the type of roads in the geographical region, the grade of the roads, the curvature of the roads, the slope of the roads, and the type of driving scenarios in the geographical region.

4. The method according to any one of claims 1-3, characterized in that, the value information for indicating the scenario demand degree of the geographical regions in the map further includes at least one of the following information: at least one of the type of roads in the geographical region in the map, the grade of the roads in the geographical region, the curvature of the roads in the geographical region, the slope of the roads in the geographical region, and the type of driving scenarios in the geographical region.

5. The method according to any one of claims 1-4, characterized in that, the method further includes: sending at least one of the following information in the value reference information to the collection vehicle: the acquisition value of the geographical information of the geographical regions through which the planned path of the collection vehicle passes; and the value information corresponding to the geographical regions through which the planned path of the collection vehicle passes.

6. The method according to any one of claims 1-5, characterized in that, the method further includes: sending a collection strategy, wherein the collection strategy is used to indicate the acquisition of geographical information of geographical regions whose acquisition value reaches a first threshold, or, the collection strategy is used to indicate the acquisition of geographical information of geographical regions that meet at least one of the following conditions: the compliance degree of the geographical region reaches a second threshold; the data scarcity degree of the geographical region reaches a third threshold; and the scenario demand degree of the geographical region reaches a fourth threshold.

7. The method according to any one of claims 1-4, characterized in that, the method is applied to a vehicle, and the method further includes: planning an optimal collection path according to the value reference information.

8. The method according to claim 7, characterized in that, the optimal collection path meets at least one of the following conditions: The number of geographical regions where the collection value of the route reaches the first value is the largest; The number of geographical regions where the compliance degree of the route reaches the second value is the largest; The number of geographical regions where the data scarcity degree of the route reaches the third value is the largest; and The number of geographical regions where the scenario demand degree of the route reaches the fourth value is the largest.

9. The method according to claim 7 or 8, characterized in that, the method further includes: receiving a collection strategy; when it is determined that the target geographical region currently passed by the vehicle satisfies the collection strategy according to the perception result when the vehicle travels along the optimal collection path and the value reference information, collecting the geographical information of the target geographical region.

10. The method according to any one of claims 7-9, characterized in that, the method further includes: presenting the value reference information on the map display interface in at least one of the following ways: marking the geographical regions in the value reference information where the compliance degree satisfies the first condition; marking the geographical regions in the value reference information where the scenario demand degree satisfies the second condition; marking the geographical regions in the value reference information where the data scarcity degree satisfies the third condition; marking the geographical regions in the value reference information where the collection value satisfies the fourth condition; displaying the collection value of at least one geographical region associated with the planned path of the vehicle; displaying at least one of the scenario demand degree, the corresponding data scarcity degree, and the corresponding ODD condition of at least one geographical region associated with the planned path of the vehicle; and marking the geographical regions with different collection values in different colors.

11. A map data processing device, characterized in that, the device includes: an acquisition unit for acquiring value reference information, where the value reference information is used to indicate the collection value of the geographical information of the geographical regions in the map, and the value reference information further includes at least one of the following information: value information for indicating the compliance degree of the geographical regions in the map, value information for indicating the scenario demand degree of the geographical regions in the map, value information for indicating the design operating range ODD condition that should be satisfied for geographical information collection, and value information for indicating the data scarcity degree of the geographical regions in the map; a storage unit for storing the value reference information as the data of the map.

12. The device according to claim 11, characterized in that, the geographical regions in the map include a first geographical region, the collection value of the geographical information of the first geographical region is the compliance degree of the first geographical region; or, the collection value of the geographical information of the first geographical region is statistically obtained based on at least one of the scenario demand degree and the data scarcity degree of the first geographical region and the compliance degree of the first geographical region.

13. The device according to claim 11 or 12, characterized in that, the scenario demand degree of the geographical regions in the map is obtained based on at least one of the type of the roads in the geographical region, the grade of the roads, the curvature of the roads, the slope of the roads, and the type of the driving scenario in the geographical region.

14. The device according to any one of claims 11-13, characterized in that, The value information for indicating the scene demand degree of the geographical area in the map further includes at least one of the following information: At least one of the type of roads in the geographical area in the map, the grade of roads in the geographical area, the curvature of roads in the geographical area, the slope of roads in the geographical area, and the driving scene type of the geographical area.

15. The device according to any one of claims 11-14, characterized in that, The device further includes a sending unit for sending at least one of the following information in the value reference information to the acquisition vehicle: The acquisition value of the geographical information of the geographical area through which the planned path of the acquisition vehicle passes; and The value information corresponding to the geographical area through which the planned path of the acquisition vehicle passes.

16. The device according to any one of claims 11-15, characterized in that, The device further includes a sending unit for sending an acquisition strategy, wherein the acquisition strategy is used to indicate the acquisition of geographical information of geographical areas whose acquisition value reaches a first threshold, or, The acquisition strategy is used to indicate the acquisition of geographical information of geographical areas that meet at least one of the following conditions: The compliance degree of the geographical area reaches a second threshold; The data scarcity degree of the geographical area reaches a third threshold; and The scene demand degree of the geographical area reaches a fourth threshold.

17. The device according to any one of claims 11-14, characterized in that, The device is a vehicle or is included in the vehicle, and the device further includes a processing unit for: Planning an optimal acquisition path according to the value reference information.

18. The device according to claim 17, characterized in that, The optimal acquisition path meets at least one of the following conditions: The number of geographical areas with an acquisition value reaching a first value passed through is the largest; The number of geographical areas with a compliance degree reaching a second value passed through is the largest; The number of geographical areas with a data scarcity degree reaching a third value passed through is the largest; and The number of geographical areas with a scene demand degree reaching a fourth value passed through is the largest.

19. The device according to claim 17 or 18, characterized in that, The device further includes: A receiving unit for receiving an acquisition strategy; The processing unit is configured to collect the geographical information of the target geographical area when it is determined that the target geographical area currently passed through by the vehicle meets the acquisition strategy according to the perception result when the vehicle travels along the optimal acquisition path and the value reference information.

20. The device according to any one of claims 17-19, characterized in that, The device further includes a display unit for presenting the value reference information on the map display interface in at least one of the following ways: Marking the geographical areas in the value reference information whose compliance degree meets the first condition; Marking the geographical areas in the value reference information whose scene demand degree meets the second condition; Marking the geographical areas in the value reference information whose data scarcity degree meets the third condition; Marking the geographical areas in the value reference information whose acquisition value meets the fourth condition; Displaying the acquisition value of at least one geographical area associated with the planned path of the vehicle; Display at least one of the scenario demand degree, corresponding data scarcity degree, and corresponding ODD condition associated with the planned path of the vehicle; and Mark geographical areas with different collection values in different colors.

21. A map data processing device, characterized in that the device includes a memory and a processor, the memory stores computer program instructions, and the processor runs the computer program instructions to cause the device to execute the method according to any one of claims 1-10.

22. A vehicle, characterized in that the vehicle includes the device according to any one of claims 11-21.

23. An electronic map, characterized in that the electronic map includes value reference information for indicating the collection value of geographical information of geographical areas in the map, and the value reference information further includes at least one of the following information: value information for indicating the compliance degree of geographical areas in the map, value information for indicating the scenario demand degree of geographical areas in the map, value information for indicating the ODD condition of the design operating range that geographical information collection should meet, and value information for indicating the data scarcity degree of geographical areas in the map.

24. The electronic map according to claim 23, characterized in that the value information for indicating the scenario demand degree of geographical areas in the map further includes at least one of the following information: at least one of the type of roads in the geographical area in the map, the grade of roads in the geographical area, the curvature of roads in the geographical area, the slope of roads in the geographical area, and the type of driving scenario of the geographical area.

25. A computer-readable storage medium, characterized in that the computer-readable storage medium stores program instructions for implementing the method according to any one of claims 1-10, or the computer-readable storage medium stores the electronic map according to claim 23 or 24.

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