Map updating method and device, electronic equipment and storage medium

Abstract

The invention provides a map updating method and device, electronic equipment and a storage medium, and relates to the technical field of intelligent driving. The map updating method provided by the invention comprises the following steps: in response to updating of first map data, switching the first map data into second map data; on the basis of the current broadcasting view field, extended broadcasting is conducted through the second map data according to the vehicle advancing direction, and the data broadcasted in the current broadcasting view field is the corresponding data in the first map data. According to the method, important road information cannot be lost when the map data of the vehicle is switched, the EHP completes connection replacement and smooth transition in the broadcast view, the problem that the pilot aided driving function is degraded / quitted due to EHP resetting is solved, it can be guaranteed that the vehicle uses the latest map data, the vehicle does not need to wait for the next vehicle power-on period to use, and the vehicle experience is improved. And the use continuity of the regulation and control on the map data is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent driving, and in particular, to a map update method, apparatus, electronic device, and storage medium. Background Art

[0002] With the development of autonomous driving technology, users' requirements for the autonomous driving experience are constantly increasing, especially the tolerance for the takeover of autonomous driving vehicles is getting lower and lower. As an important part of the autonomous driving system, the high-precision map is loaded through the EHP (Electronic Horizon Platform) and provides map data to the vehicle according to the broadcast principle, so as to support the vehicle's navigation and decision-making. These map data will be dynamically updated according to the driving conditions of the vehicle to ensure that the vehicle can obtain the latest information of the road ahead. Especially when the road changes (such as lane changes, construction, etc.), it is required that the map can reflect these changes in a timely manner.

[0003] In the related art, the high-precision map needs to be updated frequently to cope with road lane changes, construction, or speed limit changes. If different versions of map data are switched within the current power-on cycle, it may cause the EHP to reset the field of view, thereby triggering the degradation or exit of the pilot assist driving function, and ultimately forcing the user to take over the vehicle. If the switching of different versions of map data is waited until the next power-on cycle, the new version of map data fails to be updated in time, which may cause the map information to become outdated, affecting the stability and reliability of the autonomous driving system, and further affecting the user's driving experience. Summary of the Invention

[0004] The problem solved by the present invention is how to maintain the pilot assist driving when updating map data in the current power-on cycle.

[0005] To solve the above problems, the present invention provides a map update method, apparatus, electronic device, and storage medium.

[0006] In a first aspect, the present invention provides a map update method, including:

[0007] In response to updating the first map data, switching the first map data to the second map data;

[0008] On the basis of the current broadcast field of view, extending the broadcast using the second map data according to the vehicle traveling direction, wherein the data broadcast in the current broadcast field of view is the corresponding data in the first map data.

[0009] Optionally, before the response to the update of the first map data, the map update method includes:

[0010] After the vehicle is powered on, if the vehicle's position is not in the coverage area of the first map data and / or the version of the first map data is inconsistent with the version of the second map data in the cloud, obtain the second map data from the cloud.

[0011] Optionally, on the basis of the first map data within the current field of view, using the second map data for extended broadcast according to the vehicle's traveling direction includes:

[0012] Extract all the identifiers within the current broadcast field of view from the first map data, where the identifiers correspond to the road information in the map data;

[0013] Extract the corresponding road information from the second map data according to the identifiers within the current broadcast field of view;

[0014] Determine the data to be broadcast in the second map data according to the extracted road information and the vehicle's traveling direction;

[0015] On the basis of the current broadcast field of view, broadcast the data to be broadcast.

[0016] Optionally, the extracting the corresponding road information from the second map data according to the identifiers within the current broadcast field of view includes:

[0017] Match the identifiers within the current broadcast field of view with the identifiers in the second map data;

[0018] Extract the road information corresponding to the identifiers within the current broadcast field of view from the second map data according to the matching result.

[0019] Optionally, the determining the data to be broadcast in the second map data according to the extracted road information and the vehicle's traveling direction includes:

[0020] On the basis of the extracted road information, determine the data to be broadcast from the second map data along the vehicle's traveling direction until the broadcast field of view including the extracted road information and the data to be broadcast reaches a preset broadcast range.

[0021] Optionally, the determining the data to be broadcast from the second map data along the vehicle's traveling direction includes:

[0022] When the vehicle travels a preset distance along the vehicle's traveling direction, the current broadcast field of view shrinks by a preset range, and determine the data to be broadcast from the second map data along the vehicle's traveling direction, where the preset range, the length of the data to be broadcast, and the preset distance correspond to each other.

[0023] Optionally, the map update method further includes:

[0024] When the first map data is not updated, based on the current broadcast view, the first map data is used for extended broadcast according to the vehicle traveling direction.

[0025] In a second aspect, the present invention provides a map update device, including:

[0026] A first module, configured to switch the first map data to second map data in response to an update to the first map data;

[0027] A second module, configured to perform extended broadcast using the second map data based on the current broadcast view according to the vehicle traveling direction, where the data broadcast in the current broadcast view is the corresponding data in the first map data.

[0028] In a third aspect, the present invention provides an electronic device, including a memory and a processor;

[0029] The memory is configured to store a computer program;

[0030] The processor is configured to implement the map update method as described in the first aspect when executing the computer program.

[0031] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the map update method as described in the first aspect is implemented.

[0032] The beneficial effect of the map update method of the present invention is that after switching the first map data to the second map data, based on the current broadcast view, the second map data is used for extended broadcast according to the vehicle traveling direction, ensuring that the vehicle will not lose important road information when switching map data, and the EHP completes the connection replacement in the broadcast view and smoothly transitions, solving the problem of the downgrade / exit of the pilot assist driving function caused by the EHP reset, and being able to ensure that the vehicle uses the latest map data without waiting for the next vehicle power-on cycle, ensuring the continuity of the use of map data by the planning and control. Description of the Drawings

[0033] Figure 1 It is a flowchart of the map update method according to an embodiment of the present invention;

[0034] Figure 2 It is a flowchart of the extended broadcast according to an embodiment of the present invention;

[0035] Figure 3 It is a flowchart of extracting road information according to an embodiment of the present invention;

[0036] Figure 4 It is a system architecture diagram of the map update device according to an embodiment of the present invention;

[0037] Figure 5 It is a system architecture diagram of the electronic device according to an embodiment of the present invention;

[0038] Figure 6 It is a schematic diagram of the broadcast principle according to an embodiment of the present invention;

[0039] Figure 7 It is a schematic diagram of the broadcast principle;

[0040] Figure 8 It is a schematic diagram of the broadcast principle of the related art. Specific embodiments

[0041] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Instead, these embodiments are provided to more thoroughly and completely understand the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not used to limit the protection scope of the present invention.

[0042] It should be understood that the various steps described in the method embodiments of the present invention can be executed in a different order and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0043] The term "including" and its variations used herein are open-ended, that is, "including but not limited to"; the term "based on" is "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules, or units, and are not used to limit the order of functions performed by these devices, modules, or units or their interdependent relationships.

[0044] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly stated in the context, it should be understood as "one or more".

[0045] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0046] As Figure 1 shown, a map update method provided by an embodiment of the present invention includes:

[0047] S100: In response to an update to the first map data, switch the first map data to the second map data.

[0048] Specifically, after the vehicle is powered on, the EHP (Electronic Horizon Platform) starts to work according to a predetermined dissemination principle (using the first map data). For example, it disseminates high-precision map data for the first 2000 meters ahead according to the rule, and supplements new map data every 200 meters as the vehicle travels to ensure that the field of view always remains within 2000 meters. When an update to the first map data is required, the second map data can be downloaded from the cloud to replace the first map data.

[0049] S200: Based on the current dissemination field of view, perform extended dissemination using the second map data according to the vehicle's traveling direction, where the data disseminated in the current dissemination field of view is the corresponding data in the first map data.

[0050] Specifically, during the switching process, to ensure the continuity and smoothness of the data, the current dissemination field of view (corresponding to the data in the first map data) can be used as a basis to determine the field of view range of the second map data according to the vehicle's traveling direction, so as to ensure seamless connection of data dissemination without interruption or inconsistency, and ensure the stable operation of the pilot assist driving function. Continue to disseminate map data forward along the current dissemination field of view (the vehicle's traveling direction) to avoid resetting the field of view due to directly switching to the second map data, so as to ensure that the vehicle does not lose important road information when switching map data. The EHP completes the connection and replacement in the dissemination field of view and makes a smooth transition, solving the problem of the pilot assist driving function being degraded / withdrawn due to EHP reset, and being able to ensure that the vehicle uses the latest map data without waiting for the next vehicle power-on cycle, ensuring the continuity of the use of map data by the path planning and control. Since the path planning and control applies the data transmitted by the EHP, and the EHP can switch internally and stably output data to the path planning and control, the path planning and control cannot perceive the switching process of the old and new high-precision maps of the EHP when the disseminated data is continuous, and the pilot assist driving function will not be reduced or withdrawn.

[0051] In this embodiment, after switching the first map data to the second map data, based on the current broadcast view, the second map data is extended and broadcast according to the vehicle traveling direction, ensuring that important road information is not lost when the vehicle switches map data. The EHP completes the connection replacement in the broadcast view and smoothly transitions, solving the problem of the degradation / exit of the pilot assist driving function caused by the EHP reset, and can ensure that the vehicle uses the latest map data without waiting for the next vehicle power-on cycle, ensuring the continuity of the use of map data by the planning and control.

[0052] Optionally, before responding to the update of the first map data, the map update method includes:

[0053] After the vehicle is powered on, if the vehicle position is not within the coverage area of the first map data and / or the version of the first map data is inconsistent with the version of the second map data in the cloud, the second map data is obtained from the cloud.

[0054] Specifically, the EHP can obtain the current accurate position of the vehicle through the vehicle's positioning system (such as GPS, IMU, vehicle sensors, etc.). If the vehicle position is not within the coverage area of the first map data, it means that the first map data cannot support the pilot assist driving function at this time or soon, and the first map data needs to be updated. The EHP communicates with the cloud to query whether there is a new high-precision map update near the current location (such as within a range of 2000 meters around), and continuously judges whether the vehicle-side high-precision map version (corresponding to the first map data) is consistent with the cloud version (corresponding to the second map data) (the vehicle-side map version is stored in the local device, and the cloud map version is always kept up-to-date). If the versions are inconsistent, the EHP needs to update the map, download the new high-precision map data (the second map data) from the cloud, and perform the switch.

[0055] In this optional embodiment, by obtaining the current vehicle position, judging the consistency between the vehicle-side map and the cloud version, and deciding whether to update the map data, the smooth progress of the map update is ensured, the problem of short-term map loss or mismatch is avoided, and further the problem of the degradation / exit of the pilot assist driving function is avoided.

[0056] Optionally, the extending and broadcasting the second map data according to the vehicle traveling direction based on the first map data in the current view range includes:

[0057] S210: Extract all the identifiers within the current broadcast view from the first map data, and the identifiers correspond to the road information in the map data.

[0058] Specifically, in combination with Figure 2As shown, the EHP can extract all Link IDs (i.e., identifiers, the basic units in the high-precision map, used to identify the unique ID of a specific road segment) within the current broadcast field of view (e.g., 2000m) from the first map data. The Link ID (i.e., identifier) corresponds to the specific road segment within the vehicle's field of view and is used to identify a specific road segment or road fragment in the map. Each Link ID is unique, ensuring that each road fragment or segment has an independent identifier in the high-precision map to avoid confusion of different road information. During the map version switch or update process, the EHP will record all Link IDs within the current field of view (e.g., within 2000 meters ahead).

[0059] S220: Extract the corresponding road information from the second map data according to the identifier within the current broadcast field of view.

[0060] Specifically, in combination with Figure 2 As shown, when switching to a new map version, the EHP will extract and load the corresponding road segment information in the new version map from the second map data according to these Link IDs to ensure the continuity and consistency of the data and avoid function interruption or inaccurate navigation caused by map updates.

[0061] S230: Determine the data to be broadcast in the second map data according to the extracted road information and the vehicle traveling direction.

[0062] Specifically, in combination with Figure 2 As shown, determine the data to be broadcast in the second map data according to the extracted road information and the vehicle traveling direction to ensure the continuity of the data in the new map and the old map during the switch.

[0063] S240: Broadcast the data to be broadcast on the basis of the current broadcast field of view.

[0064] Specifically, in combination with Figure 2 As shown, based on the current broadcast field of view, broadcast the map data forward along the vehicle traveling direction until the field of view range of the second map data reaches the preset broadcast range.

[0065] In this optional embodiment, by extracting the identifier from the first map data and extracting the corresponding road information from the second map data according to the identifier within the current broadcast field of view, the continuity of the map data is ensured, and the navigation function can be seamlessly continued during the map switch, ensuring the stability and reliability of the pilot assist driving system.

[0066] Optionally, the extracting the corresponding road information from the second map data according to the identifier within the current broadcast field of view includes:

[0067] S221: Match the identifier within the current broadcast view with the identifier in the second map data.

[0068] Specifically, as shown in Figure 3 , when the second map data is loaded, search for the road segment in the second map data that matches the identifier within the current broadcast view. By matching the identifiers, it is ensured that the same road information exists in the new version of the map as in the old version.

[0069] S222: Extract the road information corresponding to the identifier within the current broadcast view from the second map data according to the matching result.

[0070] Specifically, as shown in Figure 3 , after finding the same identifier in the second map data, load the road information of the same road segment (corresponding to the current broadcast view) from the second map data.

[0071] In this alternative embodiment, by extracting the corresponding road information from the second map data according to the identifier within the current broadcast view, the continuity of the data to be broadcast and the data in the current broadcast view is ensured, and the navigation function can be seamlessly continued when the map is switched, ensuring the stability and reliability of the pilot assist driving system.

[0072] Optionally, determining the data to be broadcast in the second map data according to the extracted road information and the vehicle traveling direction includes:

[0073] Based on the extracted road information, determine the data to be broadcast from the second map data along the vehicle traveling direction until the broadcast view including the extracted road information and the data to be broadcast reaches the preset broadcast range.

[0074] Specifically, as shown in Figure 6 , taking the preset broadcast range as 2000m as an example, whenever the vehicle travels 200m along the vehicle traveling direction, at this time, judge whether the view range of the second map data is 2000m. If not, determine the data to be broadcast in the second map data until the broadcast view is supplemented to 2000m.

[0075] Among them, as shown in Figure 7 and Figure 8 , in the related art, when switching from the first map data to the second map data, the EHP will switch to the second map data to re-determine the broadcast view of the preset broadcast range. For example, when the broadcast view when loading the first map data is 2000m, after switching to the second map data, it is necessary to re-load the broadcast view of the same range in the second map data, resulting in the reset of the broadcast view, thereby causing the degradation / exit of the pilot assist driving function.

[0076] In this alternative embodiment, by supplementing the extracted road information and the dissemination scope of the data to be disseminated to a preset dissemination range, it is ensured that the autonomous driving system always obtains accurate and timely map data during operation, and can smoothly transition to a new map version, ensuring driving safety and user experience.

[0077] Optionally, determining the data to be disseminated from the second map data along the vehicle traveling direction includes:

[0078] When the vehicle travels a preset distance along the vehicle traveling direction, the current dissemination scope shrinks by a preset range, and the data to be disseminated is determined from the second map data along the vehicle traveling direction, where the preset range, the length of the data to be disseminated, and the preset distance correspond to each other.

[0079] Specifically, as the vehicle travels, every time it advances a preset distance (e.g., 200 meters), due to the shrinkage of the current dissemination scope, the EHP incrementally supplements the map data within a range of 200 meters ahead (i.e., the length of the data to be disseminated), ensuring that the scope of vision always remains within 2000 meters, so as to be able to update in real time and obtain the latest road information in the current vehicle traveling direction.

[0080] In this alternative embodiment, by dynamically supplementing the vision, the latest road information in the current vehicle traveling direction can be updated and obtained in real time, ensuring that the autonomous driving system always obtains accurate and timely map data during operation, and can smoothly transition to a new map version, ensuring driving safety and user experience.

[0081] Optionally, the map update method further includes:

[0082] When the first map data is not updated, based on the current dissemination scope, the first map data is used for extended dissemination according to the vehicle traveling direction.

[0083] Specifically, the EHP will real-time judge whether the vehicle-end high-precision map version (the first map data) is consistent with the cloud version. If the versions of the vehicle end and the cloud are the same, there is no need to update the map data, and the EHP continues to use the data of the current version (corresponding to the first map data) for dissemination, that is, based on the current dissemination scope, the first map data is used for extended dissemination according to the vehicle traveling direction.

[0084] In this alternative embodiment, by effectively managing the loading and update of map data, the user experience problems caused by map switching are reduced, ensuring that the autonomous driving system can smoothly transition.

[0085] As Figure 4 shown, a map update device 400 provided by an embodiment of the present invention includes:

[0086] The first module 410 is configured to switch the first map data to the second map data in response to an update of the first map data;

[0087] The second module 420 is configured to perform extended broadcast using the second map data based on the current broadcast view and according to the vehicle traveling direction, wherein the data broadcast in the current broadcast view is the corresponding data in the first map data.

[0088] As Figure 5 shown, an electronic device 500 provided by an embodiment of the present invention includes a memory 520 and a processor 510; the memory 520 is configured to store a computer program; the processor 510 is configured to implement the map update method as described above when executing the computer program.

[0089] Or, an electronic device 500 includes a memory 520 and a processor 510 coupled to the memory 520; the memory 520 is configured to store a computer program; the processor 510 is configured to perform the following operations when executing the computer program:

[0090] Switch the first map data to the second map data in response to an update of the first map data;

[0091] Perform extended broadcast using the second map data based on the current broadcast view and according to the vehicle traveling direction, wherein the data broadcast in the current broadcast view is the corresponding data in the first map data.

[0092] A computer-readable storage medium provided by an embodiment of the present invention has a computer program stored thereon, and when the computer program is executed by a processor, the map update method as described above is implemented.

[0093] Or, a non-volatile computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the processor is caused to perform the following operations:

[0094] Switch the first map data to the second map data in response to an update of the first map data;

[0095] Perform extended broadcast using the second map data based on the current broadcast view and according to the vehicle traveling direction, wherein the data broadcast in the current broadcast view is the corresponding data in the first map data.

[0096] An electronic device 500 that can be a server or a client of the present invention will now be described. It is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 500 is intended to represent various forms of digital electronic computer devices, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 500 can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described herein and / or claimed.

[0097] The electronic device 500 includes a computing unit that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0098] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention. In addition, the functional units in various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0099] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the protection scope of the present invention.

Claims

1. A method for map updating, characterized in that, Including: In response to an update of the first map data, switching the first map data to the second map data; On the basis of the current broadcast view, performing extended broadcast using the second map data according to the vehicle traveling direction, wherein the data broadcast in the current broadcast view is the corresponding data in the first map data.

2. The map update method according to claim 1, wherein Before the response to the update of the first map data, the map update method includes: After the vehicle is powered on, if the vehicle position is not in the coverage area of the first map data and / or the version of the first map data is inconsistent with the version of the second map data in the cloud, obtaining the second map data from the cloud.

3. The map updating method according to claim 1, wherein The performing extended broadcast using the second map data according to the vehicle traveling direction on the basis of the first map data in the current view range includes: Extracting all identifiers within the current broadcast view from the first map data, where the identifiers correspond to road information in the map data; Extracting corresponding road information from the second map data according to the identifiers within the current broadcast view; Determining the data to be broadcast in the second map data according to the extracted road information and the vehicle traveling direction; On the basis of the current broadcast view, broadcasting the data to be broadcast.

4. The map update method according to claim 3, characterized in that, The extracting corresponding road information from the second map data according to the identifiers within the current broadcast view includes: Matching the identifiers within the current broadcast view with the identifiers in the second map data; Extracting, according to the matching result, the road information corresponding to the identifiers within the current broadcast view from the second map data.

5. The map update method according to claim 3, wherein The determining the data to be broadcast in the second map data according to the extracted road information and the vehicle traveling direction includes: On the basis of the extracted road information, determining the data to be broadcast from the second map data along the vehicle traveling direction until the broadcast view including the extracted road information and the data to be broadcast reaches a preset broadcast range.

6. The map update method according to claim 5, wherein The determining the data to be broadcast from the second map data along the vehicle traveling direction includes: When the vehicle travels a preset distance along the vehicle traveling direction, the current broadcast view shrinks by a preset range, and the data to be broadcast is determined from the second map data along the vehicle traveling direction, where the preset range, the length of the data to be broadcast, and the preset distance correspond to each other.

7. The map update method according to any one of claims 1 to 6, characterized in that, Also including: When the first map data is not updated, performing extended broadcast using the first map data according to the vehicle traveling direction on the basis of the current broadcast view.

8. A map update device, characterized in that, Including: A first module, configured to switch the first map data to the second map data in response to an update of the first map data; A second module, configured to perform extended broadcast using the second map data according to the vehicle traveling direction on the basis of the current broadcast view, wherein the data broadcast in the current broadcast view is the corresponding data in the first map data.

9. An electronic device, characterized in that, Including a memory and a processor; The memory is configured to store a computer program; The processor is configured to implement the map updating method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the storage medium, and when the computer program is executed by the processor, the map updating method according to any one of claims 1 to 7 is implemented.

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