Data transmission method and device

Abstract

The invention provides a data transmission method and device, relates to the technical field of communication, and can solve the problems of data fusion of detection information acquired by crowdsourcing vehicles and map data change detection, improve the reliability of map data updating and reduce the data processing complexity of a cloud server. The method comprises the steps that a vehicle terminal determines a data format of detection information, and the detection information is associated with map elements; the vehicle terminal sends detection information to the first network equipment according to the determined data format; and the vehicle terminal receives map element change information sent by the first network device or the second network device for updating the electronic map. Wherein the first network device and the second network device can be a cloud server or a road side unit.

Description

[0001] This application is a divisional application. The application number of the original application is 201911414536.7, and the original application date is December 31, 2019. The entire content of the original application is incorporated into this application by reference. Technical Field

[0002] The present application relates to the field of communication technology, and in particular to a data transmission method and device. Background Art

[0003] An autonomous vehicle is an intelligent vehicle that uses a computer system to achieve unmanned driving. It is also known as a driverless car, a computer-driven car, or a wheeled mobile robot. It relies on artificial intelligence, visual computing, radar, monitoring devices, and a global positioning system to enable computers to automatically and safely operate the vehicle without any active human intervention. Autonomous driving technology relies on high-precision electronic maps to provide real-time, accurate map data and road condition information. However, the data collection, maintenance, and updating of high-precision maps require significant human, material, and financial resources, resulting in high collection and maintenance costs.

[0004] Crowdsourcing has been widely adopted in recent years as a low-cost data collection model. Crowdsourcing leverages the collective power of the public to complete specific tasks, such as collecting map data using a large number of public vehicles. Sharing crowdsourced map data also enables updates and maintenance of high-precision maps. However, significant challenges remain, such as integrating and processing raw data collected by different types of sensors on different vehicles, and comparing this data with current map data to identify changes to the electronic map. Summary of the Invention

[0005] The present application provides a data transmission method and device, which solves the problem of fusion and change detection of crowdsourced data, thereby ensuring the reliability of map data updates and reducing the complexity of cloud data processing.

[0006] To achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, a data transmission method is provided, which includes: a vehicle terminal determines a data format of detection information, and the detection information is associated with a map element; the vehicle terminal sends the detection information of the vehicle terminal to a first network device according to the data format; and the vehicle terminal receives map element change information sent by the first network device or the second network device.

[0008] In the above technical solution, the vehicle terminal collects detection information and can send the detection information in different data formats to the first network device for detecting map element changes. The first network device or the second network device can detect map element changes and send the map element change information to the vehicle terminal for updating the electronic map. The first network device or the second network device can be a cloud server or a drive test unit, and the detection of map element changes can be processed by the vehicle terminal, the cloud server, or the drive test unit. This provides flexibility in data fusion and change detection, ensuring the reliability and real-time nature of map data updates.

[0009] In one possible design, the detection information may be sent in the following formats: Format 1: raw information collected by onboard sensors; Format 2: target information detected by a single onboard sensor; Format 3: target information jointly detected by at least one onboard sensor; or Format 4: map element change information corresponding to the target information jointly detected by at least one onboard sensor. In these possible implementations, the detection information sent by the vehicle terminal to the first network device may be configured in multiple data formats, thereby improving the flexibility and accuracy of data processing.

[0010] In one possible design method, the vehicle terminal determines the data format of the detection information, specifically including: the vehicle terminal determines the data format of the detection information based on the confidence of the detection information; or, the vehicle terminal determines the data format of the detection information based on the map layer supported by the first network device; or, the vehicle terminal determines the data format of the detection information based on the data processing capability of the first network device; or, the vehicle terminal determines the data format of the detection information based on the type of map element corresponding to the detection information; or, the vehicle terminal determines the data format of the detection information based on the indication information sent by the first network device, the indication information is used to indicate the data format of the detection information; or, the vehicle terminal determines the data format of the detection information based on the time when the detection information is obtained. In the above possible implementation methods, the vehicle terminal can determine the data format of the detection information according to the above several different methods, thereby comprehensively determining the data format of the reported detection information based on the device performance or map elements of the vehicle terminal and the first network device, thereby improving the flexibility of data processing, reducing the data processing complexity of the first network device, and improving the reliability of data updates.

[0011] In one possible design, the map element change information includes whether the map element exists, and at least one of the map element's location, shape, color, and size. In the above possible implementation, the first network device or the second network device can detect map element changes based on the detection data, thereby obtaining the map element change information, which is used to update the map element in the electronic map and improve data reliability.

[0012] In one possible design, the raw information collected by the on-board sensor includes at least one of laser point cloud data and pixel data. In this possible implementation, the raw information collected by the on-board sensor can be used to retrieve corresponding map elements on an electronic map. Changes to these elements can then be detected based on the detected information, used to update the electronic map and improve data reliability.

[0013] In one possible design method, the vehicle terminal determines the data format of the detection information based on the type of map element corresponding to the detection information, specifically including: the map elements corresponding to the detection information include a first type and a second type. When the map element corresponding to the detection information is of the first type, the vehicle terminal determines that the data format of the detection information is format one, format two or format three; when the map element corresponding to the detection information is of the second type, the vehicle terminal determines that the data format of the detection information is format four.

[0014] In one possible design, the first type of map element includes at least one of road information, lane information, traffic light information, road sign information, light pole information, and stop sign information. In this possible implementation, the data format of the detection information is determined based on the type of map element it corresponds to. For critical map elements, the data format can be raw data, format two, or format three. This allows the data format of the detection information to be determined based on the priority of the map element type, improving the reliability of data updates.

[0015] In one possible design, the first network device is a cloud server or a roadside unit.

[0016] In one possible design, when the first network device is a roadside unit (RSU), the vehicle terminal receiving map element change information from the second network device specifically includes associating the map element change information with map element change information uploaded to the second network device by at least one RSU. In this possible implementation, at least one RSU can upload the map element change information to a cloud server. The cloud server then integrates the map element change information uploaded by RSUs in various regions to determine electronic map updates, improving the accuracy of data fusion and processing.

[0017] In one possible design, when the first network device is a cloud server, the vehicle terminal receiving map element change information transmitted by the second network device specifically includes: the second network device being a roadside unit (RSU), and the map element change information being associated with map element change information uploaded to the second network device by at least one cloud server. In this possible implementation, at least one cloud server may upload the map element change information to the RSU in the corresponding area. The RSU then integrates the map element change information uploaded by the at least one cloud server to determine the update status of the electronic map, thereby improving the accuracy of data fusion and processing.

[0018] In a second aspect, a data transmission method is provided, which includes: a first network device receives detection information sent by a vehicle terminal, where the detection information is associated with a map element; the first network device determines whether the map element corresponding to the detection information matches based on the detection information, and if not, the first network device obtains map element change information based on the detection information; the first network device sends the map element change information to the vehicle terminal; or, the first network device sends the map element change information to a second network device, where the map element change information is used by the second network device to determine whether to update the electronic map.

[0019] In one possible design method, the data format of the detection information sent by the vehicle terminal received by the first network device is: Format 1: original information collected by the vehicle-mounted sensor, or, Format 2: target information detected by a single vehicle-mounted sensor, or, Format 3: target information jointly detected by at least one vehicle-mounted sensor, or, Format 4: map element change information corresponding to the target information jointly detected by at least one vehicle-mounted sensor.

[0020] In one possible design, before the first network device receives the detection information sent by the vehicle terminal, the method also includes: the first network device sends an indication message to the vehicle terminal, where the indication message is used to indicate the data format of the detection information sent by the vehicle terminal; or, the first network device sends a map layer supported by the first network device to the vehicle terminal to determine the data format of the detection information; or, the first network device sends the data processing capability of the first network device to the vehicle terminal to determine the data format of the detection information.

[0021] In a possible design, the map element change information includes whether the map element exists, at least one of the position information, shape information, color information, and size information of the map element.

[0022] In one possible design, the original information collected by the vehicle-mounted sensor includes at least one of laser point cloud data and pixel point data.

[0023] In one possible design, the first network device is a cloud server or a roadside unit.

[0024] In a possible design, when the first network device is a roadside unit, the first network device sends map element change information to the second network device, specifically including: the map element change information is associated with whether to update the electronic map determined by the second network device.

[0025] In one possible design, when the first network device is a cloud server, the first network device sends map element change information to the second network device, specifically including: the second network device is a roadside unit, and the map element change information is associated with whether the electronic map is updated, determined by the second network device.

[0026] In a third aspect, a data transmission device is provided, which includes: a determination module for determining a data format of detection information, where the detection information is associated with a map element; a sending module for sending the detection information of the device to a first network device according to the data format; and a receiving module for receiving map element change information sent by the first network device or the second network device.

[0027] In one possible design, the data format of the detection information specifically includes: format one: original information collected by the vehicle-mounted sensor, or format two: target information detected by a single vehicle-mounted sensor, or format three: target information jointly detected by at least one vehicle-mounted sensor, or format four: map element change information corresponding to the target information jointly detected by at least one vehicle-mounted sensor.

[0028] In one possible design, the determination module is specifically used to: determine the data format of the detection information based on the confidence level of the detection information; or, determine the data format of the detection information based on the map layers supported by the first network device; or, determine the data format of the detection information based on the data processing capability of the first network device; or, determine the data format of the detection information based on the map element type corresponding to the detection information; or, determine the data format of the detection information based on the indication information sent by the first network device, the indication information being used to indicate the data format of the detection information; or, determine the data format of the detection information based on the moment of obtaining / sending the indication detection information.

[0029] In a possible design, the map element change information includes whether the map element exists, at least one of the position information, shape information, color information, and size information of the map element.

[0030] In one possible design, the original information collected by the vehicle-mounted sensor includes at least one of laser point cloud data and pixel point data.

[0031] In one possible design, the map elements corresponding to the detection information include a first type and a second type, and the determination module is specifically used to: when the map element corresponding to the detection information is of the first type, determine that the data format of the detection information is format one, format two, or format three; when the map element corresponding to the detection information is of the second type, determine that the data format of the detection information is format four.

[0032] In one possible design, the first type of map element includes at least one of road information, lane line information, traffic light information, road surface marking information, lamp pole information, and stop line information.

[0033] In one possible design, the first network device is a cloud server or a roadside unit.

[0034] In one possible design, when the first network device is a roadside unit, the second network device is a cloud server, and the map element change information is associated with the map element change information uploaded by at least one roadside unit to the second network device.

[0035] In one possible design, when the first network device is a cloud server, the second network device is a roadside unit, and the map element change information is associated with map element change information uploaded by at least one cloud server to the second network device.

[0036] In a fourth aspect, a data transmission device is provided, which includes: a receiving module for receiving detection information sent by a vehicle terminal, the detection information being associated with a map element; a detection module for determining whether the map element corresponding to the detection information matches based on the detection information, and if not, obtaining map element change information based on the detection information; a sending module for sending the map element change information to the vehicle terminal; or, a sending module for sending the map element change information to a second network device, the map element change information being used by the second network device to determine whether to update the electronic map.

[0037] In one possible design method, the data format of the detection information sent by the vehicle terminal is: Format 1: original information collected by the on-board sensor, or, Format 2: target information detected by a single on-board sensor, or, Format 3: target information jointly detected by at least one on-board sensor, or, Format 4: map element change information corresponding to the target information jointly detected by at least one on-board sensor.

[0038] In one possible design, the sending module is also used to send indication information to the vehicle terminal, and the indication information is used to indicate the data format of the detection information sent by the vehicle terminal; or, the sending module is also used to send the map layer supported by the device to the vehicle terminal, for determining the data format of the detection information; or, the sending module is also used to send the data processing capability of the device to the vehicle terminal, for determining the data format of the detection information.

[0039] In a possible design, the map element change information includes whether the map element exists, at least one of the position information, shape information, color information, and size information of the map element.

[0040] In one possible design, the original information collected by the vehicle-mounted sensor includes at least one of laser point cloud data and pixel point data.

[0041] In one possible design, when the second network device is a roadside unit, the sending module is specifically used to: send map element change information to the roadside unit corresponding to the map element, and the map element change information is used to determine whether to update the electronic map of the area corresponding to the roadside unit.

[0042] In one possible design, when the second network device is a cloud server, the sending module is specifically used to send map element change information to the cloud server, and the map element change information is used to determine whether to update the electronic map stored in the cloud server.

[0043] In a fifth aspect, a vehicle terminal is provided, which includes: at least one processor and a memory; at least one memory stores program instructions and data, the program instructions are executed in at least one processor, and at least one processor runs the program instructions in the memory so that the vehicle terminal executes the data transmission method in any possible design method of the first aspect mentioned above.

[0044] In a sixth aspect, a cloud server is provided, comprising: at least one processor and at least one memory; the at least one memory stores program instructions and data, the program instructions are executed in the at least one processor, and the at least one processor runs the program instructions in the at least one memory so that the cloud server executes the data transmission method in any possible design method of the second aspect above.

[0045] In the seventh aspect, a roadside unit is provided, which includes: at least one processor and at least one memory; the at least one memory stores program instructions and data, the program instructions are executed in the at least one processor, and the at least one processor runs the program instructions in the at least one memory so that the roadside unit executes the data transmission method in any possible design method of the second aspect above.

[0046] In an eighth aspect, a communication system is provided, which includes at least one vehicle terminal and at least one first network device, the vehicle terminal is used to execute the data transmission method in any possible design method of the first aspect, and the first network device is used to execute the data transmission method described in any possible design method of the second aspect.

[0047] In a ninth aspect, a computer-readable storage medium is provided, in which instructions are stored. When the computer-readable storage medium is run on a device, the device executes the data transmission method described in any possible design method of the first aspect.

[0048] In a tenth aspect, a computer program product is provided, which, when executed on a computer, enables the computer to execute the data transmission method described in any possible design method of the first aspect.

[0049] In the eleventh aspect, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium. When the computer-readable storage medium is run on a device, the device executes the data transmission method described in any possible design method of the second aspect.

[0050] In a twelfth aspect, a computer program product is provided, which, when run on a computer, enables the computer to execute the data transmission method described in any possible design method of the second aspect.

[0051] In a thirteenth aspect, a data transmission method is provided, the method comprising: a vehicle terminal acquiring detection information, the detection information including detection data related to road features; generating target information based on the detection information, the target information being used to indicate the road features; generating map element change information based on the target information and comparing the map elements of the current electronic map corresponding to the target information; and the vehicle terminal sending the map element change information to a first network device to determine whether to update the current electronic map.

[0052] In the above technical solution, the vehicle terminal collects detection information, compares it with the map elements of the current electronic map, and generates map element change information, so that the first network device that receives the detection information no longer needs to perform the above-mentioned data processing and map element change detection, thereby reducing the data processing complexity of the first network device.

[0053] In one possible design, the detection information is obtained by combining detection data from at least one vehicle-mounted sensor. In the above possible implementation, the reliability and accuracy of the detection information are improved by fusing data collected by multiple different sensors and comparing it with a local electronic map.

[0054] In one possible design, the target information is presented in a format that includes a computer-readable code, at least one of position information, shape information, size information, and text information. In the above possible implementation, the vehicle terminal can generate target information based on the detection data to improve data reliability.

[0055] In one possible design, the map element change information includes the updated value or incremental value of the map element. In the above possible implementation, the vehicle terminal can generate map element change information based on the detection data to update the map elements in the electronic map and improve the reliability of the data.

[0056] In one possible design, the map element change information includes at least one of the presence of the map element, location information, shape information, color information, size information, and position offset of the map element. In this possible implementation, the vehicle terminal can use the generated map element change information to update the map elements in the electronic map, thereby improving data reliability.

[0057] In one possible design, map elements include at least one of road information, lane marking information, traffic light information, road sign information, light pole information, and stop sign information. In this possible implementation, the vehicle terminal can generate map element change information based on the detection data, which is used to update the map elements in the electronic map, thereby improving the reliability of data updates.

[0058] In one possible design, the first network device is a cloud server or a roadside unit.

[0059] In a fourteenth aspect, a data transmission device is provided, which includes: an acquisition module for acquiring detection information, the detection information including detection data related to road features; a processing module for generating target information based on the detection information, the target information being used to indicate road features; a comparison module for comparing the target information with the map elements of the current electronic map corresponding to the target information to generate map element change information; and a sending module for sending the map element change information to a first network device.

[0060] In a possible design, the detection information is obtained by joint detection of at least one vehicle-mounted sensor.

[0061] In a possible design, the presentation format of the target information includes a computer-recognizable code, at least one of position information, shape information, size information, and text information.

[0062] In a possible design, the map element change information includes an update value or an incremental value of the map element.

[0063] In a possible design, the map element change information includes whether the map element exists, at least one of the position information, shape information, color information, size information, and position offset of the map element.

[0064] In one possible design, the map elements include at least one of road information, lane line information, traffic light information, road surface marking information, lamp pole information, and stop line information.

[0065] In one possible design, the first network device is a cloud server or a roadside unit.

[0066] It can be understood that any of the data transmission methods, devices, electronic devices, communication systems, computer-readable storage media and computer program products provided above can be implemented by the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 A system architecture diagram of an implementation environment of a data transmission method provided in an embodiment of the present application;

[0068] Figure 2 A flowchart of a data transmission method provided in an embodiment of the present application;

[0069] Figure 3 A flowchart of another data transmission method provided in an embodiment of the present application;

[0070] Figure 4 A flowchart of another data transmission method provided in an embodiment of the present application;

[0071] Figure 5 A schematic diagram of the structure of a data transmission device provided in an embodiment of the present application;

[0072] Figure 6 A schematic diagram of the structure of a data transmission device provided in an embodiment of the present application;

[0073] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0074] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this embodiment, unless otherwise specified, "plurality" means two or more.

[0075] The data transmission method provided in the embodiments of this application is primarily used in crowdsourcing vehicle electronic map data updates and maintenance applications, primarily implementing map updates in a crowdsourcing model. Specifically, the crowdsourcing model involves large-scale collection of road identification data from public vehicles, processing this large amount of road identification data, and matching it with corresponding map elements on the electronic map to complete the update of the electronic map database on the map cloud. This enables multiple public vehicles using this electronic map to update the electronic map, better guiding drivers in driving or achieving autonomous driving.

[0076] Among them, the map elements referred to in the embodiments of the present application refer to the road features marked on the electronic map and the road information used to guide vehicle driving, such as traffic lights, traffic poles, traffic signs, road signs, lane lines, zebra crossings, etc.

[0077] Using a crowdsourcing model to update and maintain high-precision electronic maps can solve the problem of fast and timely updates of electronic maps. At the same time, a large amount of detection data can ensure the accuracy of map data updates and improve the safety of autonomous driving.

[0078] The following combination Figure 1 A schematic diagram of an implementation environment for an embodiment of the present application is introduced. Figure 1 Schematic diagram of the implementation environment of the crowdsourcing data processing method provided in the embodiment of this application. Figure 1 As shown, in an embodiment of the present application, a communication system is provided, which may include: at least one vehicle terminal 11 and a cloud server 12.

[0079] Among them, the vehicle terminal is a front-end device for vehicle communication and management, which can be installed in various vehicles. At least one vehicle terminal 11 can be a communication device in a large-scale social vehicle, or a communication device in an intelligent vehicle with data processing and recognition capabilities, and can also be composed of ordinary social vehicles and intelligent vehicles. The crowdsourced vehicle terminal 11 can serve as an important basis for map collection and updating, and can obtain real-time road detection information through the on-board sensors configured in the vehicle terminal. For example, through cameras, infrared sensors, radar detectors, global satellite navigation systems or inertial navigation systems (referred to as inertial navigation), etc., the detected road information can be uploaded to the cloud server 12 for real-time updating and maintenance of map data. Specifically, the vehicle terminal 11 can upload the collected road data or updated target map elements to the cloud server 12 or other network devices through the network.

[0080] The cloud server 12 can provide real-time map data to multiple vehicles 11 via a wireless network. The cloud server 12 includes a large storage capacity for storing map data. Specifically, the map data can be deployed on one or more servers. Optionally, the network platform in the cloud server 12 can decide whether to update the current map based on the road data or updated target map elements reported by the crowdsourced vehicle terminals 11, and execute the map data update.

[0081] In one embodiment, the communication system may further include a roadside unit 13, which communicates with the vehicle terminal 11 or the cloud server 12 via a wired or wireless network and can provide the vehicle terminal 11 with road information within a certain area, high-precision positioning, or high-precision map services. The roadside unit 13 may also be configured to collect road detection information reported by the vehicle terminals 11 within a certain area, and after data processing and fusion, determine whether corresponding map elements have changed, thereby deciding whether to update the map.

[0082] The present invention provides a data transmission method that obtains road detection information from onboard sensors of crowdsourced vehicles. A vehicle terminal can detect changes to an electronic map based on the detection information from the onboard sensors and the corresponding map elements in the current electronic map. Alternatively, a cloud server can determine the change detection, or a roadside unit can detect the change. Based on the detection results, the cloud server or roadside unit then decides whether to update the corresponding map elements and sends the updated map information to at least one vehicle terminal.

[0083] Combine Figure 1, the embodiment of the present application provides a data transmission method, which is applied to at least one vehicle terminal and a first network device. The first network device may be a cloud server, or the first network device may be a roadside unit. The processing flow of the method is as follows Figure 2 As shown, the method may include:

[0084] S01: The vehicle terminal determines the data format of the detection information.

[0085] The detection information can be road feature-related detection data collected by onboard sensors configured on the vehicle terminal. Onboard sensors can include lidar, monocular cameras, multi-camera cameras, millimeter-wave radar, infrared detectors, antennas, temperature sensors, global satellite navigation systems, inertial navigation systems, body sensors, or gravity sensors, among others.

[0086] The detection information in the embodiments of the present application mainly refers to road detection information, which refers to the detection information obtained by the on-board sensor of the above-mentioned vehicle terminal, which can be used to analyze and indicate the current road characteristics. For example, the image data of the current road obtained by the camera can be processed accordingly to identify the road features in the image data, such as lane line information, zebra crossing information, speed limit sign information and other road features. For example, a lidar can be used to detect the distance and size of the target object on the current road, thereby identifying the road features based on the detection data, such as traffic pole information, road sign information, pedestrian information, etc.

[0087] In one possible implementation, the data formats of the detection information acquired by the onboard sensor of the vehicle terminal include at least the following four formats:

[0088] Format 1: Raw information collected by vehicle-mounted sensors.

[0089] Among them, raw information refers to unprocessed data information directly collected by vehicle-mounted sensors, such as multi-frame laser point cloud data or multi-frame image data, or data information that has only undergone simple data format processing or preprocessing, and has not undergone more complex data processing or data recognition.

[0090] Specifically, the raw information collected by the vehicle's sensors can include laser point cloud data or pixel data. For example, the laser point cloud data obtained by a laser radar is a set of vectors of the target object in a three-dimensional coordinate system obtained by the laser radar through scanning.

[0091] The pixel data acquired by the camera refers to the information of each pixel included in the image data acquired by the camera, such as the RGB color value, grayscale value, brightness information, depth information, etc. of each pixel. A computer can generate two-dimensional image data or three-dimensional image data based on the pixel data.

[0092] Format 2: Target information detected by a single vehicle-mounted sensor.

[0093] Target information refers to the raw information acquired by on-board sensors, processed and identified as target information indicating road features. For example, target information can be used to indicate or identify traffic poles, road signs, lane markings, zebra crossings, etc.

[0094] The above-mentioned data processing algorithms may include algorithms in the fields of semantic segmentation, cluster analysis, three-dimensional modeling, computer vision, etc., which can process the original information obtained by the vehicle-mounted sensors and output three-dimensional models, lane models or map element information, etc.

[0095] For example, the data collected by LiDAR primarily includes process data such as synchronization time data, Global Positioning System (GPS) positioning data, and inertial navigation attitude parameter data, as well as result data such as coordinate data and echo intensity data. The following is an example description of the laser point cloud data processing process. Based on this method, scattered point cloud data can be organized into a spatial data structure that is easy for humans to understand, conforms to natural laws, and has topological relationships through point cloud segmentation.

[0096] 1. By processing the laser ranging data, inertial navigation attitude data, GPS data and scanning angle data, the three-dimensional coordinate information of the laser foot point is calculated.

[0097] 2. Apply certain mathematical algorithms to perform post-processing on point cloud data, such as filtering, classification, building edge extraction, and 3D reconstruction of buildings.

[0098] 3. Convert the point cloud data coordinate system into the coordinate system required by the user.

[0099] 4. The ground points obtained by filtering and classification are used to generate final surveying and mapping products such as digital elevation model (DEM), digital surface model (DSM) and digital orthophoto map (DOM) through corresponding operations.

[0100] For example, the target information may be presented in the form of image data, where the image data may include identification of road features or identification information indicating corresponding map elements. The target information may also be presented in the form of a computer-readable code that indicates specific data about the road feature collected by the vehicle's sensors, such as location information, shape information, size information, text information, etc.

[0101] It should be noted that the target information referred to in the embodiments of this application, and the map elements on the electronic map corresponding to the target information, can be standard models uniformly developed by the crowdsourced Internet of Vehicles system, or can be customized models created by technicians based on experimental data. This application does not impose specific limitations on this.

[0102] Format 3: Target information jointly detected by at least one vehicle-mounted sensor.

[0103] Format three refers to target information obtained by the vehicle terminal after performing certain data processing and data fusion on the detection information detected by multiple on-board sensors. Its data reliability is higher. For example, the system can superimpose Global Positioning System (GPS) data, laser point cloud data, image data, etc., and through data recognition, identify road features such as lane lines, curbs, road signs, and traffic signs. The detection information or target information used to indicate the same road feature or map element is fused to obtain the target information of the joint detection.

[0104] The vehicle terminal uses the above-mentioned data format to send the above-mentioned detection information. Since the data collected by multiple different sensors are integrated and verified, the reliability and accuracy of the detection information can be improved; at the same time, the first network device that receives the detection information no longer needs to perform the above-mentioned data identification and processing, and can also reduce the data processing complexity of the first network device.

[0105] For example, the lidar scanning data is processed to obtain target information 1, which can be used to indicate the specific information about the speed limit signs and lane markings on the currently located road. Furthermore, the image data captured by the camera is processed to obtain target information 2, which includes the specific information about the speed limit signs and lane markings on the currently located road. For target information 3 detected by another onboard sensor, the system can fuse target information 1, target information 2, and target information 3, eliminating data with large errors, thereby obtaining highly accurate target information detected by multiple onboard sensors.

[0106] Taking lane line extraction as an example, a data fusion algorithm based on image vision and lidar is shown below:

[0107] Step 1: Preprocess the original laser point cloud to extract road surface point cloud data, and preprocess the original image to remove noise, lighting and other effects;

[0108] Step 2: Extract the point cloud data of the road boundary from the road surface point cloud data extracted in step 1, and determine the point cloud position of the lane line based on the principle that the distance between the lane line and the road boundary is constant.

[0109] Step 3: align the lane line point cloud data obtained after step 2 with the pre-processed image to roughly determine the approximate location of the lane line on the image;

[0110] Step 4: Perform accurate lane line detection within the image area determined in step 3.

[0111] Specifically, the fusion processing of detection data from multiple different vehicle-mounted sensors can be achieved through a deep learning classification algorithm, or through an artificial intelligence algorithm such as a neural network, and this application does not make specific limitations on this.

[0112] Format 4: Map element change information corresponding to target information detected jointly with at least one vehicle-mounted sensor.

[0113] Map element change information refers to the updated or incremental value of a map element obtained by comparing target information detected by multiple on-board sensors with the map element of the electronic map corresponding to that target information, to determine if the map element corresponding to the target information in the existing electronic map has changed. The electronic map corresponding to the target information is the currently stored electronic map currently in use by the user.

[0114] The system may match target information jointly detected by multiple vehicle-mounted sensors with map elements corresponding to the target information. If a mismatch is determined, map element change information of the map element corresponding to the target information may be obtained through comparison.

[0115] Exemplarily, the map element change information may include binary semantic information such as whether the map element exists, location information, shape information, color information, size information, etc. of the map element.

[0116] Exemplarily, the map element change information may also include relative change information, such as the position offset of the map element.

[0117] It should be noted that the detection information sent by the vehicle terminal in the aforementioned data format is integrated with data collected by multiple sensors and compared with the local electronic map, thereby improving the reliability and accuracy of the detection information. Furthermore, the vehicle terminal detects changes in map elements on the current electronic map based on the detection information and generates map element change information. This eliminates the need for the first network device receiving this detection information to perform the aforementioned data processing and map element change detection, thereby reducing the data processing complexity of the first network device.

[0118] S02: The vehicle terminal sends detection information of the vehicle terminal to the first network device according to a data format, where the detection information is associated with a map element.

[0119] The first network device may be a cloud server or a road side unit (RSU). In actual crowdsourced car networking map collection applications, multiple vehicle terminals may send collected detection information to the first network device for updating and maintaining electronic maps.

[0120] Detection information is associated with map elements and can be used to indicate map elements detected by onboard sensors. Furthermore, the detection information includes detection data in format one, format two, or format three, which can be used by the first network device to determine, based on the detection information, whether the map element corresponding to the detection information has changed on the current electronic map. Format four detection data within the detection information can be used by the first network device to determine whether to update the electronic map based on the confidence level of the detection information.

[0121] In a possible implementation, the first network device may be a roadside unit, and the plurality of vehicle terminals may send detection information of the vehicle terminals to the roadside unit according to a determined data format.

[0122] Since roadside units are divided according to map regions, the vehicle terminal can send the collected detection information to the roadside unit corresponding to the detection information according to the location region. In other words, the roadside unit can be the roadside unit of the location region corresponding to the detection information. The detection information can be used by the roadside unit to determine whether the map element corresponding to the detection information on the current electronic map has changed.

[0123] S03: The first network device receives the detection information sent by the vehicle terminal, and determines whether the map element corresponding to the detection information matches according to the detection information. If not, the first network device obtains map element change information according to the detection information.

[0124] Matching refers to determining whether the map element corresponding to the detection information is consistent with the corresponding map element in the currently stored electronic map. If it is determined that the map element has changed, it is considered that the detection information does not match the corresponding map element.

[0125] Based on the received detection information, the first network device processes data to identify the map element in the electronic map corresponding to the detection information. Specifically, the first network device determines the map element that matches the detection information based on the map elements in the electronic map locally stored on the first network device. For example, the corresponding map element can be determined based on GPS positioning information included in the detection information. The detection information is then compared with the matching map element to determine whether the current map element has changed.

[0126] If it is determined that the map element corresponding to the detection information has changed, the first network device may obtain map element change information based on the detection information and execute step S04. If it is determined that the map element corresponding to the detection information has not changed, the first network device does not perform any operation. Alternatively, the first network device may return a response message to the vehicle terminal, indicating that the map element corresponding to the detection information sent by the vehicle terminal has not changed, and the vehicle terminal does not need to update the local electronic map.

[0127] In one possible implementation, the first network device can determine whether a map element has changed based on detection information sent by multiple vehicle terminals, thereby improving the accuracy of the decision. Furthermore, the first network device can obtain map element change information based on detection information sent by multiple vehicle terminals, thereby improving the accuracy of map updates.

[0128] In one possible implementation, a first network device can update its local electronic map based on map element change information. The first network device can be a cloud server or a roadside unit (ROU). The cloud server or RSU can then update its local electronic map based on map element change information. Other network devices can obtain real-time updated electronic maps through the first network device. For example, cloud servers from other map vendors can obtain updated electronic maps when requesting map data from this cloud server. Vehicle terminals in a particular area can obtain real-time updated electronic maps from the cloud server via the RSU in that area, or directly from the cloud server, thereby improving the real-time and accuracy of electronic map updates.

[0129] S04: The first network device sends map element change information to the vehicle terminal.

[0130] The first network device may send map element change information to multiple vehicle terminals, so as to update local electronic maps of the multiple vehicle terminals.

[0131] In one possible implementation, the first network device may be a cloud server. The cloud server may transmit location-matched map element change information to multiple vehicle terminals based on the location addresses and historical track records of a large number of vehicle terminals. For example, the cloud server may transmit map element change information within a region of a vehicle terminal's location to multiple vehicle terminals whose location addresses fall within that region, or to multiple vehicle terminals whose historical track records include that region.

[0132] In another possible implementation, the first network device may also be a roadside unit, which may send map element change information of its area to multiple vehicle terminals within the area.

[0133] S05: The vehicle terminal receives the map element change information sent by the first network device.

[0134] After the vehicle terminal receives the map element change information sent by the first network device, it can update the local electronic map according to the received map element change information, and determine the changes of the corresponding map elements in the electronic map based on the detection information collected by the crowdsourcing vehicle, thereby realizing real-time updating and maintenance of the electronic map.

[0135] In the above-mentioned embodiment of the present application, detection information in different data formats, such as format two, format three or format four, can be sent to the first network device through the vehicle terminal. The vehicle terminal undertakes part of the data fusion processing of the detection information, thereby making the data fusion process of the receiving device, i.e., the first network device, for detection data of different sensors relatively simple, which can effectively reduce the data processing complexity of the first network device.

[0136] In one embodiment, in the above step S01, the vehicle terminal determines the data format of the detection information, which may include the following different methods, which are described in detail below. The system may determine it according to one of the following methods, or according to a combination of the following methods.

[0137] Method 1: The vehicle terminal can determine the data format of the detection information based on the confidence level of the detection information.

[0138] Confidence is also known as reliability, confidence level, or confidence coefficient. In estimating a population parameter, it represents the probability that the sampled value of the parameter is within the permissible error range. Specifically, when estimating a population parameter through sampling, a probability representation is used to express the probability that the estimated value and the population parameter are within a certain permissible error range, based on the randomness of the sample. This probability is called the confidence level.

[0139] The confidence level of the detection information is used to indicate the probability of the accuracy of the detection information obtained by the vehicle terminal. The greater the confidence level of the detection information, the higher the accuracy of the detection information; the smaller the confidence level of the detection information, the lower the accuracy of the detection information.

[0140] The vehicle terminal may determine that the data format of the detection information is one or more of the above formats based on the confidence level of the detection information.

[0141] Exemplarily, the system of the vehicle terminal can be configured as follows: if the confidence level of the detection information obtained by the on-board sensor of the vehicle terminal is higher than a preset confidence threshold, the data format of the detection information is determined to be format three or format four; if the confidence level of the detection information obtained by the on-board sensor of the vehicle terminal is lower than the preset confidence threshold, the data format of the detection information is determined to be format one or format two.

[0142] Method 2: The vehicle terminal may determine the data format of the detection information according to the map layer supported by the first network device.

[0143] A map layer refers to the image information that makes up each layer of an electronic map. An electronic map's representation of real space is described through different map layers, which are then expressed through the overlay display of these map layers.

[0144] Map layers refer to classifications of map information containing different elements, features, or attributes. For example, based on the frequency of map element changes, electronic maps can be divided into static layers and dynamic layers; based on their intended use, electronic maps can be divided into positioning layers and positioning feature layers; and based on the type of map data information, they can be divided into laser point cloud layers and image layers.

[0145] Based on this, the system of the vehicle terminal can be configured such that the vehicle terminal determines that the data format of the detection information is one or more of the above-mentioned formats based on the map layers supported by the first network device. Before the vehicle terminal determines the data format of the detection information, the first network device can send instruction information to the vehicle terminal to indicate the map layers supported by the first network device. For example, the first network device can send instruction information to the vehicle terminal to indicate that the first network device supports positioning layers based on laser point clouds.

[0146] Exemplarily, the system can be configured as follows: when the first network device supports a positioning layer based on a laser point cloud, the vehicle terminal determines that the data format of the detection information can be format one; when the first network device does not support a positioning layer based on a laser point cloud, but the supported map layer is an image layer or other type of layer, the vehicle terminal determines that the data format of the detection information can be format three or format four.

[0147] Method three: the vehicle terminal may determine the data format of the detection information according to the data processing capability of the first network device.

[0148] The system of the vehicle terminal may be configured to determine the data format of the detection information to be one or more of the aforementioned formats based on the data processing capabilities of the first network device. Before the vehicle terminal determines the data format of the detection information, the first network device may send indication information to the vehicle terminal to indicate the data processing capabilities of the first network device. For example, the first network device may send indication information to the vehicle terminal to indicate whether the data processing capabilities of the first network device are strong, relatively strong, or relatively weak, or to indicate a rating of the data processing capabilities of the first network device.

[0149] For example, when the data processing capability of the first network device meets a threshold, the vehicle terminal may determine that the data format of the detection information may be format 1 or format 2; when the data processing capability of the first network device does not meet the threshold, the vehicle terminal may determine that the data format of the detection information may be format 3 or format 4. The threshold may be system-configured or preset.

[0150] Method 4: The vehicle terminal may determine the data format according to the indication information sent by the first network device, where the indication information is used to indicate the data format of the detection information.

[0151] The system of the vehicle terminal may be configured to determine, based on the instruction information sent by the first network device, that the data format of the detection information is one or more of the aforementioned formats. Before the vehicle terminal determines the data format of the detection information, the first network device may send instruction information to the vehicle terminal, indicating the data format of the detection information to be sent by the vehicle terminal to the first network device. For example, the first network device may send instruction information to the vehicle terminal indicating that the data format of the detection information may be format one or format two.

[0152] Method 5: The vehicle terminal determines the data format of the detection information according to the time status when the detection information can be obtained.

[0153] The system of the vehicle terminal may be configured to determine that the data format of the detection information is one or more of the above formats according to the time when the detection information is acquired.

[0154] Exemplarily, the system of the vehicle terminal can be configured as follows: when the vehicle terminal determines that the current moment is moment 1, the data format of the detection information sent by the vehicle terminal to the first network device is format one; when the vehicle terminal determines that the current moment is moment 2, the data format of the detection information sent by the vehicle terminal to the first network device is format two; when the vehicle terminal determines that the current moment is moment 3, the data format of the detection information sent by the vehicle terminal to the first network device is format three or format four.

[0155] Among them, different data formats corresponding to different moments can be configured according to the busy or idle state of the first network device; or, they can be configured according to the busy or idle state or data processing capacity of the vehicle terminal. For example, when the vehicle terminal is in a busy state, it can be configured to send detection information to the first network device in format one; when the vehicle terminal is in an idle state, it can be configured to send detection information to the first network device in format four, and so on. Among them, the busy state can mean that the vehicle terminal system is currently running multiple services, and the system operation space or the system operation capacity is lower than the preset threshold; the idle state can mean that the vehicle terminal system currently has no business running or is running a small amount of business, and the system operation space or the system operation capacity is higher than the preset threshold.

[0156] Method 6: The vehicle terminal may determine the data format of the detection information according to the type of map element corresponding to the detection information.

[0157] The system of the vehicle terminal may be configured to determine that the data format of the detection information is one or more of the above formats according to the type of map element corresponding to the detection information.

[0158] In one possible implementation, the map elements corresponding to the detection information may include a first type and a second type, wherein the first type may be a key map element, and the first type of map element may include road information, lane information, traffic light information, road sign information, light pole information, stop line information, etc. The second type may be a non-key map element, such as roadside building information, green belt information, or temporary road markings.

[0159] Exemplarily, the system can be configured as follows: when the map element corresponding to the detection information is of the first type, the vehicle terminal determines that the data format of the detection information is format one, format two or format three; when the map element corresponding to the detection information is of the second type, the vehicle terminal determines that the data format of the detection information is format four.

[0160] The specific configuration methods of the above-mentioned methods 1 to 6 can be calculated by technical personnel in this field based on the data processing capabilities of the vehicle terminal, combined with the data processing capabilities of the first network device and experimental data, and the configuration parameters can be adjusted and updated and maintained according to the actual application process. This application does not make specific restrictions on this.

[0161] The system can selectively configure the vehicle terminal to determine the data format of the detection information in the aforementioned different ways. Specifically, the system can configure the system based on one of the aforementioned determination methods, such as determining the data format of the detection information to be sent based on the confidence level of the detection information. The system can also comprehensively consider multiple of the aforementioned determination methods.

[0162] Exemplarily, the vehicle terminal determines that the electronic map of the first network device supports a positioning layer based on a laser point cloud, then the vehicle terminal determines that the data format of the uploaded detection information can be format one; otherwise, the vehicle terminal further determines that the data format of the uploaded detection information can be format two or format three based on whether the confidence level of the detection information collected by the sensor is higher than a preset confidence threshold or the data processing capability of the first network device.

[0163] In the aforementioned embodiments of this application, detection information in various data formats can be sent to the first network device via the vehicle terminal, reducing the data processing complexity of the receiving device (i.e., the first network device). Furthermore, the system can flexibly select the format of the detection data to be sent based on the current conditions of the sending and receiving devices, improving the flexibility and accuracy of data processing and enabling real-time map data collection and updates by crowdsourced vehicles.

[0164] In another possible implementation, when the first network device is a cloud server and the second network device is a roadside unit, Figure 3 As shown, after step S03, the method may further include the following steps:

[0165] S06: The cloud server determines, based on the detection information, that a map element corresponding to the detection information has changed, and sends the obtained map element change information to the roadside unit.

[0166] When a cloud server receives multiple detection messages from multiple vehicle terminals, it can perform data recognition and fusion processing on the detection messages, compare them with the currently stored electronic map, and obtain map element change information when it determines that the corresponding map elements in the detection messages have changed. As mentioned above, this map element change information can include binary semantic information such as whether a map element exists, or relative change information such as an incremental value or update value.

[0167] The cloud server sends the map element change information to the second network device, that is, to the roadside unit.

[0168] Specifically, the cloud server sends the map element change information to the roadside unit according to the area corresponding to the map element change information, and sends the map element change information to the roadside unit associated with the corresponding area.

[0169] For example, multiple crowdsourced vehicle terminals directly report detection information in Format 4 to the corresponding map cloud server. Specifically, the vehicle terminals detect map element changes and determine any mismatches in the resulting map element change information. The cloud server classifies the regions based on the crowdsourced vehicle terminal reports, determines the map element change information corresponding to a particular region, and transmits the corresponding map element change information to the corresponding roadside unit (RSU).

[0170] S07: The roadside unit receives map element change information and determines whether to update the electronic map according to the map element change information.

[0171] The roadside unit can determine whether to update the electronic map based on the received map element change information and the confidence level of the map element change information. Specifically, the map element change information is associated with the roadside unit's determination of whether to update the electronic map.

[0172] Exemplarily, if the roadside unit determines that the confidence level of the map element change information is higher than the confidence level of the electronic map currently stored by the roadside unit, the roadside unit updates the local electronic map based on the map element change information; if the roadside unit determines that the confidence level of the map element change information is lower than the confidence level of the electronic map currently stored by the roadside unit, the roadside unit does not update the electronic map.

[0173] In one possible implementation, a roadside unit (RSU) in a certain area may receive map element change information from multiple map cloud servers of different vendors. Specifically, this information may be multiple pieces of map element change information sent by multiple different cloud servers. The RSU may then perform dual verification based on the multiple pieces of map element change information to improve data accuracy. The multiple pieces of map element change information are map element change information associated with map elements within the RSU's preset management area.

[0174] S08: The roadside unit determines to update the electronic map and sends map element change information to the vehicle terminal.

[0175] When the roadside unit determines to update the electronic map, it sends the map element change information obtained after data fusion processing to the vehicle terminal for updating the local electronic map of the vehicle terminal.

[0176] S09: The vehicle terminal receives the map element change information sent by the roadside unit.

[0177] After receiving the map element change information sent by the second network device, the roadside unit, the vehicle terminal can update the local electronic map based on the map element change information. This achieves the purpose of determining the changes in the corresponding map elements in the electronic map based on the detection information collected by the crowdsourcing vehicles, thereby updating and maintaining the electronic map.

[0178] In the above-mentioned embodiment of the present application, the vehicle terminal directly reports detection information or unmatched map element change information to the corresponding cloud server. The cloud server determines the map element change information of a certain area based on the crowdsourced reporting results of the vehicle terminal and sends this map element change information to the roadside unit corresponding to the area. The roadside unit comprehensively considers the reporting information of multiple different map manufacturers to decide whether to update and maintain the electronic map. In this process, since the cloud server of each map manufacturer can transmit the obtained map element change information to the roadside unit of the corresponding area, the roadside unit can perform double verification of the detection results of the same area based on different cloud servers and broadcast the update results to the vehicle terminal, thereby improving the reliability of the electronic map update.

[0179] In another possible implementation, when the first network device is a roadside unit and the second network device is a cloud server, Figure 4 As shown, after step S03, the method may further include the following steps:

[0180] S10: The roadside unit determines, based on the detection information, that a map element corresponding to the detection information has changed, and sends the obtained map element change information to the cloud server.

[0181] When a roadside unit receives multiple detection messages from multiple vehicle terminals, it can perform data recognition and fusion processing on the multiple detection messages, compare them with the currently stored electronic map, and obtain map element change information when it determines that the corresponding map element in the detection message has changed compared to the currently stored electronic map. As mentioned above, this map element change information can include binary semantic information such as whether a map element exists, or relative change information about a map element, such as an incremental value or an updated value.

[0182] The roadside unit sends the map element change information to the second network device, that is, to the cloud server.

[0183] Different roadside units are used to manage detection information sent by vehicle terminals within a preset area, or to manage the detection of map element changes within a preset area. Therefore, different roadside units can receive road detection information from different areas. After fusing detection information collected by multiple different vehicles and onboard sensors, the roadside units can report map element change information for each managed area to the cloud server. The cloud server can receive multiple map element change reports from different roadside units, thereby maintaining and updating the electronic map.

[0184] S11: The cloud server receives map element change information and determines whether to update the electronic map according to the map element change information.

[0185] The cloud server may determine whether to update the electronic map based on the received map element change information and the confidence level of the map element change information. Specifically, the map element change information is associated with the cloud server's determination of whether to update the electronic map.

[0186] Exemplarily, if the cloud server determines that the confidence level of the map element change information is higher than the confidence level of the electronic map currently stored on the cloud server, the electronic map stored on the cloud server is updated according to the map element change information; if the cloud server determines that the confidence level of the map element change information is lower than the confidence level of the electronic map currently stored on the cloud server, the cloud server does not update the electronic map.

[0187] In one possible implementation, the cloud server may, based on the received multiple map element change information reported by multiple different roadside units, eliminate map element change information with large errors according to a verification algorithm and the confidence levels of the multiple map element change information, obtain data with higher reliability and accuracy according to the algorithm, and further determine whether to update the map element associated with the map element change information in the electronic map.

[0188] S12: The cloud server determines to update the electronic map and sends map element change information to the vehicle terminal.

[0189] The cloud server determines to update the electronic map, and can obtain map element change information after processing according to the data fusion algorithm, and send the map element change information to the vehicle terminal for updating the local electronic map of the vehicle terminal.

[0190] S13: The vehicle terminal receives the map element change information sent by the cloud server.

[0191] After receiving the map element change information sent by the second network device, i.e., the cloud server, the vehicle terminal can update the local electronic map based on the map element change information. This achieves the purpose of determining the changes in the corresponding map elements in the electronic map based on the detection information collected by the crowdsourcing vehicles, thereby updating and maintaining the electronic map.

[0192] In the above-mentioned embodiment of the present application, the detection information collected by the crowdsourced vehicles in its area is processed and fused through the roadside unit RSU, which can not only improve the reliability of the collected data, but also reduce the data processing complexity of the cloud server, thereby realizing the map data collection and update of the crowdsourced vehicles.

[0193] The aforementioned embodiments of the present application can detect changes in map elements through crowdsourced vehicle terminals, cloud servers, or roadside units, thereby improving the flexibility and accuracy of data processing. The crowdsourced Internet of Vehicles system can determine which device on the vehicle, cloud, or roadside to complete the detection of map element changes, and whether to update the electronic map based on the detection information, based on factors such as the data processing capabilities of the detection information collection device and the map element change detection device. This can effectively improve the accuracy and real-time nature of map data updates, reduce the data processing complexity of the cloud server or roadside unit, and enhance the safety and user experience of autonomous driving.

[0194] The embodiment of the present application also provides a data transmission device, which can be a vehicle terminal. Figure 5 As shown, the device 500 includes: a determining module 501 , a sending module 502 and a receiving module 503 .

[0195] The determination module 501 may be used to determine a data format of detection information, where the detection information is associated with a map element.

[0196] The sending module 502 may be configured to send the detection information collected by the apparatus 500 to the first network device according to a determined data format.

[0197] The receiving module 503 may be configured to receive map element change information sent by the first network device or the second network device.

[0198] In one embodiment, the data format of the detection information specifically includes: format one: original information collected by the vehicle-mounted sensor, or format two: target information detected by a single vehicle-mounted sensor, or format three: target information jointly detected by at least one vehicle-mounted sensor, or format four: map element change information corresponding to the target information jointly detected by at least one vehicle-mounted sensor.

[0199] In one embodiment, the above-mentioned determination module 501 can be specifically used to: determine the data format of the detection information based on the confidence level of the detection information; or, determine the data format of the detection information based on the map layer supported by the first network device; or, determine the data format of the detection information based on the data processing capability of the first network device; or, determine the data format of the detection information based on the map element type corresponding to the detection information; or, determine the data format of the detection information based on the indication information sent by the first network device, the indication information is used to indicate the data format of the detection information; or, determine the data format of the detection information based on the momentary state of obtaining the indication detection information.

[0200] In one embodiment, the map element change information includes at least one of whether the map element exists, location information, shape information, color information, and size information of the map element.

[0201] In one embodiment, the original information collected by the above-mentioned vehicle-mounted sensor includes at least one of laser point cloud data and pixel point data.

[0202] In one embodiment, the map elements corresponding to the above-mentioned detection information include a first type and a second type. The determination module 501 can be specifically used to: when the map element corresponding to the detection information is of the first type, determine that the data format of the detection information is format one, format two or format three; when the map element corresponding to the detection information is of the second type, determine that the data format of the detection information is format four.

[0203] In one embodiment, the first type of map element includes at least one of road information, lane line information, traffic light information, road surface marking information, lamppost information, and stop line information.

[0204] In one embodiment, the first network device may be a cloud server or a roadside unit.

[0205] In one embodiment, when the first network device is a roadside unit, the second network device is a cloud server, and the map element change information is associated with map element change information uploaded by at least one roadside unit to the second network device.

[0206] In one embodiment, when the first network device is a cloud server, the second network device is a roadside unit, and the map element change information is associated with map element change information uploaded by at least one cloud server to the second network device.

[0207] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0208] The embodiment of the present application also provides a data transmission device, which can be a cloud server or a drive test unit. Figure 6 As shown, the device 600 may include: a receiving module 601, a detecting module 602 and a sending module 603.

[0209] The receiving module 601 can be used to receive detection information sent by the vehicle terminal, where the detection information is associated with the map element.

[0210] The detection module 602 may be configured to determine whether the map element corresponding to the detection information matches based on the detection information. If not, the detection module 602 may obtain map element change information based on the detection information.

[0211] The sending module 603 can be used to send the map element change information to the vehicle terminal; or, the sending module 603 is used to send the map element change information to the second network device, and the map element change information is used by the second network device to determine whether to update the electronic map.

[0212] In one embodiment, the data format of the detection information sent by the vehicle terminal is: Format 1: original information collected by the vehicle-mounted sensor, or, Format 2: target information detected by a single vehicle-mounted sensor, or, Format 3: target information jointly detected by at least one vehicle-mounted sensor, or, Format 4: map element change information corresponding to the target information jointly detected by at least one vehicle-mounted sensor.

[0213] In one embodiment, the sending module 603 can also be used to send indication information to the vehicle terminal, where the indication information is used to indicate the data format of the detection information sent by the vehicle terminal; or, to send the map layer supported by the device 600 to the vehicle terminal to determine the data format of the detection information; or, to send the data processing capability of the device to the vehicle terminal to determine the data format of the detection information.

[0214] In one embodiment, the map element change information includes at least one of whether the map element exists, location information, shape information, color information, and size information of the map element.

[0215] In one embodiment, the original information collected by the vehicle-mounted sensor includes at least one of laser point cloud data and pixel point data.

[0216] In one embodiment, when the second network device is a roadside unit, the sending module 603 can also be specifically used to: send map element change information to the roadside unit corresponding to the map element, and the map element change information is used to determine whether to update the electronic map of the area corresponding to the roadside unit.

[0217] In one embodiment, when the second network device is a cloud server, the sending module 603 may be further configured to send map element change information to the cloud server, where the map element change information is used to determine whether to update the electronic map stored in the cloud server.

[0218] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0219] The present application also provides an electronic device, such as Figure 7 As shown, the electronic device 700 may include at least one processor 701 , a communication line 702 and a memory 703 .

[0220] The processor 701 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the disclosed solution.

[0221] The communication link 702 may include a path for transmitting information between the above components, such as a bus.

[0222] The memory 703 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program codes in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory can be independent and connected to the processor via a communication line 702. The memory can also be integrated with the processor. The memory provided in the embodiment of the present disclosure can generally have non-volatility. Among them, the memory 703 is used to store the computer execution instructions involved in executing the scheme of the present disclosure, and is controlled by the processor 701 to execute. The processor 701 is used to execute the computer-executable instructions stored in the memory 703, thereby implementing the method provided by the embodiment of the present disclosure.

[0223] Optionally, the computer-executable instructions in the embodiments of the present disclosure may also be referred to as application code, which is not specifically limited in the embodiments of the present disclosure.

[0224] In a specific implementation, as an embodiment, the processor 701 may include one or more CPUs, such as Figure 7 CPU0 and CPU1 in.

[0225] In a specific implementation, as an embodiment, the electronic device 700 may include multiple processors, such as Figure 7701 and processor 707 in FIG. Each of these processors may be a single-CPU processor or a multi-CPU processor. A processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0226] In a specific implementation, as an embodiment, the electronic device 700 may further include a communication interface 704. The communication interface 704 uses any transceiver-like device for communicating with other devices or communication networks, such as an Ethernet interface, a radio access network (RAN) interface, a wireless local area network (WLAN) interface, etc.

[0227] In a specific implementation, as an embodiment, the electronic device 700 may further include an output device 705 and an input device 706. The output device 705 communicates with the processor 701 and can display information in a variety of ways. For example, the output device 705 can be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device 706 communicates with the processor 701 and can receive user input in a variety of ways. For example, the input device 706 can be a mouse, a keyboard, a touch screen device, or a sensor device.

[0228] In a specific implementation, the electronic device 700 can be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a car computer, a wireless terminal device, an embedded device or a computer with Figure 7 The embodiment of the present disclosure does not limit the type of the electronic device 700.

[0229] In some embodiments, Figure 7 The processor 701 can call the computer execution instructions stored in the memory 703 to enable the device 700 to execute the data transmission method in the above method embodiment.

[0230] For example, Figure 7 The functions / implementation processes of the processing module 701 and the derivation module 702 can be realized by Figure 7 The processor 701 in the memory 703 calls the computer execution instructions stored in the memory to implement it.

[0231] In an exemplary embodiment, a storage medium including instructions is further provided, such as a memory 703 including instructions. The instructions can be executed by the processor 701 of the electronic device 700 to complete the above method.

[0232] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using a software program, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0233] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0234] Finally, it should be noted that the above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A data transmission method, characterized in that: The method comprises: The vehicle terminal obtains detection information, wherein the detection information includes detection data related to road characteristics; generating target information according to the detection information, wherein the target information is used to indicate the road feature; generating map element change information by comparing the target information with a map element of a current electronic map corresponding to the target information; The vehicle terminal sends the map element change information to the first network device to determine whether to update the current electronic map.

2. The method according to claim 1, characterized in that The detection information is obtained by joint detection of at least one vehicle-mounted sensor.

3. The method according to claim 1 or 2, characterized in that The presentation format of the target information includes at least one of a code recognizable by a computer, position information, shape information, size information, and text information.

4. The method according to any one of claims 1 to 3, characterized in that The map element change information includes an update value or an increment value of the map element.

5. The method according to any one of claims 1 to 4, characterized in that The map element change information includes at least one of whether the map element exists, position information, shape information, color information, size information, and position offset of the map element.

6. The method according to any one of claims 1 to 5, characterized in that The map elements include at least one of road information, lane line information, traffic light information, road surface marking information, lamp pole information, and stop line information.

7. The method according to any one of claims 1 to 6, characterized in that The first network device is a cloud server or a roadside unit.

8. A data transmission device, characterized in that: The device comprises: An acquisition module, configured to acquire detection information, wherein the detection information includes detection data related to road features; a processing module, configured to generate target information based on the detection information, wherein the target information is used to indicate road characteristics; a comparison module, configured to compare the target information with a map element of a current electronic map corresponding to the target information, and generate map element change information; The sending module is used to send the map element change information to the first network device.

9. The device according to claim 8, characterized in that The detection information is obtained by joint detection of at least one vehicle-mounted sensor.

10. The device according to claim 8 or 9, characterized in that The presentation format of the target information includes at least one of a code recognizable by a computer, position information, shape information, size information, and text information.

11. The device according to any one of claims 8 to 10, characterized in that The map element change information includes an update value or an increment value of the map element.

12. The device according to any one of claims 8 to 11, characterized in that The map element change information includes at least one of whether the map element exists, position information, shape information, color information, size information, and position offset of the map element.

13. The device according to any one of claims 8 to 12, characterized in that The map elements include at least one of road information, lane line information, traffic light information, road surface marking information, lamp pole information, and stop line information.

14. The device according to any one of claims 8 to 13, characterized in that The first network device is a cloud server or a roadside unit.

15. A vehicle terminal, characterized in that: The vehicle terminal includes: at least one processor and a memory; The at least one memory stores program instructions and data, the program instructions are executed in the at least one processor, and the at least one processor runs the program instructions in the memory so that the vehicle terminal executes the data transmission method according to any one of claims 1 to 7.

16. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, and when the computer-readable storage medium is run on a device, the device is caused to execute the data transmission method according to any one of claims 1 to 7.

17. A computer program product, characterized in that When the computer program product is run on a computer, the computer is enabled to execute the data transmission method according to any one of claims 1 to 7.

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