Method and device for evaluating influence of map change on automatic driving, storage medium and equipment

Abstract

The invention provides a method and device for evaluating the influence of map change on automatic driving, a storage medium and equipment, and the method comprises the steps: determining at least one change traffic element according to a map before and after updating, recording the map before updating as a first edition map, and recording the map after updating as a second edition map; obtaining at least one map change sub-region according to the change traffic elements and the automatic driving vehicle operation region; calling corresponding automatic driving test cases according to all change traffic elements in the map change sub-region; aiming at any map change sub-region, obtaining a first evaluation of the automatic driving test case when the automatic driving test case runs in a first edition of map and a second evaluation of the automatic driving test case when the automatic driving test case runs in a second edition of map; according to the first evaluation and the second evaluation, obtaining the influence of map updating in the map change sub-region on automatic driving; and integrating the influence of map updating in all the map change sub-regions on automatic driving to obtain an evaluation result of the influence of map change on automatic driving.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic driving, in particular to a method and device for evaluating the influence of map changes on automatic driving, a storage medium and equipment. BACKGROUND

[0002] A high-precision map used on an automatic driving vehicle needs to go through three links of map acquisition, map making and map checking. After the map checking link is completed, the high-precision map is officially deployed as an operation version on an operation vehicle. In the process of executing a task by the operation vehicle, if it is found that the road has changed or the route has been modified according to the actual road conditions with an operation personnel, the high-precision map of the vehicle will be updated. The automatic driving algorithm of the vehicle matches the latest high-precision map for daily operation without sensing, however, the automatic driving algorithm of the vehicle is not synchronized with the map update, which leads to accidents or illegal behaviors of the automatic driving vehicle in daily operation, exposing the influence of map changes on the automatic driving algorithm.

[0003] However, with the increasing use of automatic driving vehicles, the influence of map changes on the automatic driving algorithm reflected by accidents or illegal behaviors in daily operation is not only random, but also poses a great threat to the safety of the automatic driving vehicle and passengers on the vehicle. Therefore, it is urgently needed to provide an evaluation method for evaluating the influence of map changes on automatic driving. SUMMARY

[0004] Based on this, the present application provides a method and device for evaluating the influence of map changes on automatic driving, a storage medium and equipment, by comparing the map change area, finding the changed traffic factors, and combining the changed traffic factors to call out the corresponding automatic driving algorithm use case, so as to objectively test the influence of map changes on automatic driving.

[0005] In a first aspect, the present application provides a method for evaluating the influence of map changes on automatic driving, comprising:

[0006] obtaining a map before and after updating, the map before updating being denoted as a first edition map, and the map after updating being denoted as a second edition map;

[0007] determining at least one changed traffic element according to the map before and after updating;

[0008] obtaining at least one map change sub-area according to the changed traffic element and an operation area of an automatic driving vehicle;

[0009] calling a corresponding automatic driving test case according to all changed traffic elements in the map change sub-area;

[0010] For any one of the map change sub-regions, a first evaluation of the autonomous driving test case when running on the first version of the map is obtained, and a second evaluation of the autonomous driving test case when running on the second version of the map is obtained.

[0011] According to the first evaluation and the second evaluation, the influence of the map update in the map change sub-region on the autonomous driving is obtained.

[0012] The influences of the map update in all the map change sub-regions on the autonomous driving are integrated to obtain an evaluation result of the influence of the map change on the autonomous driving.

[0013] Further, the types of the traffic elements include a lane, a traffic light, a ground marking, a lane type, a lane width, a parking area, a lift bar, a stop line, a sidewalk, and a deceleration zone.

[0014] Further, at least one map change sub-region is obtained according to the changed traffic element and the autonomous driving vehicle operation region, specifically:

[0015] The autonomous driving vehicle operation region is divided into a plurality of connected operation sub-regions.

[0016] For each operation sub-region, when the number of changed traffic elements in the operation sub-region is greater than one, the distance between any two changed traffic elements in the operation sub-region is obtained.

[0017] If the distance between any two changed traffic elements is greater than or equal to a set threshold, a map change sub-region is obtained according to the positioning of each changed traffic element as a center and a set radius.

[0018] Further, the evaluation method of the influence of the map change on the autonomous driving further comprises:

[0019] For each operation sub-region, if the operation sub-region only contains one changed traffic element, a map change sub-region is obtained according to the positioning of the changed traffic element as a center and a set radius.

[0020] Further, the first evaluation and the second evaluation respectively include three evaluation factors of collision, reasonable detour, and traffic light compliance.

[0021] Further, the influence of the map update in the map change sub-region on the autonomous driving obtained according to the first evaluation and the second evaluation is specifically:

[0022] Whether the three evaluation factors of collision, reasonable detour, and traffic light compliance in the first evaluation and the second evaluation are consistent is compared respectively.

[0023] If any one of the evaluation factors is inconsistent, the influence of the map update in the map sub-region on the autonomous driving is obtained in combination with the change evaluation factor.

[0024] Further, the method for evaluating the influence of the map change on the automatic driving further comprises:

[0025] obtaining the positioning of the changed traffic element that influences the automatic driving;

[0026] summarizing the influence of the map update on the automatic driving in all map change sub-regions to generate the evaluation result with the positioning of the changed traffic factor.

[0027] In a second aspect, the present application further provides an evaluation device for the influence of the map change on the automatic driving, characterized in that it comprises:

[0028] a map acquisition module, configured to acquire the maps before and after the update, the map before the update being referred to as the first edition map and the map after the update being referred to as the second edition map;

[0029] an element change module, configured to obtain at least one changed traffic element according to the maps before and after the update;

[0030] a region division module, configured to obtain at least one map change sub-region according to the changed traffic element and the automatic driving vehicle operation region;

[0031] a use case calling module, configured to call the corresponding automatic driving test case according to all the changed traffic elements in the map change sub-region;

[0032] an evaluation generation module, configured to obtain the first evaluation of the automatic driving test case when running on the first edition map and the second evaluation of the automatic driving test case when running on the second edition map for any one of the map change sub-regions;

[0033] an evaluation comparison module, configured to obtain the influence of the map update on the automatic driving in the map change sub-region according to the first evaluation and the second evaluation;

[0034] an evaluation summary module, configured to comprehensively obtain the influence of the map update on the automatic driving in all the map change sub-regions to obtain the evaluation result of the influence of the map change on the automatic driving.

[0035] In a third aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of the method for evaluating the influence of the map change on the automatic driving according to any one of the first aspect.

[0036] In a fourth aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to execute the method for evaluating the influence of the map change on the automatic driving according to any one of the first aspect.

[0037] The beneficial effects of the above technical solutions are that the embodiment finds changed traffic elements of the map by comparing the before and after maps, and then executes different simulation scenarios according to different changed traffic elements, so as to evaluate the influence of the map change point on the automatic driving algorithm. The influence of the map change and the automatic driving algorithm is verified in advance through the simulation scenario, the problem is found in advance, and the risk of accidents and problem operation problems of the automatic driving vehicle is greatly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below.

[0039] Figure 1 A schematic diagram of a map change influence evaluation method for automatic driving in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of a map change influence evaluation device for automatic driving in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application. In order to more specifically describe the present application, the map change influence evaluation method, device, storage medium and equipment provided by the present application will be described in detail below.

[0042] Unless otherwise defined, technical or scientific terms used in the present application should be understood as having the ordinary meaning of the terms to those skilled in the art to which the present application belongs. The terms "first", "second" and similar words used in the present application do not represent any order, number or importance, but are only used to distinguish different components. Similarly, "one", "an" or "the" and similar words do not represent a quantity limitation, but represent the existence of at least one. "Include" or "contain" and similar words mean that the elements or objects before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connected" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to represent relative positional relationships, and when the absolute position of the described object changes, the relative positional relationship can also change accordingly.

[0043] The high-precision map used on the autonomous vehicle needs to go through three links of mapping, mapping and mapping. After the mapping link is completed, the high-precision map is formally deployed as an operation version on the operation vehicle. In the process of executing the task of the operation vehicle, if it is found that the road has changed or the route has been modified according to the actual road conditions in cooperation with the operation personnel, the high-precision map of the vehicle will be updated. The vehicle automatic driving algorithm matches the latest high-precision map for daily operation without sensing, but the vehicle automatic driving algorithm is not synchronized with the map update, which leads to accidents or illegal behaviors of the autonomous vehicle through daily operation, exposing the influence of map changes on the automatic driving algorithm.

[0044] However, with the increasing use of autonomous vehicles, the influence of map changes on the automatic driving algorithm reflected by accidents or illegal behaviors in daily operation not only has randomness, but also poses a great threat to the safety of autonomous vehicles and passengers on the vehicles. Therefore, it is urgent to provide an evaluation method for evaluating the influence of map changes on autonomous driving.

[0045] The embodiment provides an application scenario of the evaluation method for the influence of map changes on autonomous driving, which includes a terminal device provided by the embodiment. The terminal device includes but is not limited to a smart phone and a computer device. The computer device can be at least one of a desktop computer, a portable computer, a laptop computer, a mainframe computer, a tablet computer and the like. The terminal device calls an autonomous driving algorithm use case according to the received pre-change and post-change maps, and evaluates the influence of map changes on autonomous driving. The application scenario of the evaluation method for the influence of map changes on autonomous driving is shown in combination with the Figure 1 The evaluation method for the influence of map changes on autonomous driving is shown in the schematic diagram, and the specific process is described in the embodiment of the evaluation method for the influence of map changes on autonomous driving.

[0046] Step S100, obtaining the pre-update and post-update maps, the pre-update map is recorded as the first version map, and the post-update map is recorded as the second version map.

[0047] Specifically, since the embodiment is to evaluate the influence of map changes on autonomous driving, the pre-update and post-update maps herein refer to the previous version map and the next version map received by the autonomous vehicle.

[0048] Step S200, according to at least one changed traffic element in the pre-update and post-update maps.

[0049] Specifically, all traffic elements in the pre-update and post-update maps are compared, and the changed traffic elements in the pre-update and post-update maps are the changed traffic elements. In the embodiment, the types of the traffic elements include but are not limited to lane, traffic light, ground marking, lane type, lane width, parking area, lifting rod, stop line, sidewalk and deceleration zone.

[0050] Step S300: Obtain at least one map change sub-area based on the changed traffic elements and the autonomous driving vehicle operation area.

[0051] Specifically, since the map coverage area of ​​the autonomous driving operation area is relatively large, in order to efficiently determine the impact of map changes on autonomous driving, this embodiment divides the changed map into at least one map change sub-area. The specific steps include:

[0052] Step S301: Divide the autonomous driving vehicle operation area into several connected operation sub-areas.

[0053] Specifically, the number of operating sub-areas is determined based on the size of the autonomous driving vehicle's operating area or the size of the map range that the processor can test.

[0054] Step S302 : For each operating sub-area, when the number of variable traffic elements in the operating sub-area is greater than one, obtain the distance between any two variable traffic elements in the operating sub-area.

[0055] In step S303 , if the distance between any two changing traffic elements is greater than or equal to a set threshold, a map changing sub-area is delineated according to a set radius with the location of each changing traffic element as the center of a circle.

[0056] When the distance between two changing traffic elements is greater than or equal to the set threshold, the correlation between the two changing traffic elements is poor. At this time, the two changing traffic elements can be tested separately to evaluate their impact on autonomous driving.

[0057] In step S304 , if the distance between any two changing traffic elements is less than a set threshold, a map changing sub-area is delineated using the midpoint of the line connecting the two changing traffic elements as the center and the distance between the two changing traffic elements as the diameter.

[0058] It should be noted that for each operating sub-area, if the operating sub-area contains only one variable traffic element, the map variable sub-area is delineated according to the set radius with the location of the variable traffic element as the center of the circle.

[0059] For each operating sub-area, if the operating sub-area does not contain any changed traffic elements, then the area has not changed before and after the map update, and there is no need to generate a map change sub-area.

[0060] In this embodiment, the set radius can be set according to the recommended range of the autonomous driving test case, and the set range is set to 100m.

[0061] Step S400: Retrieve corresponding autonomous driving test cases based on all changed traffic elements in the changed sub-area of ​​the map.

[0062] Specifically, considering that the changes of traffic elements in adjacent areas are correlated, the influence of relevant traffic element changes on autonomous driving can be reflected in a test case. Therefore, when calling the autonomous driving test case, all changed traffic elements in the map change sub-area are comprehensively called.

[0063] For example, when only the position of the stop line in the map change sub-area changes, only the autonomous driving test case related to the stop line needs to be called; when the lane and traffic light in the map change sub-area change, the autonomous driving test case including the lane and traffic light needs to be called; when the traffic light changes, the autonomous driving test case related to the traffic rules of the traffic light should be executed. However, considering that the traffic light is often accompanied by a pedestrian crossing, the relevant autonomous driving test case of the pedestrian crossing deceleration and yielding needs to be added when the autonomous driving test case is selected, so as to avoid the execution of multiple test cases for one map modification.

[0064] In the embodiment, the relationship between the changed traffic factors and the autonomous driving test case is shown in the following table:

[0065] Table 1 Single changed traffic factor and corresponding autonomous driving test case

[0066]

[0067] Step S500: For any map change sub-area, the first evaluation of the autonomous driving test case when running on the first version of the map and the second evaluation of the autonomous driving test case when running on the second version of the map are obtained.

[0068] Specifically, the embodiment compares whether there is a difference or failure in the results of the same autonomous driving test case executed before and after the update of the map. If there is a difference or failure in the results, it indicates that the map update in the region causes a change in the traffic element that affects the normal operation of autonomous driving.

[0069] The first evaluation and the second evaluation of the autonomous driving test case are obtained by comprehensively considering three evaluation factors: collision, reasonable detour, and compliance with traffic lights. Collision refers to whether the vehicle intersects with an obstacle during the execution of the autonomous driving test case. Reasonable detour refers to whether the length and time of the change in the driving trajectory of the vehicle during the execution of the autonomous driving test case exceed the reasonable detour threshold. If the length and / or time of the change in the driving trajectory exceed the reasonable detour threshold, it is considered that the autonomous driving vehicle has unreasonable detour. Compliance with traffic lights refers to whether the state of the autonomous driving vehicle is consistent with the operation state of the nearest traffic light. If not, it is considered that the vehicle does not comply with the traffic light.

[0070] Step S600: According to the first evaluation and the second evaluation, the influence of the map update in the map change sub-area on autonomous driving is obtained.

[0071] Specifically, whether the three evaluation factors of collision, reasonable detour and traffic light compliance in the first evaluation and the second evaluation are consistent is compared respectively. If any one of the evaluation factors is inconsistent, the influence of the map update in the map sub-area on the automatic driving is obtained in combination with the changed evaluation factor.

[0072] For example, if the first evaluation is {no collision, reasonable detour, and traffic light compliance}, and the second evaluation is {no collision, reasonable detour, and traffic light compliance}, the three evaluation factors of the first evaluation and the second evaluation are consistent at this time, and the map update in the map sub-area does not have an impact on the automatic driving. If the first evaluation is {no collision, reasonable detour, and traffic light compliance}, and the second evaluation is {collision, reasonable detour, and non-compliance with traffic lights}, the evaluation factors of collision and traffic light compliance in the first evaluation and the second evaluation are inconsistent at this time, and the map update in the map sub-area has an impact on the automatic driving, such as collision and non-compliance with traffic lights.

[0073] Step S700, the influence of the map update in all map change sub-areas on the automatic driving is integrated to obtain the evaluation result of the influence of the map change on the automatic driving.

[0074] Specifically, the influence of the map update in all map change sub-areas on the automatic driving is summarized, and the evaluation result of the influence of the map change on the automatic driving is obtained.

[0075] Further, the embodiment can also combine the positioning of the changed traffic elements that have an impact on the automatic driving, summarize the influence of the map update in all map change sub-areas on the automatic driving, and generate an evaluation result with the positioning of the changed traffic factors, so as to facilitate subsequent adjustment of the automatic driving algorithm and retesting; or subsequent adjustment of the changed traffic factors with high frequency in combination with the influence of the map update on the automatic driving.

[0076] It should be understood that, although the flowcharts and the steps in the flowcharts are described or shown in a particular, specific or sequential order, this order is not necessarily mandatory. Unless explicitly stated in this document, the steps are not necessarily executed in the order described or shown in the flowcharts. The steps can be executed in other orders unless explicitly stated in this document. Figure 1 It should be understood that, although the flowcharts and the steps in the flowcharts are described or shown in a particular, specific or sequential order, this order is not necessarily mandatory. Unless explicitly stated in this document, the steps are not necessarily executed in the order described or shown in the flowcharts. The steps can be executed in other orders unless explicitly stated in this document. Figure 1 It should be understood that, although the flowcharts and the steps in the flowcharts are described or shown in a particular, specific or sequential order, this order is not necessarily mandatory. Unless explicitly stated in this document, the steps are not necessarily executed in the order described or shown in the flowcharts. The steps can be executed in other orders unless explicitly stated in this document.

[0077] The evaluation method of the influence of the map change on the automatic driving is described in detail in the above disclosed embodiments of the present application. The above disclosed method of the present application can be implemented by various forms of devices. Therefore, the present application further discloses an evaluation device of the influence of the map change on the automatic driving. The following specific embodiments are given to explain in detail.

[0078] The map acquisition module 801 is configured to acquire the maps before and after the update. The map before the update is referred to as the first edition map, and the map after the update is referred to as the second edition map.

[0079] The element change module 802 is configured to change at least one traffic element in the maps before and after the update.

[0080] The region division module 803 is configured to obtain at least one map change sub-region according to the changed traffic elements and the operation region of the automatic driving vehicle.

[0081] The use case calling module 804 is configured to call the corresponding automatic driving test use case according to all the changed traffic elements in the map change sub-region.

[0082] The evaluation generation module 805 is configured to obtain the first evaluation of the automatic driving test use case when running on the first edition map and the second evaluation of the automatic driving test use case when running on the second edition map for any one map change sub-region.

[0083] The evaluation comparison module 806 is configured to obtain the influence of the map update on the automatic driving in the map change sub-region according to the first evaluation and the second evaluation.

[0084] The evaluation summary module 807 is configured to obtain the evaluation result of the influence of the map change on the automatic driving by comprehensively considering the influence of the map update on the automatic driving in all the map change sub-regions.

[0085] The evaluation device of the influence of the map change on the automatic driving can refer to the above description of the method, and will not be repeated here. Each module in the above device can be implemented by software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor of the terminal device in the form of hardware, or stored in the memory of the terminal device in the form of software, so as to be called and executed by the processor to perform the operations corresponding to each module.

[0086] In one embodiment, the present application further provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of the above evaluation method of the influence of the map change on the automatic driving.

[0087] The computer readable storage medium can be an electronic storage including a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM (Erasable Programmable Read-Only Memory), a hard disk, or a ROM. Alternatively, the computer readable storage medium includes a non-transitory computer readable medium. The computer readable storage medium has a storage space for storing program codes for performing any of the above method steps. The program codes can be read from or written to one or more computer program products in an appropriate form.

[0088] In one embodiment, the present application provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the above method for evaluating influence of map change on automatic driving.

[0089] The computer device comprises a memory, a processor, and one or more computer programs, wherein the one or more computer programs can be stored in the memory and configured to be executed by the one or more processors, and the one or more application programs are configured to perform the above method for evaluating influence of map change on automatic driving.

[0090] The processor can include one or more processing cores. The processor connects various parts within the entire computer device through various interfaces and lines, performs various functions of the computer device and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. Alternatively, the processor can be implemented in at least one of a hardware form of a Digital Signal Processing (DSP), a Field-Programmable Gate Array (FPGA), and a Programmable Logic Array (PLA). The processor can integrate a combination of one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU) for reporting verification of embedded data, and a modem. Among them, the CPU mainly processes operating systems, user interfaces, and application programs, etc.; the GPU is responsible for rendering and drawing display content; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor, but can be realized by a separate communication chip.

[0091] The memory can include a random access memory (RAM) and can also include a read-only memory (ROM). The memory can be used to store instructions, programs, codes, code sets, or instruction sets. The memory can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area can also store data created by the terminal device in use, etc.

[0092] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for evaluating the impact of map changes on autonomous driving, characterized in that: include: Get the maps before and after the update. The map before the update is recorded as the first version of the map, and the map after the update is recorded as the second version of the map. determining at least one changed traffic element based on the maps before and after the update; Obtain at least one map change sub-area based on the changed traffic element and the autonomous driving vehicle operation area; Retrieve the corresponding autonomous driving test cases based on all the changed traffic elements in the changed sub-area of ​​the map; For any map-changed sub-area, obtain the first evaluation of the autonomous driving test case when running on the first version of the map, and the second evaluation of the autonomous driving test case when running on the second version of the map; Determining the impact of map updates on autonomous driving in the map change sub-area based on the first evaluation and the second evaluation; The impact of map updates on autonomous driving in all map change sub-areas is comprehensively evaluated to obtain an evaluation result of the impact of map changes on autonomous driving.

2. The method for evaluating the impact of map changes on autonomous driving according to claim 1, wherein: Types of traffic elements include lanes, traffic lights, ground markings, lane types, lane widths, parking areas, barriers, stop lines, sidewalks, and speed bumps.

3. The method for evaluating the impact of map changes on autonomous driving according to claim 1, wherein: At least one map change sub-area is obtained based on the changed traffic element and the autonomous driving vehicle operation area, specifically: Divide the autonomous vehicle operation area into several connected operation sub-areas; For each operating sub-area, when the number of variable traffic elements in the operating sub-area is greater than one, obtain the distance between any two variable traffic elements in the operating sub-area; If the distance between any two changing traffic elements is greater than or equal to the set threshold, the map changing sub-area is delineated according to the set radius with the location of each changing traffic element as the center of the circle.

4. The method for evaluating the impact of map changes on autonomous driving according to claim 3, wherein: Also includes: For each operating sub-area, if the operating sub-area contains only one variable traffic element, the map variable sub-area is delineated according to the set radius with the location of the variable traffic element as the center of the circle.

5. The method for evaluating the impact of map changes on autonomous driving according to claim 1, wherein: The first evaluation and the second evaluation respectively include three evaluation factors: collision, reasonable detour and compliance with traffic lights.

6. The method for evaluating the impact of map changes on autonomous driving according to claim 5, wherein: The influence of the map update on the autonomous driving in the map change sub-area obtained according to the first evaluation and the second evaluation is specifically: Compare the consistency of the three evaluation factors of collision, reasonable detour and obeying traffic lights in the first and second evaluations respectively; If there is inconsistency in any evaluation factor, the impact of the map update on autonomous driving in the map sub-area is obtained by combining the changed evaluation factor.

7. The method for evaluating the impact of map changes on autonomous driving according to claim 6, wherein: Also includes: Obtain the positioning of moving traffic elements that affect autonomous driving; The impact of map updates on autonomous driving in all map-changed sub-areas is summarized to generate evaluation results for positioning with changing traffic factors.

8. A device for evaluating the impact of map changes on autonomous driving, characterized in that: include: A map acquisition module is used to obtain maps before and after the update. The map before the update is recorded as the first version of the map, and the map after the update is recorded as the second version of the map; An element change module, configured to determine at least one changed traffic element based on the maps before and after the update; A region division module, configured to obtain at least one map change sub-region based on the changed traffic elements and the autonomous driving vehicle operation area; The use case retrieval module is used to retrieve the corresponding autonomous driving test cases based on all the changed traffic elements in the changed sub-area of ​​the map; An evaluation generation module is configured to obtain, for any map change sub-area, a first evaluation of the autonomous driving test case when the first version of the map is run, and a second evaluation of the autonomous driving test case when the second version of the map is run; an evaluation and comparison module, configured to determine the impact of the map update on the autonomous driving in the map change sub-area based on the first evaluation and the second evaluation; The evaluation summary module is used to comprehensively analyze the impact of map updates on autonomous driving in all map change sub-areas and obtain the evaluation results of the impact of map changes on autonomous driving.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for evaluating the impact of map changes on autonomous driving according to any one of claims 1 to 7 are implemented.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, it performs the method for evaluating the impact of map changes on autonomous driving according to any one of claims 1 to 7.

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