Map distribution method, device and system and computer readable storage medium

Abstract

The invention relates to a map distribution method, device and system and a computer readable storage medium, and relates to the technical field of vehicle control. The map distribution method comprises the following steps: determining trunk vehicles and non-trunk vehicles in vehicles according to state information of the vehicles in an operation scene; controlling the trunk vehicle to obtain map information from the central server, wherein the map information is determined according to a map of a target version of the central server; and controlling the non-trunk vehicle to obtain the map information from the trunk vehicle. According to the technical scheme, the stability of map updating can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control technology, and in particular to a map distribution method, map distribution device, map distribution system, computer-readable storage medium, and computer program product. Background Technology

[0002] In autonomous driving, timely updates and accurate synchronization of map data are fundamental to ensuring precise positioning and safe driving of autonomous vehicles. For open-pit mining operations, due to the complex working environment, dynamic changes in the mining face, and frequent road adjustments, synchronized map data is crucial for ensuring operational efficiency, driving safety, and production coordination.

[0003] In related technologies, map information is centrally distributed to vehicles in the work scenario through a central server for map data synchronization. Summary of the Invention

[0004] The inventors of this disclosure have discovered the following problems in the above-mentioned related technologies: all vehicles in the operation scenario obtain map information through the central server, which causes the central server to be overloaded, resulting in poor stability of map updates.

[0005] In view of this, this disclosure proposes a map distribution technology solution that can control a portion of vehicles in the operation scenario to obtain map information from other vehicles, thereby reducing the load pressure on the central server and improving the stability of map updates.

[0006] According to some embodiments of this disclosure, a map distribution method is provided, including: determining backbone vehicles and non-backbone vehicles among the vehicles based on the status information of vehicles in a work scenario; controlling backbone vehicles to obtain map information from a central server, wherein the map information is determined according to the target version of the map on the central server; and controlling non-backbone vehicles to obtain map information from the backbone vehicles.

[0007] In some embodiments, the status information includes at least one of network connection quality, location information, or current job status.

[0008] In some embodiments, candidate vehicles are identified among the vehicles based on network connection quality; backbone vehicles are identified among the candidate vehicles based on at least one of location information or current operating status; and vehicles other than backbone vehicles are identified as non-backbone vehicles.

[0009] In some embodiments, the candidate vehicles include a first candidate vehicle and a second candidate vehicle. The first candidate vehicle is determined to be a vehicle whose network connection quality with the central server meets the first connection condition. Among the vehicles other than the first candidate vehicle, a second candidate vehicle is determined. The network connection quality between the second candidate vehicle and the first candidate vehicle does not meet the second connection condition, and the requirements of the second connection condition are lower than those of the first connection condition.

[0010] In some embodiments, the backbone vehicles include a first backbone vehicle and a second backbone vehicle. Priorities are configured for candidate vehicles based on at least one of location information or current operational status. According to these priorities, it is sequentially determined whether the network connection quality between the candidate vehicles and vehicles in the set of vehicles to be covered meets a second connection condition. The set of vehicles to be covered includes vehicles in the operational scenario other than the candidate vehicles. Candidate vehicles whose network connection quality with vehicles in the set of vehicles to be covered meets the second connection condition are identified as first backbone vehicles. Among the other candidate vehicles besides the first backbone vehicles, a second backbone vehicle is identified, whose network connection quality with the first backbone vehicle does not meet the second connection condition.

[0011] In some embodiments, candidate vehicles include a first vehicle and a second vehicle, with the second vehicle having a lower priority than the first vehicle. A designated vehicle in the set of vehicles to be covered whose network connection quality with the first vehicle meets a second connection condition is identified as a non-backbone vehicle corresponding to the first vehicle. The non-backbone vehicle corresponding to the first vehicle is removed from the set of vehicles to be covered to update the set. It is then determined whether the network connection quality between the second vehicle and the vehicles in the updated set of vehicles to be covered meets the second connection condition. The above steps are repeated until all vehicles in the set of vehicles to be covered have been removed.

[0012] In some embodiments, location information includes the movement range of the candidate vehicle within a time period threshold and the distance difference between the candidate vehicle and the specified destination. The priority is negatively correlated with the size of the movement range and negatively correlated with the size of the distance difference.

[0013] In some embodiments, the smaller the movement range corresponding to the current operating state of a candidate vehicle, the higher its priority.

[0014] In some embodiments, in response to the presence of a transport vehicle among the candidate vehicles performing a specified transport operation, the priority of the transport vehicle is configured to be higher than the priority of candidate vehicles in other operation states.

[0015] In some embodiments, the more vehicles in the set of vehicles to be covered that meet the second connection condition with the candidate vehicle, the higher the priority of the candidate vehicle.

[0016] In some embodiments, in response to the vehicle not having a historical version of the map, the map information is the target version of the map; in response to the vehicle having a historical version of the map, the map information is incremental map information.

[0017] In some embodiments, incremental map information is determined based on the differences between historical versions of the map and the target version of the map.

[0018] In some embodiments, the control system retrieves map information of the main vehicle and map information of the corresponding non-main vehicle from the map information stored in the central server.

[0019] In some embodiments, in response to a non-mainstream vehicle failing to obtain map information from a mainstream vehicle within a specified time period, the non-mainstream vehicle is controlled to obtain map information from the central server.

[0020] In some embodiments, in response to receiving feedback information reported by a vehicle that has acquired map information, and the current map version indicated by the feedback information is inconsistent with the target version, the system controls the vehicle to obtain map update information from the central server in order to update the vehicle from the current map version to the target version.

[0021] According to some other embodiments of this disclosure, a map distribution device is provided, comprising: a determining unit, configured to determine main vehicles and non-main vehicles among the vehicles based on the status information of vehicles in a work scenario; a first control unit, configured to control the main vehicles to obtain map information from a central server, wherein the map information is determined according to a target version of the map on the central server; and a second control unit, configured to control the non-main vehicles to obtain map information from the main vehicles.

[0022] In some embodiments, the status information includes at least one of network connection quality, location information, or current job status.

[0023] In some embodiments, the determining unit determines candidate vehicles among the vehicles based on network connection quality; determines backbone vehicles among the candidate vehicles based on at least one of location information or current operating status; and determines vehicles other than backbone vehicles as non-backbone vehicles.

[0024] In some embodiments, the candidate vehicles include a first candidate vehicle and a second candidate vehicle. The determining unit determines the vehicle whose network connection quality with the central server meets the first connection condition as the first candidate vehicle; among the vehicles other than the first candidate vehicle, the second candidate vehicle is determined. The network connection quality between the second candidate vehicle and the first candidate vehicle does not meet the second connection condition, and the requirements of the second connection condition are lower than the requirements of the first connection condition.

[0025] In some embodiments, the backbone vehicles include a first backbone vehicle and a second backbone vehicle. The determining unit configures priorities for candidate vehicles based on at least one of location information or current operation status. According to the priorities, it sequentially determines whether the network connection quality between the candidate vehicles and vehicles in the set of vehicles to be covered meets the second connection condition. The set of vehicles to be covered includes vehicles in the operation scenario other than the candidate vehicles. The candidate vehicles whose network connection quality with vehicles in the set of vehicles to be covered meets the second connection condition are determined as the first backbone vehicles. Among the other candidate vehicles besides the first backbone vehicles, the second backbone vehicle is determined. The network connection quality between the second backbone vehicle and the first backbone vehicle does not meet the second connection condition.

[0026] In some embodiments, candidate vehicles include a first vehicle and a second vehicle, with the second vehicle having a lower priority than the first vehicle. The determining unit identifies designated vehicles in the set of vehicles to be covered whose network connection quality with the first vehicle meets the second connection condition as non-backbone vehicles corresponding to the first vehicle; removes the non-backbone vehicles corresponding to the first vehicle from the set of vehicles to be covered to update the set of vehicles to be covered; determines whether the network connection quality between the second vehicle and the vehicles in the updated set of vehicles to be covered meets the second connection condition; and repeats the above steps until all vehicles in the set of vehicles to be covered have been removed.

[0027] In some embodiments, location information includes the movement range of the candidate vehicle within a time period threshold and the distance difference between the candidate vehicle and the specified destination. The priority is negatively correlated with the size of the movement range and negatively correlated with the size of the distance difference.

[0028] In some embodiments, the smaller the movement range corresponding to the current operating state of a candidate vehicle, the higher its priority.

[0029] In some embodiments, in response to the presence of a transport vehicle among the candidate vehicles performing a specified transport operation, the determining unit configures the priority of the transport vehicle to be higher than the priority of candidate vehicles in other operation states.

[0030] In some embodiments, the more vehicles in the set of vehicles to be covered that meet the second connection condition with the candidate vehicle, the higher the priority of the candidate vehicle.

[0031] In some embodiments, in response to the vehicle not having a historical version of the map, the map information is the target version of the map; in response to the vehicle having a historical version of the map, the map information is incremental map information.

[0032] In some embodiments, incremental map information is determined based on the differences between historical versions of the map and the target version of the map.

[0033] In some embodiments, the first control unit controls the trunk vehicle to obtain map information of the trunk vehicle and map information of the non-trunk vehicles corresponding to the trunk vehicle from the map information stored in the central server.

[0034] In some embodiments, the second control unit controls the non-mainstream vehicle to obtain map information from the central server in response to the non-mainstream vehicle failing to obtain map information from the mainstream vehicle within a specified time period.

[0035] In some embodiments, in response to receiving feedback information reported by a vehicle that has acquired map information, and the current map version indicated by the feedback information is inconsistent with the target version, the second control unit controls the vehicle to obtain map update information from the central server in order to update the vehicle from the current map version to the target version.

[0036] According to further embodiments of the present disclosure, a map distribution apparatus is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the map distribution method of any of the above embodiments based on instructions stored in the memory device.

[0037] According to further embodiments of this disclosure, a map distribution system is provided, comprising: a map distribution device located on a central server for executing the map distribution method in any of the above embodiments; and a vehicle-mounted communication device installed on a vehicle for reporting the network connection quality of the vehicle to the map distribution device.

[0038] According to further embodiments of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the map distribution method of any of the above embodiments.

[0039] According to further embodiments of this disclosure, a computer program product is also provided, including instructions that, when executed by a processor, cause the processor to perform a map distribution method according to any of the foregoing embodiments.

[0040] In the above embodiments, vehicles in the operational scenario are divided into backbone vehicles and non-backbone vehicles, and the non-backbone vehicles are controlled to obtain map information from the backbone vehicles. In this way, the central server deployed on the central server only needs to process map acquisition requests sent by backbone vehicles, which can reduce the load on the central server and thus improve the stability of map updates. Attached Figure Description

[0041] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0042] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0043] Figure 1 Flowcharts illustrating some embodiments of the map distribution method of this disclosure;

[0044] Figure 2 Flowcharts illustrating other embodiments of the map distribution method of this disclosure;

[0045] Figure 3 Flowcharts illustrating further embodiments of the map distribution method of this disclosure;

[0046] Figure 4 Schematic diagrams illustrating some embodiments of the map distribution system of this disclosure;

[0047] Figure 5 Block diagrams illustrating some embodiments of the map distribution apparatus of this disclosure;

[0048] Figure 6 Block diagrams illustrating other embodiments of the map distribution apparatus of this disclosure;

[0049] Figure 7 Block diagrams illustrating further embodiments of the map distribution apparatus of this disclosure;

[0050] Figure 8 Block diagrams illustrating some embodiments of the map distribution system of this disclosure are shown. Detailed Implementation

[0051] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0052] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0053] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0054] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0055] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0056] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0057] As mentioned earlier, in autonomous driving, real-time updates and accurate synchronization of map data are fundamental to ensuring precise positioning and safe driving of autonomous vehicles. Currently, the industry generally adopts a solution where a central server uniformly distributes map data, meaning that the control center generates updated content and pushes it to all vehicles in the mine via networks such as 5G.

[0058] However, this centralized distribution method lacks a collaborative download mechanism. When there are many vehicles in the mining area and they simultaneously initiate map retrieval requests, the central server needs to handle a large number of concurrent requests, causing its computing and bandwidth resources to be heavily consumed in a short period of time. This not only easily leads to excessive load on the central server and increased response latency, but may also affect the transmission efficiency of critical information such as scheduling instructions, remote control, and security monitoring.

[0059] To address at least one of the aforementioned problems, the technical solution of this disclosure can divide vehicles in a work scenario into backbone vehicles and non-backbone vehicles, and control the non-backbone vehicles to obtain map information from the backbone vehicles. In this way, the central server only needs to process map acquisition requests sent by backbone vehicles, which can reduce the load on the central server, avoid network congestion, and thus improve the stability of map updates.

[0060] Furthermore, when the map version changes in the operational scenario, incremental map information corresponding to the current vehicle version is typically generated only after the vehicle initiates a map retrieval request. This can lead to excessively long waiting times for vehicles to wait for incremental map information to be generated, especially in scenarios where multiple vehicles are updating simultaneously. This can easily cause transportation tasks to be interrupted or delayed, impacting overall transportation efficiency.

[0061] To address the aforementioned issues, the technical solution of this application can also pre-generate various possible incremental map information based on the map version of the vehicles in the operational scenario, and complete cache preheating. In this way, when the central server needs to distribute map information to the vehicles, it can quickly respond and distribute the pre-generated incremental map information, avoiding waiting delays caused by real-time map information generation, thereby improving map distribution efficiency.

[0062] For example, the technical solution of this disclosure can be implemented through the following embodiments.

[0063] Figure 1 Flowcharts illustrating some embodiments of the map distribution method of this disclosure are shown.

[0064] like Figure 1As shown, in step 110, based on the vehicle status information in the work scenario, backbone vehicles and non-backbone vehicles are identified among the vehicles. For example, the status information includes at least one of network connection quality, location information, or current work status.

[0065] For example, network connectivity information can be obtained by reporting network quality data from vehicles to the central dispatch and monitoring module in the central server. This network connectivity information includes network connections between vehicles and between vehicles and the central server.

[0066] In step 120, the main vehicle is controlled to obtain map information from the central server. The map information is determined based on the target version of the map from the central server. For example, if the vehicle does not have a historical version of the map, the map information is the full map information of the target version; if the vehicle has a historical version of the map, the map information is incremental map information. The incremental map information is determined based on the differences between the historical version of the map and the target version of the map.

[0067] In step 130, non-core vehicles are controlled to obtain map information from core vehicles.

[0068] In the above embodiments, vehicles in the operational scenario are divided into backbone vehicles and non-backbone vehicles, and the non-backbone vehicles are controlled to obtain map information from the backbone vehicles. In this way, the central server deployed on the central server only needs to process map acquisition requests sent by backbone vehicles, which can reduce the load on the central server, avoid network congestion, and thus improve the stability of map updates.

[0069] The following examples illustrate the method for determining main vehicles and non-main vehicles in step 110 above.

[0070] In some embodiments, candidate vehicles are determined from among the vehicles based on network connection quality; backbone vehicles are determined from among the candidate vehicles based on at least one of location information or current operating status; and vehicles other than backbone vehicles are determined as non-backbone vehicles. For example, candidate vehicles include a first candidate vehicle and a second candidate vehicle, and a vehicle whose network connection quality with the central server meets a first connection condition can be determined as the first candidate vehicle.

[0071] For example, evaluation criteria for network connectivity quality can include signal strength, data transmission latency between the vehicle and the central server, etc. By identifying vehicles whose network connectivity quality meets the first connectivity criteria as first candidate vehicles, the quality of the basic communication link with the central server can be ensured.

[0072] For example, network connection quality meeting the first connection condition can mean that the vehicle's 5G network RSRP (Reference Signal Received Power) is greater than or equal to the RSRP threshold (e.g., -85dBm), SINR (Signal to Interference plus Noise Ratio) is greater than or equal to the SINR threshold (e.g., 15dB), and the data transmission delay with the central server is less than or equal to the data transmission delay threshold (e.g., 100ms).

[0073] In this way, by identifying vehicles with better network connection quality as candidate vehicles corresponding to the backbone vehicles that directly obtain map information from the central server, and controlling vehicles with relatively poor network connection quality to obtain map information from the backbone vehicles, the problem that vehicles in weak signal areas or small blind spots in the mining operation environment have difficulty obtaining map information directly from the central server can be solved, thereby improving the stability of the overall map update in the operation scenario.

[0074] In some embodiments, a second candidate vehicle is determined from among the vehicles other than the first candidate vehicle. The network connection quality between the second candidate vehicle and the first candidate vehicle does not meet the second connection condition, and the requirements of the second connection condition are lower than those of the first connection condition.

[0075] For example, if the network connection quality between two vehicles does not meet the second connection condition, it can be considered that the two vehicles cannot establish a network connection. By first selecting the first candidate vehicle with a better network connection quality to the central server, and then further selecting the second candidate vehicle that cannot establish a network connection with any of the first candidate vehicles, it can be ensured that all ordinary vehicles in the operation scenario, except for the candidate vehicles, can establish a network connection with at least one candidate vehicle (i.e., be covered by its network).

[0076] This ensures that all vehicles in the work scenario have a stable source of map information, avoiding non-backbone vehicles that cannot connect to any backbone vehicle network. This ensures that even vehicles in the edge of the work area can complete map synchronization (e.g., obtain map information from nearby vehicles), thereby improving the coverage integrity and reliability of map distribution.

[0077] The following examples illustrate how to determine the backbone vehicle from the candidate vehicles.

[0078] In some embodiments, the backbone vehicles include a first backbone vehicle and a second backbone vehicle. Priorities are configured for candidate vehicles based on at least one of location information or current operational status. According to these priorities, it is sequentially determined whether the network connection quality between the candidate vehicles and vehicles in the set of vehicles to be covered meets a second connection condition. The set of vehicles to be covered includes vehicles in the operational scenario other than the candidate vehicles. Candidate vehicles whose network connection quality with vehicles in the set of vehicles to be covered meets the second connection condition are identified as first backbone vehicles. Among the other candidate vehicles besides the first backbone vehicles, a second backbone vehicle is identified, whose network connection quality with the first backbone vehicle does not meet the second connection condition.

[0079] For example, candidate vehicles include a first vehicle and a second vehicle, with the second vehicle having a lower priority than the first vehicle. The designated vehicle in the set of vehicles to be covered whose network connection quality with the first vehicle meets the second connection condition is identified as a non-backbone vehicle corresponding to the first vehicle. The non-backbone vehicle corresponding to the first vehicle is removed from the set of vehicles to be covered to update the set. It is then determined whether the network connection quality between the second vehicle and the vehicles in the updated set of vehicles to be covered meets the second connection condition. The above steps are repeated until all vehicles in the set of vehicles to be covered have been removed.

[0080] For example, in the process of determining the backbone vehicle among candidate vehicles, the real-time location of the candidate vehicle can be used as the center to determine whether there is at least one vehicle in the set of vehicles to be covered that can only be covered by the candidate vehicle. If there is at least one vehicle that meets the above conditions, it can be determined as the backbone vehicle.

[0081] In this way, based on the vehicle status information, the vehicles in the operation scenario are divided into main vehicles and non-main vehicles corresponding to the main vehicles through priority sorting and iterative filtering. This achieves complete coverage of all vehicles in the operation area, ensuring that each vehicle can obtain the required map information, reducing the load on the central server, avoiding network congestion, and thus improving the stability of map updates.

[0082] In some embodiments, based on the spatial characteristics of open-pit mining operations, backbone vehicles need to possess locational advantages of "wide coverage and high service density" to maximize distributed distribution efficiency. Therefore, vehicle priorities can be determined based on the above understanding.

[0083] The following examples illustrate methods for determining priorities.

[0084] In some embodiments, location information includes the movement range of candidate vehicles within a time period threshold and the distance difference between the candidate vehicles and the designated destination. Priority is negatively correlated with the size of the movement range and the size of the distance difference. For example, vehicles with a predicted movement range ≤200m within the next 1 minute (i.e., the time period threshold) can be assigned a higher priority to ensure that the vehicle's location does not change significantly during the distribution process.

[0085] For example, the designated destination can be a loading and unloading point, and vehicles located in the vicinity of the loading and unloading point should be given priority as the main vehicles.

[0086] In some embodiments, the more vehicles in the set of vehicles to be covered that meet the second connection condition with the candidate vehicle, the higher the priority of the candidate vehicle. For example, based on the network quality table reported by the vehicle, and based on the network connection status between the vehicle and the vehicles in the operation scenario in the network quality table, the number of vehicles that can be stably connected with it is counted.

[0087] In some embodiments, vehicle priorities can be configured based on the current operating status of the vehicles, prioritizing vehicles performing long-duration, short-distance travel tasks as backbone vehicles. This allows backbone vehicles to provide map distribution services to other vehicles while ensuring their current tasks are completed, thereby improving the efficiency of map information distribution while maintaining overall operational efficiency.

[0088] For example, the smaller the movement range corresponding to the current operating state of a candidate vehicle, the higher its priority. Vehicles in parking, loading, unloading, or entering operation states can be prioritized as backbone vehicles.

[0089] For example, in response to the presence of a transport vehicle among the candidate vehicles that is performing a specified transport operation, the priority of the transport vehicle is configured to be higher than that of candidate vehicles that are in other operation states.

[0090] For example, vehicles engaged in high-speed transport on static roads can be prioritized as backbone vehicles. Static roads refer to fixed routes whose geometric parameters and basic properties remain largely unchanged over a relatively long period (e.g., weeks, months, or even the entire mining phase). These roads are the "backbone" or "artery" of the mine's transportation network, serving as the benchmark paths for routine, high-frequency transport by unmanned mining trucks. Conversely, non-static roads or dynamic roads refer to roads other than static roads. The state, geometry, or traffic rules of non-static roads change frequently and in real time with mine production operations. They are typically located at the forefront of operations (e.g., loading and unloading areas) and are extensions or temporary branches of static roads.

[0091] In this way, by prioritizing vehicles engaged in static road operations as backbone vehicles, enabling them to directly and quickly obtain map information from the central server, we can avoid vehicle-cloud map inconsistencies caused by task replanning, which can lead to parking and thus improve vehicle operation efficiency.

[0092] The following is through Figure 2 The embodiments described above exemplify the method for determining the main vehicles.

[0093] Figure 2 Flowcharts illustrating some other embodiments of the map distribution method of this disclosure are shown.

[0094] like Figure 2 As shown, in step 205, the online vehicle will continuously report its network quality table, current operation status, location information, etc. at a certain frequency.

[0095] In step 210, based on the network connection quality between the vehicle and the central server reflected in the reported network quality table, steps 215 and 220 are executed to classify the vehicles.

[0096] In step 215, vehicles with good network connection quality to the central server (meeting the first connection condition) are identified as Class A vehicles.

[0097] In step 220, vehicles with poor network connection quality to the central server (not meeting the first connection condition) are identified as Class B vehicles.

[0098] In step 225, based on the execution result of step 215, Class A vehicles are included in the candidate vehicle set C_Set (i.e., determined as the first candidate vehicles).

[0099] In step 230, based on the execution result of step 220, it is determined whether a Class B vehicle can establish a network connection with any Class A vehicle (i.e., the network connection quality meets the second connection condition). Steps 235 and 240 are then executed based on the determination result.

[0100] In step 235, if a Class B vehicle cannot establish a network connection with any Class A vehicle, then the Class B vehicle is identified as an isolated vehicle. Since isolated vehicles cannot establish a network connection with the first candidate vehicle, they can only obtain map information from the central server, and therefore need to be included in the candidate vehicle set C_Set (i.e., identified as the second candidate vehicle).

[0101] In step 240, if a Class B vehicle can establish a network connection with any Class A vehicle, then the Class B vehicle is marked as being covered by the network of the corresponding Class A vehicle. Then, step 245 is executed to record the corresponding coverage relationship.

[0102] In step 250, the above steps are repeated, and it is determined whether all Class B vehicles have been processed.

[0103] In step 255, after all Class B vehicles have been processed, the final set of candidate vehicles can be generated, and step 260 can be executed.

[0104] In step 260, the scoring phase begins, and the priority of candidate vehicles is determined based on the scoring results.

[0105] In step 265, each candidate vehicle in the candidate vehicle set is comprehensively scored according to relevant factors determined by the priority criteria described above. For example, the vehicle's score can be comprehensively evaluated based on factors such as the vehicle's predicted travel range within a certain future time period; its distance from the designated destination; the number of vehicles that can establish network connections with the candidate vehicle; and the vehicle's current operating status.

[0106] In step 270, it is determined whether the candidate vehicle is performing a designated transportation task, such as static road high-speed transportation.

[0107] In step 274, while the vehicle is performing a designated transportation task, it is given a decisive high score, making it a priority to become a backbone vehicle.

[0108] In step 278, if the vehicle is not performing the designated transportation task, the scores of the above items are taken into account to obtain the final score.

[0109] In step 282, the candidate vehicles are sorted according to the scoring results in steps 274 and 278 to determine their respective priorities.

[0110] In step 286, a greedy algorithm is executed according to priority to sequentially confirm whether a candidate vehicle is a trunk vehicle and mark the non-trunk vehicles corresponding to the trunk vehicles.

[0111] In step 290, it is determined whether all vehicles are covered. If there are still uncovered vehicles, step 294 is executed to determine whether the next candidate vehicle is a main vehicle according to priority.

[0112] If all vehicles are covered, proceed to step 298 to output the final list of backbone vehicles.

[0113] The following examples illustrate how to distribute maps based on identified main and non-main vehicles.

[0114] In some embodiments, the control system retrieves map information for both mainline vehicles and their corresponding non-mainline vehicles from map information stored in the central server. For example, the cache distribution module in the central server can generate incremental or full map information for the corresponding version. The map information is then loaded into the cache and preheated to ensure that when a vehicle initiates a map retrieval request, the map information can be directly retrieved and returned.

[0115] In this way, by preloading and preheating the map information required for the operation scenario (such as the map information required by trunk vehicles and non-trunk vehicles) into the cache, it is ensured that trunk vehicles can quickly respond to the map acquisition requests of vehicles, reduce the latency in the real-time acquisition of map information, and improve map distribution efficiency.

[0116] In some embodiments, in response to a non-core vehicle failing to obtain map information from a core vehicle within a specified time period, the non-core vehicle is controlled to obtain map information from the central server. For example, if a vehicle repeatedly attempts to obtain map information from a core vehicle but is still unable to do so, it can directly obtain map information from the central server.

[0117] In this way, by using multiple acquisition paths through backbone vehicles and the central server, map acquisition failures caused by network fluctuations or backbone vehicle malfunctions can be avoided, thus improving the continuity of vehicle operations.

[0118] In some embodiments, in response to receiving feedback information reported by a vehicle that has already acquired map information, and the current map version indicated by the feedback information is inconsistent with the target version, the system controls the vehicle to obtain map update information from the central server to update the vehicle from the current map version to the target version. For example, the vehicle may report feedback information containing historical version information to the central server. The central server queries the latest map version (i.e., the target version) for the current operation scenario based on the map version reported by the vehicle (i.e., the current map version), and determines whether the version number reported by the vehicle is consistent with the latest map version number.

[0119] In this way, by having vehicles actively report map version information, the central server compares the vehicle's current version with the target version and triggers a map update if the versions are inconsistent, ensuring that vehicles can use the latest version of the map and avoiding operational risks caused by version lag.

[0120] In some embodiments, in the efficient distribution method and system for unmanned maps in open-pit mines, the process of vehicle-cloud map synchronization can be divided into two categories. One category is map update initiated by the center, which refers to the update caused by changes in the map on the central server, requiring online vehicles in the work scenario to update the map version.

[0121] Another type is vehicle-initiated map updates. This refers to a new vehicle being added to the network or a vehicle completing a map update, where the vehicle reports feedback information containing map version information (e.g., version number) to the central server. This feedback triggers a cloud-based check to determine if an update response is needed. For example, for a newly added vehicle, the vehicle will proactively report its current map version. After receiving the reported map version, the central server will decide whether to update the map for the vehicle based on the central server's target version and the reported map version.

[0122] under Figure 3 The embodiments described above exemplify the two map synchronization technical solutions.

[0123] Figure 3 Flowcharts illustrating further embodiments of the map distribution method of this disclosure are shown.

[0124] When a new version of the map is manually released or the map on the central server is automatically updated, the map service module will send a map update notification to the vehicles in the operation scenario (i.e., the central server initiates a map update) and perform the following steps:

[0125] In step 304, the release of a new map or automatic updates causes a change in the map version.

[0126] In step 308, map version information (e.g., version number) of all vehicles in the current work scenario is obtained.

[0127] In step 312, the vehicles are grouped according to the map version currently held by the vehicles in the operation scenario.

[0128] In step 316, corresponding incremental / full map information is generated based on the map version and target version corresponding to the group.

[0129] In step 320, trunk vehicles and non-trunk vehicles are evaluated according to the scheme described above.

[0130] In step 324, a map update notification is sent to the vehicle, which includes a suggestion on the source of the map information (e.g., suggesting that it be obtained from the central server or from a nearby vehicle).

[0131] In step 328, it is determined whether the source is the central server. Based on the determination result, step 332 or step 340 is executed.

[0132] In step 332, if the source of the map update notification received by the vehicle is not the central server, the vehicle will try to obtain the corresponding map information from nearby vehicles (i.e., the corresponding trunk vehicles) as suggested.

[0133] In step 336, it is determined whether the vehicle successfully acquired map information within a specified time period. If the vehicle fails to acquire the corresponding map information after multiple attempts, the attempt is abandoned and step 340 is executed.

[0134] In step 340, the vehicle directly obtains map information from the central server. By sending the vehicle's current map version number to the central server, the map is updated using the same process as when initiating a map update on the vehicle's end. Step 352 is then executed as described below.

[0135] When a map update is initiated from the vehicle, first execute step 344 to bring the vehicle online. If the vehicle is online for the first time or reconnecting after a disconnection, there may be inconsistencies between the vehicle's historical map version and the target map version on the central server; in this case, execute step 348.

[0136] In step 348, the vehicle will report feedback information containing historical version information to the central server. After receiving the feedback, the central server will perform the following steps.

[0137] In step 352, the map service module receives the map version reported by the vehicle.

[0138] In step 356, based on the map version reported by the vehicle, the latest map version (i.e., the target version of the map) for the current work scenario (e.g., a mining area) is queried.

[0139] In step 360, it is determined whether the version number reported by the vehicle is consistent with the latest map version number (whether the vehicle cloud version is consistent).

[0140] If the version number reported by the vehicle matches the latest map version number, the vehicle cloud map has already synchronized and does not need to be updated; the central server will not respond.

[0141] If the version number reported by the vehicle is inconsistent with the latest map version number, proceed to step 364 to check if there is map information in the central server's cache (i.e., storage space) that corresponds to the version number reported by the vehicle and the latest map version number.

[0142] If the corresponding map information exists in the central server's cache, proceed to step 380 to directly return the required map information to the vehicle.

[0143] If the corresponding map information exists in the central server's cache, the map service module will generate the required map information based on the reported version number.

[0144] During the map information generation process, step 368 is first executed to determine whether the version number reported by the vehicle is 0. If the version number reported by the vehicle is 0, it means that the vehicle does not currently have a historical version of the map. Therefore, step 372 is executed to generate the full map information corresponding to the target version of the map.

[0145] If the version number reported by the vehicle is not 0, proceed to step 376. The map service module generates incremental map information corresponding to the difference between the reported version number and the latest map version number in the current operation scenario.

[0146] In step 380, the map information generated in steps 372 and 376 is returned to the vehicle.

[0147] The following is through Figure 4 The embodiments described herein, taking an open-pit mine operation scenario as an example, illustrate a map distribution system that executes the above-described map distribution method in an operation scenario.

[0148] Figure 4 Schematic diagrams illustrating some embodiments of the map distribution system of this disclosure are shown.

[0149] like Figure 4 As shown, the map distribution system implementing the map distribution method in this application is deployed in the central control platform and unmanned mining truck cluster of the open-pit mine. The overall architecture is divided into the central side and the vehicle side.

[0150] The central side includes a map service module 41, a central dispatch and monitoring module 42, and a cache distribution module 43. The three modules achieve low-latency data interaction through optical fiber and are connected to the mining area's 5G core network and V2X base station to support wide-area communication coverage.

[0151] The map service module 41 is used for drawing, storing, and managing map data, as well as generating incremental or full map information. For example, it can query and organize incremental or full map information between different versions based on the version number reported by the vehicle and the target version number of the map. The generated incremental or full map information includes header information, representing the version number, map region, update size, and other information.

[0152] The data in the map service module 41 is divided into two types: edit data and published data. Edit data refers to data that is still in the drawing process and has not yet been completed, or data that has been completed but is not yet used in production. Published data refers to map data that is currently being used in production. Separating editing and publishing is to separate manually modified data from production data, avoiding the impact of manual data modifications on production data.

[0153] The central dispatch and monitoring module 42 is used to monitor and record vehicle status information in real time. For example, it is responsible for monitoring and recording information such as vehicle location, speed, current vehicle task, network connection quality, and the vehicle's current map version. The central dispatch and monitoring module 42 is the core module for vehicle monitoring and task scheduling. Based on map information, the vehicle's current location, and the task it is executing, it can generate and assign subsequent tasks to the vehicle.

[0154] The cache distribution module 43 performs map information pre-generation and caching steps, and formulates map update strategies for vehicles based on vehicle status information. For example, based on the current map version of each vehicle recorded in the central dispatch monitoring module 42, it can group all vehicle map versions, then call the map service to generate incremental or full map information for the corresponding version. The incremental map information is then loaded into the cache and preheated to ensure that map information can be directly retrieved and returned when a vehicle initiates a map retrieval request. Furthermore, the cache and distribution module 43 generates and returns the optimal map update strategy for each vehicle and sends map update notifications to the vehicle based on information such as the vehicle's current location, executing task, network connection quality, and map versions of other surrounding vehicles.

[0155] The vehicle-mounted side includes an onboard communication unit 44 installed on each driverless mining truck. The onboard communication unit 44 integrates a 5G / 4G module and a V2X vehicle-to-vehicle direct communication module, used to realize data communication between the vehicle and the central server, as well as between vehicles. The onboard communication unit 44 is integrated with the mining truck positioning system (… Figure 4 (not shown in the image), operation control system ( Figure 4 (Not shown in the image) and local storage connection, synchronizing vehicle operation data and map update status in real time. The vehicle communication unit 44 serves as the interface between the mining truck and the central server, receiving data such as scheduling information and map information, and also enabling neighbor vehicle forwarding of map data through vehicle-to-vehicle direct connection. It can also provide feedback on the basic network status and process and apply the received data.

[0156] Furthermore, the vehicle communication unit 44 can autonomously search for and connect to the vehicle communication units of other vehicles, enabling autonomous vehicle-to-vehicle connectivity. It can also assess connection quality and report connection information. For example, the vehicle communication unit 44 continuously searches for the vehicle communication units of other nearby vehicles. After establishing a stable network connection with other vehicles, the vehicle communication unit 44 records the connected vehicle information and maintains a self-connecting network quality table. This table sorts the network connection quality from highest to lowest, and then continuously reports information such as network connection quality, current vehicle speed, and executed tasks to the central dispatch and monitoring module 42 at preset frequencies.

[0157] After receiving the self-connecting network quality table reported by the vehicle, the central dispatch and monitoring module 42 will comprehensively obtain a corrected network quality table based on the vehicle's subsequent trajectory prediction, so as to ensure reliable network connection for a period of time.

[0158] The initial map version number is 1 by default. Each time a map is published (e.g., manually or automatically), the production map version number is incremented by one. The map service module 41 records every data change. During map publication, the central scheduling and monitoring module 42 can obtain the current map version held by all vehicles. Unmanned mining trucks operating in the same area typically have the same map version. In cases where vehicles have inconsistent versions (e.g., a newly launched vehicle with a different map version than other operating vehicles), the version will be determined according to... Figure 3 The technical solution and corresponding description in the document group all vehicles according to map version. For different groups corresponding to different version numbers, incremental map information is generated, and then the incremental map information is loaded into the cache and preheated.

[0159] After loading incremental map information into the cache for preheating, the cache distribution module 43 will provide the optimal map update strategy based on the vehicle's current location, the task being performed, the network connection quality, and the map version information of other vehicles in the vicinity, and send a map update notification to the vehicle.

[0160] As mentioned earlier, map updates are divided into two phases: map updates for backbone vehicles and map updates for non-backbone vehicles. During a map update for backbone vehicles, these vehicles first receive a map update notification and retrieve map information from the central server. Non-backbone vehicles typically do not directly retrieve map information from the central server.

[0161] Figure 5 Block diagrams illustrating some embodiments of the map distribution apparatus of this disclosure are shown.

[0162] According to some other embodiments of this disclosure, a map distribution device 5 is provided, comprising: a determining unit 51, configured to determine main vehicles and non-main vehicles among the vehicles based on the status information of vehicles in the work scenario; a first control unit 52, configured to control the main vehicles to obtain map information from a central server, wherein the map information is determined according to the target version of the map on the central server; and a second control unit 53, configured to control the non-main vehicles to obtain map information from the main vehicles.

[0163] In some embodiments, the status information includes at least one of network connection quality, location information, or current job status.

[0164] In some embodiments, the determining unit 51 determines candidate vehicles among the vehicles based on network connection quality; determines backbone vehicles among the candidate vehicles based on at least one of location information or current operating status; and determines vehicles other than backbone vehicles as non-backbone vehicles.

[0165] In some embodiments, the candidate vehicles include a first candidate vehicle and a second candidate vehicle. The determining unit 51 determines the vehicle whose network connection quality with the central server meets the first connection condition as the first candidate vehicle; among the vehicles other than the first candidate vehicle, the second candidate vehicle is determined. The network connection quality between the second candidate vehicle and the first candidate vehicle does not meet the second connection condition, and the requirements of the second connection condition are lower than the requirements of the first connection condition.

[0166] In some embodiments, the backbone vehicles include a first backbone vehicle and a second backbone vehicle. The determining unit 51 configures priorities for candidate vehicles based on at least one of location information or current operation status. According to the priorities, it sequentially determines whether the network connection quality between the candidate vehicles and vehicles in the set of vehicles to be covered meets the second connection condition. The set of vehicles to be covered includes vehicles in the operation scenario other than the candidate vehicles. The candidate vehicles whose network connection quality with vehicles in the set of vehicles to be covered meets the second connection condition are determined as the first backbone vehicles. Among the other candidate vehicles besides the first backbone vehicles, the second backbone vehicle is determined. The network connection quality between the second backbone vehicle and the first backbone vehicle does not meet the second connection condition.

[0167] In some embodiments, candidate vehicles include a first vehicle and a second vehicle, with the second vehicle having a lower priority than the first vehicle. The determining unit 51 determines designated vehicles in the set of vehicles to be covered whose network connection quality with the first vehicle meets the second connection condition as non-backbone vehicles corresponding to the first vehicle; removes the non-backbone vehicles corresponding to the first vehicle from the set of vehicles to be covered to update the set of vehicles to be covered; determines whether the network connection quality between the second vehicle and the vehicles in the updated set of vehicles to be covered meets the second connection condition; repeats the above steps until all vehicles in the set of vehicles to be covered are removed.

[0168] In some embodiments, location information includes the movement range of the candidate vehicle within a time period threshold and the distance difference between the candidate vehicle and the specified destination. The priority is negatively correlated with the size of the movement range and negatively correlated with the size of the distance difference.

[0169] In some embodiments, the smaller the movement range corresponding to the current operating state of a candidate vehicle, the higher its priority.

[0170] In some embodiments, the determining unit 51, in response to the presence of a transport vehicle among the candidate vehicles performing a specified transport operation, configures the priority of the transport vehicle to be higher than the priority of candidate vehicles in other operation states.

[0171] In some embodiments, the more vehicles in the set of vehicles to be covered that meet the second connection condition with the candidate vehicle, the higher the priority of the candidate vehicle.

[0172] In some embodiments, in response to the vehicle not having a historical version of the map, the map information is the target version of the map; in response to the vehicle having a historical version of the map, the map information is incremental map information.

[0173] In some embodiments, incremental map information is determined based on the differences between historical versions of the map and the target version of the map.

[0174] In some embodiments, the first control unit 52 controls the trunk vehicle to obtain map information of the trunk vehicle and map information of the non-trunk vehicles corresponding to the trunk vehicle from the map information stored in the central server.

[0175] In some embodiments, the second control unit 53 controls the non-mainstream vehicle to obtain map information from the central server in response to the non-mainstream vehicle failing to obtain map information from the mainstream vehicle within a specified time period.

[0176] In some embodiments, in response to receiving feedback information reported by a vehicle that has acquired map information, and the current map version indicated by the feedback information is inconsistent with the target version, the second control unit 53 controls the vehicle to obtain map update information from the central server in order to update the vehicle from the current map version to the target version.

[0177] In the above embodiments, vehicles in the operational scenario are divided into backbone vehicles and non-backbone vehicles, and the non-backbone vehicles are controlled to obtain map information from the backbone vehicles. In this way, the central server deployed on the central server only needs to process map acquisition requests sent by backbone vehicles, which can reduce the load on the central server, avoid network congestion, and thus improve the stability of map updates.

[0178] Figure 6 Block diagrams illustrating other embodiments of the map distribution apparatus of this disclosure are shown.

[0179] like Figure 6 As shown, the map distribution apparatus 6 of this embodiment includes a memory 61 and a processor 62 coupled to the memory 61. The processor 62 is configured to execute the map distribution method of any embodiment of this disclosure based on instructions stored in the memory 61.

[0180] The memory 61 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory may store, for example, the operating system, application programs, boot loader, database, and other programs.

[0181] Figure 7 Block diagrams illustrating further embodiments of the map distribution apparatus of this disclosure are shown.

[0182] like Figure 7 As shown, the map distribution apparatus 7 of this embodiment includes a memory 710 and a processor 720 coupled to the memory 710. The processor 720 is configured to execute the map distribution method of any of the foregoing embodiments based on instructions stored in the memory 710.

[0183] The memory 710 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory stores, for example, the operating system, application programs, boot loader, and other programs.

[0184] The map distribution device 7 may also include an input / output interface 730, a network interface 740, and a storage interface 750. These interfaces 730, 740, and 750, as well as the memory 710 and processor 720, can be connected via, for example, a bus 760. The input / output interface 730 provides a connection interface for input / output devices such as a monitor, mouse, keyboard, touchscreen, microphone, and speakers. The network interface 740 provides a connection interface for various networked devices. The storage interface 750 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0185] Figure 8 Block diagrams illustrating some embodiments of the map distribution system of this disclosure are shown.

[0186] According to further embodiments of this disclosure, a map distribution system 8 is provided, comprising: a map distribution device 81, located on a central server, for executing the map distribution method in any of the above embodiments; and an in-vehicle communication device 82 (as described above, the in-vehicle communication unit 44), installed in a vehicle, for reporting the vehicle's network connection quality to the map distribution device. For example, the map distribution device 81 may include... Figure 4 The map service module 41, the central dispatch and monitoring module 42, and the cache distribution module 43 are shown.

[0187] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0188] The map distribution method, map distribution apparatus, map distribution system, and computer-readable storage medium according to this disclosure have been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0189] The methods and systems of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the specific order described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0190] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and are not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure.

Claims

1. A map distribution method, comprising: Based on the status information of the vehicles in the work scenario, identify the main vehicles and non-main vehicles among the vehicles; The main vehicles are controlled to obtain map information from the central server, and the map information is determined according to the target version of the map on the central server. The non-mainline vehicles are controlled to obtain the map information from the mainline vehicles.

2. The map distribution method according to claim 1, wherein, The status information includes at least one of network connection quality, location information, or current operation status.

3. The map distribution method according to claim 2, wherein, The step of determining the backbone vehicles and non-backbone vehicles among the vehicles based on the vehicle status information in the work scenario includes: Based on the network connection quality, candidate vehicles are determined from the vehicles; The main vehicle is determined from the candidate vehicles based on at least one of the location information or the current operation status; Vehicles other than the main vehicles are identified as non-main vehicles.

4. The map distribution method according to claim 3, wherein, The candidate vehicles include a first candidate vehicle and a second candidate vehicle. The step of determining candidate vehicles among the vehicles based on the network connection quality includes: Vehicles whose network connection quality with the central server meets the first connection condition are identified as the first candidate vehicles. Among the vehicles other than the first candidate vehicle, a second candidate vehicle is determined. The network connection quality between the second candidate vehicle and the first candidate vehicle does not meet the second connection condition, and the requirements of the second connection condition are lower than those of the first connection condition.

5. The map distribution method according to claim 3, wherein, The main vehicle system includes a first main vehicle system and a second main vehicle system. Determining the main vehicle from the candidate vehicles based on at least one of the location information or the current operating status includes: Priorities are assigned to the candidate vehicles based on at least one of the location information or the current operation status; According to the priority, the network connection quality of the candidate vehicle and the vehicles in the set of vehicles to be covered are sequentially determined to meet the second connection condition. The set of vehicles to be covered includes vehicles in the operation scenario other than the candidate vehicle. Candidate vehicles whose network connection quality with vehicles in the set of vehicles to be covered meets the second connection condition are identified as first backbone vehicles. Among the candidate vehicles other than the first trunk vehicle, the second trunk vehicle is determined, and the network connection quality between the second trunk vehicle and the first trunk vehicle does not meet the second connection condition.

6. The map distribution method according to claim 5, wherein, The candidate vehicles include a first vehicle and a second vehicle, wherein the priority of the second vehicle is lower than that of the first vehicle. The step of determining whether the network connection quality of the candidate vehicle and the vehicles in the set of vehicles to be covered meets the second connection condition according to the priority includes: The designated vehicles in the set of vehicles to be covered whose network connection quality with the first vehicle meets the second connection condition are identified as non-backbone vehicles corresponding to the first vehicle. Remove the non-mainline vehicle corresponding to the first vehicle from the set of vehicles to be covered, so as to update the set of vehicles to be covered; Determine whether the network connection quality between the second vehicle and the vehicles in the updated set of vehicles to be covered meets the second connection condition; Repeat the above steps until all vehicles in the set of vehicles to be covered have been removed.

7. The map distribution method according to claim 5, wherein, The location information includes the movement range of the candidate vehicle within a time period threshold and the distance difference between the candidate vehicle and the specified destination. The priority is negatively correlated with the size of the movement range and negatively correlated with the size of the distance difference.

8. The map distribution method according to claim 5, wherein, The smaller the movement range corresponding to the current operating state of the candidate vehicle, the higher its priority.

9. The map distribution method according to claim 5, wherein, The step of configuring priority for the candidate vehicles based on at least one of the location information or the current operation status includes: In response to the presence of a transport vehicle among the candidate vehicles that is performing a specified transport operation, the priority of the transport vehicle is configured to be higher than the priority of candidate vehicles that are in other operation states.

10. The map distribution method according to claim 5, wherein, The more vehicles in the set of vehicles to be covered that meet the second connection condition with the candidate vehicle, the higher the priority of the candidate vehicle.

11. The map distribution method according to any one of claims 1-10, wherein, If the vehicle does not have a historical version of the map, the map information is the target version of the map; if the vehicle has the historical version of the map, the map information is incremental map information.

12. The map distribution method according to claim 11, wherein the incremental map information is determined based on the difference between the historical version of the map and the target version of the map.

13. The map distribution method according to any one of claims 1-10, wherein controlling the trunk vehicles to obtain map information from the central server includes: The system controls the main vehicle to obtain map information of the main vehicle and the corresponding non-main vehicle from the map information stored in the central server.

14. The map distribution method according to any one of claims 1-10, wherein controlling the non-mainstream vehicle to obtain the map information from the mainstream vehicle comprises: If the non-mainline vehicle fails to obtain the map information from the mainline vehicle within a specified time period, the non-mainline vehicle is controlled to obtain the map information from the central server.

15. The map distribution method according to any one of claims 1-10, further comprising: In response to receiving feedback information reported by a vehicle that has already acquired the map information, and the current map version indicated by the feedback information is inconsistent with the target version, the system controls the vehicle to obtain map update information from the central server in order to update the vehicle from the current map version to the target version.

16. A map distribution device, comprising: The determining unit is used to determine the main vehicles and non-main vehicles among the vehicles based on the status information of the vehicles in the work scenario. The first control unit is used to control the main vehicle to obtain map information from the central server, and the map information is determined according to the target version of the map on the central server. The second control unit is used to control the non-main vehicle to obtain the map information from the main vehicle.

17. A map distribution system, comprising: A map distribution device, located on a central server, is used to execute the map distribution method according to any one of claims 1-15; An onboard communication device, installed in the vehicle, is used to report the vehicle's network connection quality to the map distribution device.

18. A map distribution device, comprising: Memory; and A processor coupled to the memory, the processor being configured to execute the map distribution method according to any one of claims 1-15 based on instructions stored in the memory.

19. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the map distribution method according to any one of claims 1-15.

20. A computer program product comprising instructions that, when executed by a processor, cause the processor to perform the map distribution method according to any one of claims 1-15.

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