Map update method, device, and storage medium

Abstract

To ensure that a cloud server timely distributes update information having a large impact on vehicle travel to a vehicle terminal and to improve driving safety of an automatic driving vehicle.SOLUTION: A map update method includes: a step of a first vehicle checking environment data collected by at least one data collection device on the first vehicle against map data stored in advance, and reporting map update information to a cloud server when it is determined that the environment data does not match the map data, the map update information including information with which a map element to be updated is associated; a step of the could server determining whether to update a map based on the map update information reported by the first vehicle; and a step of determining a distribution style of the updated map based on an impact level of vehicle travel corresponding to the map element to be updated when it is determined that the map is to be updated.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE The embodiments of the present application relate to the field of navigation technology, and in particular to a map update method, apparatus, and storage medium. [Background technology]

[0002] This application claims priority to Chinese Patent Application No. 201910723238.X, entitled “MAP UPDATE METHOD, APPARATUS, AND STORAGE MEDIUM,” filed with the China Patent Office on August 6, 2019, which is incorporated herein by reference in its entirety.

[0003] An autonomous vehicle, also known as an unmanned vehicle, computer-driven vehicle, or wheeled mobile robot, is an intelligent vehicle that implements unmanned driving by using a computer system. An autonomous vehicle utilizes the collaboration of artificial intelligence, visual calculation, radar, positioning systems, and map systems, allowing a computer to operate the autonomous vehicle automatically and safely without active human operation.

[0004] Electronic maps are necessary tools for the navigation of autonomous vehicles. The accuracy and precision of the maps directly affect the safety of autonomous vehicles. In practical applications, road conditions may change frequently, such as road construction and traffic sign changes. If the maps used by the vehicles are not updated in a timely manner, this brings about a relatively high safety risk to the autonomous vehicles. Summary of the Invention

[0005] The present application provides a map update method, device, and storage medium, so that an updated map can be used by an autonomous vehicle in a timely manner, which improves the driving safety of the autonomous vehicle.

[0006] A first aspect of the present application provides a map updating method including the steps of: acquiring, by a cloud server, map update information reported by a first vehicle; and determining whether to update the map based on the map update information; and, when it is determined that the map is to be updated, determining, by the cloud server, a delivery mode of the updated map based on an impact level of vehicle driving corresponding to a map element to be updated, wherein the impact level of vehicle driving is a level that affects vehicle driving safety.

[0007] In this solution, when deciding to update the map based on the map update information reported by the first vehicle, the cloud server obtains from the map update information an impact level of the vehicle driving corresponding to the map element to be updated, and the cloud server determines a distribution manner of the updated map based on the impact level, which ensures that the update information that has a large impact on the vehicle driving is distributed to the vehicle terminal in a timely manner, and improves the driving safety of the autonomous vehicle.

[0008] In a possible implementation, the step of determining a delivery mode of the updated map based on an impact level of the vehicle travel corresponding to the map element to be updated includes a step of determining that the delivery mode of the updated map is direct delivery when the impact level of the vehicle travel corresponding to the map element to be updated is a critical level, or a step of determining that the delivery mode of the updated map is delivery based on a map update request or periodic delivery when the impact level of the vehicle travel corresponding to the map element to be updated is a general level.

[0009] In the above implementation, the distribution manner of the updated map is refined. When a map element that has a large impact on the vehicle driving safety is updated, the cloud server directly distributes the updated map to all online vehicles. When a map element that has only a small impact on the vehicle driving safety is updated, the cloud server may distribute the updated map intensively based on a preset cycle, or may distribute the updated map based on a map update request sent by the vehicle.

[0010] In a possible implementation, the map update information includes coordinate positions of map elements to be updated on the map, and prior to the step of determining whether to update the map based on the map update information, the method further includes a step of sending a map measurement command to at least one detection device within a first predetermined area at the coordinate position based on the map update information, wherein the map measurement command is used to instruct the detection device to detect and report map measurement information of a second predetermined area at the coordinate position.

[0011] In a possible implementation, determining whether to update the map based on the map update information includes determining whether to update the map based on the map update information and map measurement information reported by at least one detection device.

[0012] In the above implementation, the cloud server does not directly determine whether to update the map based on the map update information reported by the first vehicle, but performs comprehensive analysis to determine whether to update the map based on multiple map measurement report results, especially taking into account multiple detection devices in the area near the map element to be updated, which avoids the misreporting of a single vehicle and improves the accuracy of the map update.

[0013] In a possible implementation, the step of determining whether to update the map based on the map update information and the map measurement information reported by the at least one detection device includes a step of performing information processing on the map update information and the at least one map measurement information to determine an amount of change in a map element to be updated on the map, and a step of determining whether to update the map based on the amount of change in the map element to be updated on the map and a predetermined update threshold.

[0014] Optionally, the change amount of the map element to be updated on the map includes a change amount of the moving distance of the map element (e.g., a moving distance of a traffic light), a change amount of the height / length / width of the map element (e.g., a change amount of a lane width, a change amount of a traffic light height), and a change amount of the state of the map element. The state value of the map element includes 0 and 1, where 0 indicates that the map element is not on the map and 1 indicates that the map element is on the map. When the state does not change, the change amount is 0, and when the state changes, the absolute value of the change amount is 1.

[0015] In a possible implementation, the step of determining whether to update the map based on the change amount of the map element to be updated on the map and the preset update threshold of each map element includes the step of updating the map when the change amount of the map element to be updated on the map is equal to or greater than the preset update threshold corresponding to the map element to be updated; The method includes the step of not updating the map when an amount of change in a map element to be updated on the map is less than a preset update threshold corresponding to the map element to be updated.

[0016] It should be noted that the preset threshold corresponding to the map element is a preset threshold corresponding to the attribute information of the map element, for example, a preset update threshold corresponding to the moving distance of a traffic light, or a preset threshold corresponding to the change amount of a lane width. The preset update thresholds corresponding to different map elements may be the same or different.

[0017] In the above implementation, to determine whether to update a map element, the change amount of the map element to be updated is compared with a preset update threshold corresponding to the map element to be updated. If there is a map element that needs to be updated, the map is updated.

[0018] In a possible implementation, determining whether to update the map based on the map update information includes updating the map when the map elements to be updated satisfy the map accuracy requirements.

[0019] It should be noted that the map accuracy requirement is the maximum error range permitted by a map element on a map, and the map accuracy requirement includes accuracy requirements corresponding to each map element.

[0020] In the above implementation, when the map is updated, it needs to be determined whether the map element to be updated meets the map accuracy requirement. If the data accuracy of the map element to be updated meets the map accuracy requirement of the map element, the map is updated directly.

[0021] In a possible implementation, the step of determining whether to update the map based on the map update information includes the steps of: sending a map data collection command to a third vehicle when the map element to be updated does not meet the map accuracy requirement, the map data collection command being used to instruct the third vehicle to collect map data of a second predetermined area at the coordinate location of the map element to be updated on the map, the third vehicle being a data collection vehicle that meets the map accuracy requirement; and updating the map based on the map data collected by the third vehicle.

[0022] In the above implementation, when the map is updated, it needs to be determined whether the map element to be updated meets the map accuracy requirement. If the data accuracy of the map element to be updated is relatively low, the map is not directly updated. The data collection vehicle collects map data near the map element, and the cloud server updates the map based on the map data collected by the data collection vehicle, thereby making the map element to be updated meet the map accuracy requirement, thereby improving the accuracy of the cloud map data.

[0023] In a possible implementation, when the map element to be updated does not meet the map accuracy requirement, the method includes a step of setting the map of the second predetermined area at the coordinate location as unavailable or a step of reducing the vehicle autonomy level corresponding to the accuracy of the map of the second predetermined area at the coordinate location.

[0024] In the above implementation, it is determined that the map needs to be updated, but the map element to be updated does not meet the accuracy requirement. The map element to be updated may include a map element having a relatively high impact level of vehicle driving. In order to ensure the driving safety of the online vehicle, before obtaining the high-precision map data of the map element to be updated, the cloud server sets the map data near the map element to be unavailable or instructs the vehicle to reduce the vehicle autonomous driving level near the map element.

[0025] Optionally, the detection device includes a second vehicle and / or a roadside device, the second vehicle being an online vehicle that uses the map.

[0026] The second vehicle may be another online vehicle other than the first vehicle using the map, and the second vehicle is currently traveling in a first preset area near the coordinate location of the map element to be updated. The roadside device may be a roadside device that is near the coordinate location of the map element to be updated on the map and can detect the map element.

[0027] A second aspect of the present application provides a map updating method, comprising steps of receiving environmental data, determining whether the environmental data matches pre-stored map data, and reporting map update information to a cloud server when it is determined that the environmental data does not match the map data, the map update information including at least one of a category of a map element to be updated, a coordinate position of the map element to be updated on the map, an amount of change of the map element to be updated on the map, an impact level of vehicle driving corresponding to the map element to be updated, and a data source of the map element to be updated. The impact level of vehicle driving is a level that affects vehicle driving safety.

[0028] Optionally, the data collection device on the first vehicle may include at least one of a camera, an infrared sensor, a laser radar sensor, a millimeter wave sensor, an ultrasonic sensor, a global positioning system, and an inertial navigation unit.

[0029] Optionally, the environmental data collected by the data collection device may be image data or measurement data, where the measurement data includes three-dimensional spatial data, ultrasonic data, millimeter wave data, positioning data, and the like.

[0030] In this solution, the first vehicle compares the environmental data collected by the on-board data collection device with the pre-stored map data, and when it determines that the environmental data does not match the pre-stored map data, it reports map update information to the cloud server. The map update information includes an impact level of the vehicle driving corresponding to the map element to be updated. When it determines to update the map element, the cloud server directly distributes the updated map to the online vehicle based on the impact level of the vehicle driving corresponding to the map element to be updated, to ensure the driving safety of the online vehicle.

[0031] Optionally, the map update information further includes at least one of a length of time of the continuing mismatch, a first time that the map element mismatch was detected, a second time that the map update information was reported, and a confidence level of the map update information.

[0032] The duration of the continued mismatch refers to the duration of time that the to-be-updated map elements in the map update reported by the first vehicle do not match the pre-set map data. The combination of the first time and the second time may be used to indicate the need or urgency of updating the mismatched map elements (i.e., the to-be-updated map elements). The reliability of the map update may be determined by the reliability of the data collection device providing the to-be-updated map elements and the weight value. A higher reliability of the map update indicates a higher reliability of the information.

[0033] In a possible implementation, the method further includes a step of receiving an updated map distributed by a cloud server, the updated map being a map updated by the cloud server based on map update information and map measurement results reported by the at least one detection device, the at least one detection device being located in a first predetermined area at a coordinate location.

[0034] The vehicle adjusts or updates the driving route based on the updated map delivered by the cloud server. The updated map is obtained by the cloud server through comprehensive analysis based on the measurement information reported by multiple vehicles and roadside devices, which avoids the misreporting of a single vehicle and improves the accuracy of the map update.

[0035] Optionally, the detection device includes a second vehicle and / or a roadside device, the second vehicle being an online vehicle that uses the map.

[0036] In a possible implementation, the method further includes a step of receiving an updated map distributed by a cloud server, the updated map being a map updated by the cloud server based on map data collected by a third vehicle, the third vehicle being a data collection vehicle that meets the map accuracy requirements.

[0037] The vehicle adjusts or updates the driving route based on the updated map distributed by the cloud server. The updated map is obtained by the cloud server based on the map data collected by the data collection vehicle. This ensures that the map elements to be updated meet the map accuracy requirements, improves the accuracy of the cloud map data, and ensures the driving safety of the vehicle.

[0038] In a possible implementation, before the step of receiving the updated map distributed by the cloud server, the method further includes a step of sending a map update request to the cloud server.

[0039] In the above implementation, the vehicle may actively initiate a map update request to the cloud server based on the vehicle's requirements, and the vehicle adjusts or updates the driving route based on the updated map to improve the driving safety of the autonomous vehicle.

[0040] A third aspect of the present application provides a map updating device comprising: an acquisition module configured to acquire map update information reported by a first vehicle; and a processing module configured to determine whether to update the map based on the map update information, wherein when it is determined that the map is to be updated, the processing module is further configured to determine a delivery manner of the updated map based on an impact level of vehicle driving corresponding to a map element to be updated, wherein the impact level of vehicle driving is a level that affects vehicle driving safety.

[0041] Optionally, the processing module is specifically configured to determine that the delivery manner of the updated map is direct delivery when an impact level of the vehicle driving corresponding to the map element to be updated is a critical level, or to determine that the delivery manner of the updated map is delivery based on a map update request or periodic delivery when an impact level of the vehicle driving corresponding to the map element to be updated is a general level.

[0042] Optionally, the apparatus further comprises a transmitting module configured to transmit map measurement instructions to at least one detection device within a first pre-set area at a coordinate location of a map element to be updated on the map based on the map update information, the map measurement instructions being used to instruct the detection device to detect and report map measurement information of a second pre-set area at the coordinate location.

[0043] Optionally, the processing module is specifically configured to decide whether to update the map based on the map update information and the map measurement information reported by the at least one detection device.

[0044] Optionally, the processing module is specifically configured to perform information processing on the map update information and the at least one map measurement information to determine an amount of change in a map element to be updated on the map, and to determine whether to update the map based on the amount of change in the map element to be updated on the map and a pre-set update threshold.

[0045] Optionally, the processing module is specifically configured to update the map when an amount of change of a to-be-updated map element on the map is equal to or greater than a pre-set update threshold corresponding to the to-be-updated map element.

[0046] Optionally, the processing module is specifically configured to update the map when the map elements to be updated satisfy the map accuracy requirements.

[0047] Optionally, the apparatus further comprises a transmitting module configured to transmit a map data collection instruction to a third vehicle when the map element to be updated does not satisfy the map accuracy requirement, the map data collection instruction being used to instruct the third vehicle to collect map data of a second pre-set area at a coordinate location of the map element to be updated on the map, the third vehicle being a data collection vehicle that satisfies the map accuracy requirement, and the processing module is further configured to update the map based on the map data collected by the third vehicle.

[0048] Optionally, when the map element to be updated does not satisfy the map accuracy requirement, the processing module is further configured to set the map of the second preset area at the coordinate location as unavailable or to reduce a vehicle autonomy level corresponding to the accuracy of the map of the second preset area at the coordinate location.

[0049] Optionally, the detection device includes a second vehicle and / or a roadside device, the second vehicle being an online vehicle that uses the map.

[0050] A fourth aspect of the present application provides a communications device, comprising a memory configured to store a computer program and a processor configured to execute the computer program so as to cause the communications device to perform a method according to any one of the implementations of the first aspect of the present application.

[0051] A fifth aspect of the present application provides an in-vehicle device comprising: a receiving module configured to receive environmental data; a processing module configured to determine whether the environmental data matches pre-stored map data; and a transmitting module configured to report map update information to a cloud server when it is determined that the environmental data does not match the map data, wherein the map update information includes at least one of a category of a map element to be updated, a coordinate position of the map element to be updated on the map, an amount of change of the map element to be updated on the map, an impact level of vehicle driving corresponding to the map element to be updated, where the impact level of vehicle driving is a level that affects vehicle driving safety; and a data source of the map element to be updated.

[0052] Optionally, the map update information further includes at least one of a length of time of the continuing mismatch, a first time that the map element mismatch was detected, a second time that the map update information was reported, and a confidence level of the map update information.

[0053] Optionally, the receiving module is further configured to receive an updated map distributed by the cloud server, the updated map being a map updated by the cloud server based on the map update information and the map measurement results reported by the at least one detection device, the at least one detection device being located in a first pre-defined area at a coordinate location.

[0054] Optionally, the detection device includes a second vehicle and / or a roadside device, the second vehicle being an online vehicle that uses the map.

[0055] Optionally, the receiving module is further configured to receive an updated map distributed by the cloud server, the updated map being a map updated by the cloud server based on map data collected by a third vehicle, the third vehicle being a data collection vehicle that meets the map accuracy requirements.

[0056] Optionally, before the receiving module receives the updated map distributed by the cloud server, the sending module is further configured to send a map update request to the cloud server.

[0057] A sixth aspect of the present application provides a communications device comprising a memory configured to store a computer program and a processor configured to execute the computer program so as to cause the communications device to perform a method according to any one of the implementations of the second aspect of the present application.

[0058] A seventh aspect of the present application provides a readable storage medium configured to store instructions that, when executed, implement a method according to any one of the implementations of the first aspect of the present application.

[0059] An eighth aspect of the present application provides a readable storage medium configured to store instructions that, when executed, implement a method according to any one of the implementations of the second aspect of the present application.

[0060] A ninth aspect of the present application provides a communication device comprising a processor and an interface circuit configured to receive code instructions and transmit the code instructions to the processor, the processor being configured to execute the code instructions to perform a method according to any one of the implementations of the first aspect of the present application.

[0061] A tenth aspect of the present application provides a communication device comprising a processor and an interface circuit configured to receive code instructions and transmit the code instructions to the processor, the processor being configured to execute the code instructions to perform a method according to any one of the implementations of the second aspect of the present application.

[0062] An eleventh aspect of the present application provides a wireless communication system including a plurality of autonomous vehicles, a plurality of roadside devices, and a cloud server. Wireless communication is performed between the autonomous vehicles, wireless communication is performed between the autonomous vehicles and the roadside devices, and wireless communication is performed between the autonomous vehicles and the cloud server and between the roadside devices and the cloud server. The cloud server is configured to perform a method according to any one of the implementations of the first aspect of the present application, and the autonomous vehicles are configured to perform a method according to any one of the implementations of the second aspect of the present application.

[0063] The present application provides a map update method, device, and storage medium. The map update method includes the steps of: comparing environmental data collected by at least one data collection device on the first vehicle with pre-stored map data by a first vehicle; and reporting map update information to a cloud server when it is determined that the environmental data does not match the map data, the map update information including associated information of the map element to be updated; determining by the cloud server whether to update the map based on the map update information reported by the first vehicle; and when it is determined that the map is updated, determining a delivery manner of the updated map based on an impact level of the vehicle driving corresponding to the map element to be updated. Using the above method, it is possible to ensure that the cloud server delivers update information that has a large impact on the vehicle driving to the vehicle terminal in a timely manner. This improves the driving safety of the autonomous vehicle. [Brief description of the drawings]

[0064] [Figure 1]1 is a schematic diagram of a wireless communication system according to an embodiment of the present application. [Diagram 2] 1 is a schematic flow chart of an existing map update method. [Diagram 3] 1 is a schematic flowchart of a map updating method according to an embodiment of the present application; [Figure 4] 4 is a schematic flowchart of another map updating method according to an embodiment of the present application; [Diagram 5] 1 is a schematic diagram of the structure of a map updating device according to an embodiment of the present application; [Figure 6] 1 is a schematic diagram of the structure of an in-vehicle device according to an embodiment of the present application; [Figure 7] 1 is a schematic diagram of a hardware structure of a communication device according to an embodiment of the present application; [Figure 8] 2 is a schematic diagram of a hardware structure of another communication device according to an embodiment of the present application; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0065] In the following, the technical solutions in the embodiments of the present application are clearly and completely described with reference to the accompanying drawings in the embodiments of the present application.

[0066] The map update method provided in the embodiment of the present application may be applied to a wireless communication system. Figure 1 is a schematic diagram of a wireless communication system according to the embodiment of the present application. As shown in Figure 1, the wireless communication system in this embodiment may include a plurality of autonomous vehicles (vehicle 11, vehicle 12, vehicle 13, and vehicle 14 are shown in Figure 1), a plurality of roadside devices (roadside device 15 and roadside device 16 are shown in Figure 1), and a cloud server 17. Wireless communication may be performed between the vehicles, wireless communication may be performed between the vehicles and the roadside devices, wireless communication may be performed between the roadside devices and the cloud server, and wireless communication may be performed between the vehicles and the cloud server.

[0067] The cloud server in this embodiment of the present application may be located on the Core Network (CN) device side. The CN device corresponds to different devices in different wireless communication systems, for example, corresponds to a Serving GPRS Support Node (SGSN) or a Gateway GPRS Support Node (GGSN) in a 3G system, corresponds to a Mobility Management Entity (MME) or a Serving Gateway (S-GW) in a 4G system, and corresponds to a device (e.g., NG-Core) associated with the core network in the 5G system in a 5G system. This is not limited in the embodiment of the present application. The cloud server in this embodiment of the present application provides map information with the latest high accuracy for the autonomous vehicle. The autonomous vehicle may update and download the high accuracy map on the cloud server based on the requirements of the autonomous vehicle to ensure that the high accuracy map used by the autonomous vehicle is the latest map.

[0068] In this embodiment of the present application, a terminal device may be disposed in the autonomous vehicle, and the terminal device may communicate with the roadside device and the cloud server. The terminal device may be called user equipment (UE), access terminal, subscriber unit, subscriber station, mobile station, remote station, mobile device, user terminal, wireless communication device, user agent, or user equipment. The terminal device may be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication capability, a computing device, another processing device connected to a wireless modem, an in-vehicle device, a wearable device, a terminal device in a future 5G network or a post-5G network, or a terminal device in a future evolved public land mobile network (PLMN), etc. This is not limited in the embodiment of the present application. Alternatively, the terminal device may be an in-vehicle module integrated into one or more components or units. ,car The vehicle may be an on-board component, an on-board chip, or an on-board unit (OBU). ,car The method in the present application may be implemented by using an on-board component, an on-board chip, or an on-board unit. The terminal device may further provide high-precision map data for the user. In other words, the user may view the map data by using a display interface of the terminal device.

[0069] The roadside device in this embodiment of the present application is a traffic information collection unit or a traffic facility control unit deployed near a road. The traffic information collection unit may provide collected traffic information for the traffic facility control unit, and the traffic facility control unit may execute control instructions for the traffic facility. The traffic facility includes traffic lights and electronic traffic signs, etc. It should be understood that the technical solution in the embodiment of the present application may be applied to a Long Term Evolution (LTE) architecture, or a Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access Network (UTRAN) architecture, or a Global System for Mobile Communication (GSM) / Enhanced Data Rate for GSM Evolution (EDGE) System Radio Access Network (GERAN) architecture. In the UTRAN or GERAN architecture, the function of the MME is achieved by a Serving General Packet Radio Service (GPRS) Support Node (SGSN), and the function of the SGW / PGW is achieved by a Gateway GPRS Support Node (GGSN). The technical solutions in the embodiments of the present application may further be applied to other communication systems, such as Public Land Mobile Network (PLMN) systems, and even future 5G or post-5G communication systems, etc., which are not limited in the embodiments of the present application.

[0070] Based on any one of the above wireless communication systems, the high-precision map provided by the cloud server includes attribute information of different map elements. The map elements include, but are not limited to, traffic lights, traffic signs, and road elements, etc. Correspondingly, the attribute information of the traffic lights and traffic signs may include location information, and the attribute information of the road elements may include lane volume, lane width, and lamp connectivity, etc. The attribute information of the map elements on the map may change over time, for example, the position of the traffic lights moves, the lane volume decreases, or the road is closed. As a result, the high-precision map will not match the actual road condition. In order to ensure the accuracy of the high-precision map information, the cloud server needs to update the map in a timely manner, thereby ensuring the driving safety of the autonomous vehicle using the map.

[0071] 2 is a schematic flowchart of an existing map update method. As shown in FIG. 2, the existing map update method includes the following steps:

[0072] Step 101: The autonomous vehicle detects the road characteristics of the current road.

[0073] Step 102: The autonomous vehicle compares the road characteristics of the current road with the road characteristics of the local map.

[0074] Step 103: When it is determined that the road characteristics of the current road do not match the road characteristics of the local map, the autonomous vehicle calculates a confidence level.

[0075] Step 104: When the confidence level is higher than the confidence level of the local map, the autonomous vehicle sends map update information to the cloud server.

[0076] Step 105: The cloud server updates the map based on the map update information.

[0077] In the existing technical solutions, the vehicle side calculates the reliability level. Since the sensors of different vehicles are significantly different, the reliability level calculated by the vehicle varies greatly, the map update information reported by a single vehicle may be inappropriate, and the map updated by the cloud server based on the map update information may be inaccurate. In addition, the existing technical solutions do not limit the way in which the cloud server issues and updates the map. For autonomous vehicles that use maps, driving accidents may occur because the map is not updated in a timely manner, and there is a relatively large safety risk.

[0078] In order to solve the above technical problems, an embodiment of the present application provides a map update method. The cloud server determines whether to update the map based on the map update information reported by one or more autonomous vehicles, and when it is determined to update, determines the distribution manner of the updated map. This ensures that the updated map can be distributed to the vehicle side in a timely manner. After receiving the map update information, the cloud server does not directly update the map based on the information reported by the vehicle, but after making a comprehensive decision, updates the map or does not update the map. This improves the accuracy of the map update.

[0079] The map update method in this application is described in detail below using specific embodiments. It should be noted that the following specific embodiments may be combined with each other, and the same or similar contents in different embodiments are not repeatedly described.

[0080] 3 is a schematic flowchart of a map updating method according to an embodiment of the present application. As shown in FIG. 3, the map updating method provided in this embodiment includes the following steps:

[0081] Step 201: A first vehicle receives environmental data.

[0082] In this embodiment, the first vehicle is any online autonomous vehicle that uses a cloud map, and may be vehicle 11, vehicle 12, vehicle 13, or vehicle 14 in FIG. 1. The first vehicle receives environmental data transmitted by at least one data collection device on the first vehicle, and the data collection device may include at least one of a camera, an infrared sensor, a laser radar sensor, a millimeter wave sensor, an ultrasonic sensor, a global positioning system (GPS), and an inertial navigation device. The environmental data collected by the data collection device may be image data collected by the data collection device, or may be measurement data collected by the data collection device. The measurement data includes three-dimensional spatial data, ultrasonic data, millimeter wave data, and positioning data, etc.

[0083] Specifically, the camera in this embodiment is configured to collect a visible light image of the surroundings of the autonomous vehicle. The visible light image may include obstacles such as other vehicles and pedestrians, and may further include road information such as lane lines, lane sidelines, stop lines, pedestrian crosswalks, traffic lights, traffic signs, toll booths, inspection stations, etc. A driving computer or on-board unit on the vehicle determines attribute information of map elements based on the visible light image collected by the camera.

[0084] The infrared sensor in this embodiment is configured to perform non-contact temperature measurement around the autonomous vehicle. For example, when there are pedestrians around the vehicle, the infrared sensor can be configured to collect infrared radiation emitted by the pedestrians and determine the location of the pedestrians by measuring the surface temperature of the human body. The driving computer or on-board unit on the vehicle can determine the location of the pedestrians around the vehicle based on the temperature data collected by the infrared sensor, and can further determine the running speed of the pedestrians.

[0085] The laser radar sensor in this embodiment is configured to detect the three-dimensional space around the autonomous vehicle. The working principle of the laser radar sensor is to transmit a detection signal (laser beam) to a target, and then compare the received signal (target echo wave) reflected from the target with the transmitted signal, and obtain the related information of the target after appropriate processing. The driving computer or on-board unit on the vehicle determines the attribute information of the map element based on the three-dimensional spatial data collected by the laser radar sensor.

[0086] The ultrasonic radar sensor in this embodiment is configured to detect obstacles around the autonomous vehicle. The working principle of the ultrasonic radar sensor is that an ultrasonic generator in the sensor generates ultrasonic waves, and then a receiving probe receives the ultrasonic waves reflected by the obstacle. The driving computer or on-board unit on the vehicle can determine the distance between the vehicle and the obstacle based on the time difference of the ultrasonic reflection reception to determine the specific position of the obstacle on the road. The ultrasonic radar has low cost, short detection distance, high detection accuracy, and is not affected by light conditions.

[0087] The millimeter wave radar sensor in this embodiment may be configured to collect the running speed of the obstacle, the distance between the autonomous vehicle and the obstacle, etc., and is particularly applicable to bad weather such as haze, etc. The millimeter wave radar sensor has advantages such as strong ability to penetrate fog, smoke and dust, and strong anti-interference ability.

[0088] The GPS in this embodiment is configured to determine a specific location of the autonomous vehicle based on the measured distances between satellites in known locations and the autonomous vehicle by combining measurement data from multiple satellites. The specific location of obstacles may be determined with reference to other data collection devices.

[0089] The inertial navigation system in this embodiment is configured to detect the running speed and attitude information of the autonomous vehicle, etc. The working principle of the inertial navigation system is to measure the acceleration of the autonomous vehicle in the inertial reference frame according to Newton's laws of mechanics, integrate with respect to time and acceleration, and convert the acceleration into the navigation coordinate system to obtain information such as the speed, yaw angle, and position of the autonomous vehicle in the navigation coordinate system. The specific position and moving speed of the obstacle, etc. may be determined by referring to other data collection devices.

[0090] The absolute position of the autonomous vehicle may be determined based on the GPS and the inertial navigation system, and the relative position of each map element with respect to the autonomous vehicle may be obtained by reference to cameras, infrared sensors, laser radar sensors, ultrasonic radar sensors, and millimeter wave sensors, thereby determining the absolute position of the map element on the map.

[0091] Step 202: The first vehicle determines whether the environmental data matches the pre-stored map data.

[0092] Specifically, a driving computer or an on-board unit on the first vehicle determines map data at a current position of the first vehicle based on the acquired environmental data collected by at least one data collection device. The map data includes categories of map elements and attribute information of the map elements. The map data at the current position of the first vehicle is compared with pre-stored map data at a corresponding position to determine whether the map data at the current position of the first vehicle matches the pre-stored map data at the corresponding position.

[0093] The map elements in this embodiment include, but are not limited to, traffic lights, traffic signs, road elements, toll booths, and inspection stations, etc. The road elements include, but are not limited to, lane boundaries, lane sidelines, stop lines, pedestrian crosswalks, and lamps, etc. Correspondingly, the attribute information of the traffic lights may include the amount, type, and location of the traffic lights. For example, the traffic lights include four signal lights, namely, straight red light, straight green light, straight yellow light, and left turn control light. The attribute information of the traffic signs may include the amount, content, and location of the traffic signs. For example, the traffic signs include two content indications indicating a speed limit of 40 ahead and no right turn ahead. The attribute information of the road elements may include the location of the road elements, the amount of lanes, lane width, and lamp connectivity, etc.

[0094] Step 203: When it is determined that the environmental data does not match the map data, the first vehicle reports map update information to the cloud server.

[0095] In this embodiment, the map update information is the coordinate location on the map of the map element to be updated; The category of map element to be updated; The amount of change in the map element to be updated on the map; and an impact level of the vehicle travel corresponding to the map element to be updated; The data source of the map element to be updated Includes at least one of the following:

[0096] The map element to be updated may be understood as a map element that does not match the pre-set map data. The first vehicle determines map data at the current vehicle position based on the environment data, and determines the map element to be updated based on the current vehicle position and the pre-stored map data. For example, the map element to be updated is a traffic light, and there is no traffic light at the corresponding position in the pre-set map data. In other words, the traffic light is a newly added map element. In this case, the first vehicle reports the traffic light and the position of the traffic light. In another example, the map element to be updated is a lane, and the width of the lane is 2.5m, and the lane width of the pre-set map data at the corresponding position is 3.5m. In other words, the lane width is narrower than the original width. In this case, the first vehicle reports the lane, as well as the position and width of the lane. In another example, when the map element to be updated is a traffic sign, the traffic sign is used to indicate that a U-turn is prohibited, and the traffic sign of the pre-set map data at the corresponding position is used to indicate that a U-turn can be made. In other words, a traffic sign is changing and the first vehicle reports the traffic sign and the content of the traffic sign.

[0097] After determining the map elements to be updated, the first vehicle generates map update information, where the map update information includes at least one of a category of the map element to be updated, a coordinate location of the map element to be updated on the map, an amount of change of the map element to be updated on the map, an impact level of the vehicle driving corresponding to the map element to be updated, and a data source of the map element to be updated, and sends the map update information to the cloud server, so that the cloud server determines whether to update the map and / or determines a delivery manner of the updated map based on the map update information.

[0098] It should be noted that the change amount of the map element to be updated on the map may be the moving distance of the map element on the map. For example, a traffic light is translated 2m to the left from its original position. The change amount of the map element to be updated on the map may be the height change amount, the length change amount, or the width change amount of the map element on the map. For example, the width of a lane is expanded from 2.5m to 3.5m, and the width of a road barrier is shortened from 10m to 5m. The change amount of the map element to be updated on the map may be the state change amount of the map element on the map. For example, a traffic light was not originally present at the intersection, and the state value of the traffic light was set to 0, but in this case, the traffic light is now added to the intersection, and the state value of the traffic light is set to 1, and the state change amount of the traffic light on the map is 1. The state change amount may be subsequently used by the cloud server to determine whether to update the map. For more details, see the description below.

[0099] The impact level of the vehicle driving corresponding to the map element to be updated is the level to which the map element to be updated affects the vehicle driving safety. A higher impact level of the vehicle driving corresponding to the map element indicates a shorter time limit for updating the map element. This parameter is used to instruct the cloud server to perform a corresponding distribution operation. For details, please refer to step 205.

[0100] The data source of the map element to be updated refers to the data collection device that detects the map element to be updated. The data collection device can be any one or more of the data collection devices of step 201. Different data collection devices have different reliability and weight values. This parameter is used by the first vehicle to determine the overall reliability of the map update information.

[0101] Optionally, the map update information may further include a length of time of the continuing mismatch, a first time that the map element mismatch was detected, a second time that the map update information was reported, and a confidence level of the map update information.

[0102] The duration of the persistent mismatch refers to the duration during which the map elements to be updated in the map update reported by the first vehicle do not match the pre-defined map data, for example, the first vehicle reports that a road blockage on a road segment has persisted for three days.

[0103] The combination of the first time and the second time may be used to indicate a need or urgency for updating the mismatched map elements (ie, the map elements that should be updated).

[0104] The reliability of the map update information may be determined by the reliability and weight value of the data collection device that provides the map element to be updated. For example, the map element to be updated only includes lane width changes, and the changes are determined based on the environmental data collected by the laser radar sensor and the camera. Therefore, the reliability of the map update information including the lane width changes is determined by the first reliability and the first weight value of the laser radar sensor, and the second reliability and the second weight value of the camera. It should be noted that in different application environments, the weight value of each data collection device can be adjusted. For example, in bad weather such as haze, the weight value of the millimeter wave radar sensor can be increased, and the weight values ​​of other data collection devices can be decreased. In a dark environment, the weight value of the camera can be decreased, and at the same time, the weight values ​​of other data collection devices can be increased.

[0105] Optionally, the first vehicle may report map update information for multiple times.

[0106] Step 204: The cloud server determines whether to update the map based on the map update information.

[0107] In this embodiment, the cloud server determines the change amount of the map element to be updated on the map according to the map update information reported by the first vehicle. For the change amount of the map element to be updated on the map, please refer to step 203. Details will not be described again here.

[0108] Specifically, the cloud server determines whether to update the map based on the change amount of the map element to be updated on the map and a preset update threshold. The preset update threshold includes a preset update threshold corresponding to the attribute information of each map element. For example, the preset update threshold corresponding to the moving distance of the traffic light is 1m. When the moving distance of the traffic light is 1m or more, the cloud server determines to update the map. In another example, the preset update threshold corresponding to the width change amount of the lane is 1m. When the width change amount of the lane is 1m or more, the cloud server determines to update the map. In another example, the preset update threshold corresponding to the state change amount of the traffic light is 1. When the state change amount of the traffic light is equal to 1, the cloud server determines to update the map. It should be noted that the state change amount of the map element is 1 or 0. When the state change amount of the map element is 1, it indicates that the map element is a newly added map element, and when the state change amount of the map element is 0, it indicates that the map element is an original map element.

[0109] Step 205: When it is determined that the map is to be updated, the cloud server determines a delivery manner of the updated map based on an impact level of the vehicle trip corresponding to the map element to be updated.

[0110] In this embodiment, the impact level of the vehicle driving corresponding to the map element to be updated is the level at which the map element to be updated affects the vehicle driving safety. A higher impact level corresponding to the map element of the vehicle driving indicates a shorter time limit for updating the map element. In other words, the cloud server needs to update the map element immediately. In order to ensure the driving safety of the autonomous vehicle using the map, the cloud server should deliver the updated map immediately. In contrast, when the impact level of the vehicle driving corresponding to the map element is lower, the time limit for updating the map element is generally not strict. The cloud server may send a map update request after receiving a vehicle request, or may deliver the updated map periodically. It can be seen that this embodiment provides at least three delivery modes, namely, direct delivery, delivery based on the map update request of the vehicle terminal, and periodic delivery.

[0111] Specifically, in the implementation, the impact level of the vehicle driving corresponding to the map element to be updated is a critical level, and the cloud server determines that the delivery manner of the updated map is direct transmission. For example, lane closing, lamp closing, lane amount reduction, lane width narrowing, and new traffic light appearing, etc. can all be set to a critical level. When any one of the above map elements to be updated with a critical level appears, the cloud server directly sends the updated map to all vehicle terminals. This manner avoids the problem that the map of the autonomous vehicle is not updated in a timely manner, which causes a driving accident, or the route is replanned at multiple times.

[0112] In another implementation, the impact level of the vehicle driving corresponding to the map element to be updated is a general level, and the cloud server determines that the distribution manner of the updated map is distribution based on a map update request or periodic distribution. For example, traffic sign change, traffic sign loss, traffic light loss, etc. can all be set to the general level. When any one of the above map elements to be updated at the general level appears, the cloud server can send the updated map to the requested vehicle terminal based on the map update request, or send the updated map to all vehicle terminals based on a preset cycle.

[0113] According to the map update method provided in this embodiment of the present application, the first vehicle checks the environmental data collected by at least one data collection device on the first vehicle against the pre-stored map data, and when it is determined that the environmental data does not match the map data, reports map update information to the cloud server, the map update information including related information of the map elements to be updated, and the cloud server decides whether to update the map based on the map update information reported by the first vehicle, and when it is determined that the map is updated, determines the delivery manner of the updated map based on the impact level of the vehicle driving corresponding to the map elements to be updated. The above method can ensure that the cloud server delivers the update information that has a large impact on the vehicle driving to the vehicle terminal in a timely manner, which improves the driving safety of the autonomous vehicle.

[0114] 4 is a schematic flowchart of another map updating method according to an embodiment of the present application. As shown in FIG. 4, the map updating method provided in this embodiment includes the following steps:

[0115] Step 301: A first vehicle receives environmental data transmitted by at least one data collection device on the first vehicle.

[0116] Step 302: The first vehicle determines whether the environmental data matches the pre-stored map data.

[0117] Step 303: When it is determined that the environmental data does not match the map data, the first vehicle reports map update information to the cloud server.

[0118] Steps 301 to 303 in this embodiment are the same as steps 201 to 203 in the previous embodiment. Reference may be made to the previous embodiment, and details will not be described again here.

[0119] Step 304: The cloud server sends a map measurement command to at least one detection device within the first preset area at the coordinate position based on the map update information.

[0120] The coordinate location is the coordinate location of the map element to be updated on the map. The first preset area is a circular area using the coordinate location as a center and the first preset distance as a radius.

[0121] The detection device in this embodiment includes a second vehicle and / or a roadside device. The second vehicle may be another online vehicle other than the first vehicle using the map, and the second vehicle is currently traveling in a first preset area near the coordinate location of the map element to be updated. When there are no other autonomous vehicles in the first preset area near the coordinate location of the map element to be updated, the second vehicle may be an online vehicle other than the first vehicle that is in another area and uses the map. The roadside device may be a roadside device that is close to the coordinate location of the map element to be updated on the map and can detect the map element.

[0122] Step 305: The detection device detects and reports map measurement information near the coordinate position according to the map measurement command.

[0123] As for the second vehicle, after receiving the map measurement command sent by the cloud server, the second vehicle drives near the coordinate position indicated by the map measurement command, and when it reaches the coordinate position, collects environmental data around the second vehicle by using at least one data collection device on the second vehicle. The process of the driving computer or on-board unit on the second vehicle processing the environmental data is the same as that of the first vehicle in the above embodiment. For details, please refer to step 202 in the previous embodiment. The details will not be described again here. It should be noted that the map measurement information is reported by the vehicle after the vehicle receives the map measurement command, and the map update information is actively reported by the vehicle. In essence, the map measurement information and the map update information are the same, and both are used to report unmatched map elements to the cloud server. Therefore, in this embodiment, the map measurement information reported by the second vehicle is similar to the map update information reported by the first vehicle. For details, please refer to the description of the map update information in the previous embodiment. The details will not be described again here.

[0124] As for the roadside device, after receiving the map measurement command sent by the cloud server, the roadside device detects the detection data near the coordinate position, and compares the detection data with the pre-stored map data near the coordinate position to determine whether the detection data matches the pre-stored map data. When it is determined that the detection data does not match the map data, the roadside device reports the map measurement information. The data collection device on the roadside device in this embodiment may include any one or more data collection devices on the above-mentioned autonomous vehicle. Please refer to the above description, and the details will not be described again here.

[0125] If the detection device does not find any unmatched map elements, the detection device may send map measurement feedback information to the cloud server indicating that no unmatched map elements were found, or may not send any map measurement feedback information.

[0126] Step 306: The cloud server determines whether to update the map based on the map update information and the map measurement information reported by the at least one detection device.

[0127] In this embodiment, the cloud server performs information processing on the map update information and at least one map measurement information to determine an amount of change in a map element to be updated on the map, and determines whether to update the map based on the amount of change in the map element to be updated on the map and a preset update threshold.

[0128] Specifically, when the amount of change in the map element to be updated on the map is equal to or greater than the predetermined update threshold corresponding to the map element to be updated, the map is updated, or when the amount of change in the map element to be updated on the map is less than the predetermined update threshold corresponding to the map element to be updated, the map is not updated.

[0129] The process of the cloud server performing information processing on the map update information and at least one map measurement information includes a process of data processing on the change amount of the same map element in multiple pieces of information on the map. The data processing may include an average value calculation, a weighting calculation, or an artificial intelligence calculation, etc. For example, both the map update information reported by the first vehicle and the map measurement information reported by the roadside device include the moving distance of a traffic light, and the respective moving distances are 0.5m and 0.7m. The cloud server determines that the average value of the moving distance of the traffic light is 0.6m based on the two measurement results. Assuming that the pre-set update threshold corresponding to the moving distance of the traffic light is 1m, it may be determined that the position of the traffic light does not need to be updated. In another example, the data collection device of the first vehicle and the data collection device of the second vehicle detect the amount of lanes on the map as being 3 and 4, respectively, and the amount of lanes at the position in the pre-stored map data is 4. The data source of the amount of vehicles reported by the first vehicle is a camera, and the data source of the amount of vehicles reported by the second vehicle is a millimeter wave radar sensor. It is assumed that the driving environment at the current position acquired by the cloud server is a harsh environment, for example, a foggy day. The cloud server needs to perform weight calculation on the data regarding the number of vehicles at the current position by referring to the weight of the data collection device in the harsh environment (for example, the weight value of the millimeter wave radar sensor is 1, and the weight value of the camera is 0). Finally, it is determined that the amount of lanes at the position is still 4 and does not change. The cloud server does not update the map. It should be noted that in this embodiment, with reference to the artificial intelligence algorithm, a comprehensive analysis can be performed on the data corresponding to the same map element in multiple information to determine the change amount of the map element on the map. The following artificial intelligence algorithms can be used to perform a comprehensive analysis on the data, namely, decision tree, random forest algorithm, logistic regression, SVM, naive Bayes, k-nearest neighbor algorithm, k-means algorithm, Adaboost algorithm, neural network, and Markov.

[0130] The data collection devices on the detection device are various, and the environmental data acquired by the same data collection device from different viewing angles may also be different, so the map measurement results detected by different detection devices for the same map element are different. After receiving the map update information of the first vehicle, the cloud server in this embodiment notifies other vehicles and roadside devices near the coordinate position of the map element to be updated on the map reported by the first vehicle to perform focused detection on the map element. This improves the detection precision and accuracy of the map element to be updated and avoids the case where a single vehicle's false report occurs.

[0131] Step 307: When it is determined that the map is to be updated, the cloud server determines a delivery manner of the updated map based on an impact level of the vehicle trip corresponding to the map element to be updated.

[0132] Step 307 in this embodiment is the same as step 205 in the previous embodiment. Reference may be made to the previous embodiment, and details will not be described again here.

[0133] According to the map update method provided in this embodiment, after a first vehicle reports map update information, the cloud server decides to update the map, but sends map measurement instructions to a second vehicle and / or roadside device that is at / close to the coordinate position of the map element to be updated on the map to collect further map measurement information, and decides whether to update the map based on the map update information and the multiple map measurement information, and when it is determined that the map is updated, decides the distribution manner of the updated map based on the impact level of the vehicle driving corresponding to the map element to be updated. The above method is performed on the map information reported by multiple vehicles and / or roadside devices to improve the map update accuracy.

[0134] Based on the above embodiment, optionally, when it is determined that the map is to be updated, the cloud server may update the map in the following two ways.

[0135] In implementation, the cloud server further determines whether the map element to be updated meets the map accuracy requirement, and updates the map when the map element to be updated meets the map accuracy requirement.

[0136] In another implementation, the cloud server further determines whether the map element to be updated meets the map accuracy requirement, and when the map element to be updated does not meet the map accuracy requirement, sends a map data collection instruction to a third vehicle, the map data collection instruction is used to instruct the third vehicle to collect map data of a second preset area at the coordinate location, and the third vehicle is a data collection vehicle that meets the map accuracy requirement. The cloud server updates the map based on the map data collected by the third vehicle.

[0137] The map accuracy requirement refers to the maximum allowable error range of a map element on a map. The map accuracy requirement includes an accuracy requirement corresponding to each map element. It can be understood that the accuracy requirements of different map elements can be the same or different. For example, the maximum position accuracy error of a lane boundary is 0.2m, and the maximum position accuracy error of a traffic light is 0.5m.

[0138] It should be noted that the third vehicle is different from the first vehicle and the second vehicle, the first vehicle and the second vehicle may be autonomous vehicles operating online in a wireless communication system, and the third vehicle may be a data collection vehicle connected to a cloud server and used to create a high-precision cloud map.

[0139] Optionally, when the map element to be updated does not meet the map accuracy requirement, the method further comprises: setting the map of the second predefined area at the coordinate location as unavailable; or Reducing the vehicle autonomy level in response to the accuracy of the map of the second predetermined area at the coordinate location. It may further include.

[0140] The second preset region is a circular region using the coordinate location as a center and the second preset distance as a radius. 2 The second preset area may be a circular area smaller than or equal to the first preset area. In other words, the second preset distance may be less than or equal to the first preset distance.

[0141] Vehicle automation levels are used to indicate the intelligence and autonomy levels of autonomous vehicles. According to the SAE standard, vehicle automation is classified into six levels: no automation (L0), driver assistance (L1), partial automation (L2), conditional automation (L3), high automation (L4), and full automation (L5).

[0142] When the map of the second pre-set area at the coordinate location is set as unavailable, the cloud server distributes the updated map in any distribution manner. The map of the second pre-set area at the coordinate location is marked as unavailable in the updated map. After receiving the updated map, the vehicle can re-plan the route based on the requirements of the vehicle. This avoids the vehicle from entering the second pre-set area shown on the map and at the coordinate location, and improves the driving safety of the vehicle.

[0143] When the vehicle autonomy level is reduced in response to the accuracy of the map of the second preset area at the coordinate location, the cloud server may send an instruction to reduce the autonomy level when delivering the updated map, and a vehicle entering or about to enter the second preset area may reduce the autonomy level based on the instruction to ensure that the vehicle passes through the area safely.

[0144] 5 is a schematic diagram of the structure of a map updating device according to an embodiment of the present application. As shown in FIG. 5, the map updating device 400 provided in this embodiment includes: An acquisition module 401 configured to acquire map update information reported by a first vehicle; a processing module 402 configured to determine whether to update the map based on the map update information; Equipped with When it is determined that the map is to be updated, the processing module 402 is further configured to determine a distribution manner of the updated map based on an impact level of vehicle driving corresponding to the map element to be updated, the impact level of vehicle driving being a level that affects vehicle driving safety.

[0145] Optionally, the processing module 402: The device is particularly configured to determine that the delivery mode of the updated map is direct delivery when the impact level of the vehicle driving corresponding to the map element to be updated is a critical level, or to determine that the delivery mode of the updated map is delivery based on a map update request or regular delivery when the impact level of the vehicle driving corresponding to the map element to be updated is a general level.

[0146] Optionally, the map update information includes coordinate positions of map elements to be updated on the map. The map updating device 400 further comprises a sending module 403.

[0147] Before the processing module 402 determines whether to update the map based on the map update information, the transmitting module 403 is configured to transmit a map measurement command to at least one detection device within a first preset area at the coordinate location based on the map update information, where the map measurement command is used to instruct the detection device to detect and report map measurement information of a second preset area at the coordinate location.

[0148] The processing module 402 is specifically configured to determine whether to update the map based on the map update information and the map measurement information reported by the at least one detection device.

[0149] Optionally, the processing module 402: processing the map update information and the at least one map measurement information to determine a change amount of a map element to be updated on the map; Deciding whether to update the map based on the amount of change in the map elements to be updated on the map and a preset update threshold The device is specifically configured as follows.

[0150] Optionally, the processing module 402 is specifically configured to update the map when the change amount of a map element to be updated on the map is equal to or greater than a preset update threshold corresponding to the map element to be updated.

[0151] Optionally, the processing module 402 is specifically configured to update the map when the map elements to be updated meet the map accuracy requirements.

[0152] Optionally, the sending module 403 is: and when the map element to be updated does not meet the map accuracy requirement, sending a map data collection command to a third vehicle, the map data collection command is used to instruct the third vehicle to collect map data of a second preset area at a coordinate position of the map element to be updated on the map, and the third vehicle is a data collection vehicle that meets the map accuracy requirement;

[0153] The processing module 402 is further configured to update the map based on the map data collected by the third vehicle.

[0154] Optionally, when the map element to be updated does not meet the map accuracy requirement, the processing module 402: Setting the map of the second predefined area at the coordinate location as unavailable; or The system is further configured to reduce the vehicle autonomy level in response to an accuracy of the map of the second pre-defined region at the coordinate location.

[0155] Optionally, the detection device includes a second vehicle and / or a roadside device, the second vehicle being an online vehicle that uses the map.

[0156] The map update device provided in this embodiment of the present application can implement the technical solution of the cloud server in the above method embodiment. The implementation principle and technical effect are similar, and the details are not described again here.

[0157] 6 is a schematic diagram of the structure of an in-vehicle device according to an embodiment of the present application. As shown in FIG. 6, the in-vehicle device 500 provided in this embodiment includes: A receiving module 501 configured to receive environmental data; a processing module 502 configured to determine whether the environmental data matches the pre-stored map data; and a transmission module 503 configured to report map update information to a cloud server when it is determined that the environmental data does not match the map data. Equipped with Map updates are available at The category of map element to be updated; the coordinate location on the map of the map element to be updated; The amount of change in the map element to be updated on the map; and an impact level of vehicle travel corresponding to the map element to be updated, the impact level of vehicle travel being a level that affects vehicle travel safety; The data source of the map element to be updated Includes at least one of the following:

[0158] Optionally, the map update information further includes at least one of a length of time of the continuing mismatch, a first time that the map element mismatch was detected, a second time that the map update information was reported, and a confidence level of the map update information.

[0159] Optionally, The receiving module 501 is further configured to receive an updated map distributed by the cloud server, where the updated map is a map updated by the cloud server based on the map update information and the map measurement results reported by the at least one detection device, where the at least one detection device is located in a first predetermined area at a coordinate position.

[0160] Optionally, the detection device includes a second vehicle and / or a roadside device, the second vehicle being an online vehicle that uses the map.

[0161] Optionally, the receiving module 501 comprises: The vehicle is further configured to receive an updated map distributed by the cloud server, the updated map being a map updated by the cloud server based on map data collected by a third vehicle, the third vehicle being a data collection vehicle that meets the map accuracy requirements.

[0162] Optionally, the sending module 503 is further configured to send a map update request to the cloud server before receiving the updated map distributed by the cloud server.

[0163] The on-board device provided in this embodiment of the present application can implement the technical solution of the first vehicle in the above method embodiment. The implementation principle and technical effect are similar, and the details are not described again here.

[0164] Fig. 7 is a schematic diagram of a hardware structure of a communication device according to an embodiment of the present application. The communication device provided in this embodiment can be located on a cloud server. As shown in Fig. 7, the communication device 600 provided in this embodiment includes a memory 601 configured to store a computer program, and a processor 602 configured to execute the computer program so that the communication device 600 performs the method steps performed by the cloud server in any one of the above method embodiments.

[0165] Figure 8 is a schematic diagram of a hardware structure of another communication device according to an embodiment of the present application. The communication device in this embodiment may be disposed on an autonomous vehicle. As shown in Figure 8, the communication device 700 provided in this embodiment includes a memory 701 configured to store a computer program, and a processor 702 configured to execute the computer program so that the communication device 700 performs the method steps performed by the first vehicle in any one of the above method embodiments.

[0166] In the implementation of the communication device 600 and the communication device 700, the memory and the processor are electrically connected directly or indirectly to implement data transmission or interaction. For example, these elements may be electrically connected to each other via one or more communication buses or signal cables, for example, connected to each other via a bus. The memory stores computer-executable instructions for implementing the data access control method, including at least one software function module that may be stored in the memory in the form of software or firmware. The processor performs various functional applications and data processing by executing the software programs and modules stored in the memory.

[0167] The memory may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory is configured to store a program, and the processor executes the program after receiving an execution instruction. Furthermore, the software programs and modules in the memory may further include an operating system, which may include various software components and / or drivers configured to manage system tasks (e.g., memory management, storage device control, and power management) and may communicate with various hardware or software components to provide an execution environment for other software components.

[0168] The processor may be an integrated circuit chip and has signal processing capabilities. The processor may be a general-purpose processor, including a Central Processing Unit (CPU) and a Network Processor (NP), etc. It may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor, or any conventional processor, etc.

[0169] The present application further provides a readable storage medium configured to store instructions that, when executed, implement the map update method performed by the cloud server in any one of the above method embodiments.

[0170] The present application further provides a readable storage medium configured to store instructions that, when executed, implement a map update method performed by a first vehicle in any one of the method embodiments described above.

[0171] An embodiment of the present application further provides a communication device, including a processor and an interface, wherein the processor is configured to perform the map update method performed by the cloud server in any one of the above method embodiments.

[0172] An embodiment of the present application further provides a communication device, including a processor and an interface, the processor configured to perform the map update method performed by the first vehicle in any one of the above method embodiments.

[0173] It should be understood that the communication device may be a chip, and the processor may be implemented by hardware or software. When the processor is implemented by hardware, the processor may be a logic circuit or an integrated circuit, etc. When the processor is implemented by using software, the processor may be a general-purpose processor, and is implemented by reading software code stored in a memory. The memory may be built into the processor, or may be located outside the processor and exist independently.

[0174] It should be understood that the terms "system" and "network" in this embodiment can be used interchangeably in this embodiment. The term "and / or" in this embodiment simply describes a correspondence to describe associated objects, and represents that three relationships can exist. For example, A and / or B can represent the following three cases: only A exists, both A and B exist, and only B exists. In addition, the symbol " / " in this specification generally indicates an "or" relationship between associated objects.

[0175] Those skilled in the art may recognize that the units and algorithm steps in combination with the examples described in the embodiments disclosed herein may be implemented by electronic hardware, computer software, or a combination thereof. In order to clearly explain the interchangeability of hardware and software, the above generally describes the configurations and steps of each example according to function. Whether a function is performed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may implement the described functions using various methods for each specific application, but such implementation should not be considered as going beyond the scope of this application.

[0176] In the embodiments provided in this application, it should be understood that the disclosed system, device, and method can be implemented in other ways. For example, the communication device described is merely an example. For example, the unit division is merely a logical function division, and there may be other divisions in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not performed. In addition, the shown or discussed mutual couplings or direct couplings or communication connections may be implemented through some interfaces, indirect couplings or communication connections between devices or units, or electrical connections, mechanical connections, or other forms of connections.

[0177] In addition, the functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0178] From the above implementation description, those skilled in the art can clearly understand that the present application can be implemented by hardware, firmware, or a combination thereof. When the present invention is implemented by software, the above functions can be stored or transmitted to a computer-readable medium as one or more instructions or codes in the computer-readable medium. Computer-readable media includes computer storage media and communication media, and communication media includes any medium that allows a computer program to be transmitted from one place to another. A storage medium can be any available medium accessible by a computer. Examples are given below, but are not limited to them. A computer-readable medium can include RAM, ROM, EEPROM, CD-ROM, or other optical or disk storage media, or other magnetic storage devices, or any other medium that can carry or store expected program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection can be properly defined as a computer-readable medium. For example, if the software is transmitted from a website, server, or another remote source using coaxial cable, fiber optic / cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, microwave, etc., the coaxial cable, fiber optic / cable, twisted pair, DSL, or wireless technologies such as infrared, radio, microwave, etc., are included in the fixation of the medium to which they pertain. Disk and disc, as used by this application, are understood to mean compact disc. ( CD ) , laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where generally, discs copy data by magnetic means, and discs copy data optically by laser means. Combinations of the above should also be included in the scope of protection of computer readable media.

[0179] In summary, what is described above is only an exemplary embodiment of the technical solution of the present invention, and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, or improvement made without departing from the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A map updating method executed by a map updating device, comprising: acquiring map update information reported by a first vehicle by an acquisition module, the map update information including an impact level of vehicle driving corresponding to a map element to be updated, the impact level being a level at which the map element to be updated affects vehicle driving safety; determining, by a processing module, whether to update the map based on the map update information; determining, by the processing module, when it is determined that the map is to be updated, a distribution manner for the updated map based on the impact level; Including, 2. The method of claim 1, wherein the map update information further comprises: a first time at which a map element mismatch was detected; a second time at which the map update information was reported; and a combination of the first time and the second time indicating a need or urgency for updating the map element to be updated.

2. The map elements to be updated include a first map element and a second map element, and an impact level of a vehicle travel corresponding to the first map element is higher than an impact level of a vehicle travel corresponding to the second map element, and the step of determining, by the processing module, a distribution manner of the updated map includes: directly delivering, by a transmission module, first map data, the first map data including the first map element; directly delivering, by the transmission module, second map data including the second map element periodically or based on a map update request; 2. The method of claim 1, comprising:

3. The map update information further includes a change amount of the map element to be updated on the map, and the step of determining whether to update the map based on the map update information by the processing module includes:

3. The method of claim 1 or 2, further comprising a step of determining, by the processing module, whether to update the map based on the amount of change and a preset update threshold corresponding to an attribute of the map element to be updated.

4. The step of determining, by the processing module, whether to update the map based on the map update information, comprises:

4. The method of claim 1, further comprising: determining, by the processing module, whether to update the map based on the map update information and map measurement information reported by at least one detection device.

5. The at least one detection device is within a first predetermined area, the first predetermined area being determined based on a coordinate position of the map element to be updated, and the method further comprises: The method of claim 4 , further comprising the step of transmitting, by a transmission module, map measurement instructions to the at least one detection device, the map measurement instructions instructing the at least one detection device to detect and report the map measurement information near the coordinate location.

6. The method of claim 4 or 5, wherein the detection device includes a second vehicle and / or a roadside device, the second vehicle being an online vehicle that uses the map.

7. The step of determining, by the processing module, whether to update the map based on the map update information, comprises: The method according to any one of claims 1 to 6, comprising updating, by the processing module, the map when the to-be-updated map element satisfies a map accuracy requirement.

8. When the to-be-updated map element does not meet a map accuracy requirement, the method further comprises: The method further includes the steps of: setting, by the processing module, a map of a second preset area as unavailable; or reducing, by the processing module, a vehicle autonomous driving level corresponding to the map of the second preset area; The method according to any one of claims 1 to 7, wherein the second predefined area is determined based on a coordinate position of the map element to be updated.

9. The step of determining, by the processing module, whether to update the map based on the map update information, comprises: sending, by a transmission module, a map data collection command to a third vehicle when the to-be-updated map element does not satisfy a map accuracy requirement, the map data collection command instructing the third vehicle to collect map data of a third preset area, the third vehicle being a data collection vehicle that satisfies the map accuracy requirement, and the third preset area being determined based on a coordinate position of the to-be-updated map element; updating, by the processing module, the map based on the map data collected by the third vehicle; 9. The method of claim 1, comprising:

10. 10. The method of claim 1, wherein the map update information further comprises a data source of the map elements to be updated, the data source being at least one data collection device that detects the map elements to be updated.

11. The method of claim 10 , wherein the at least one data collection device is a plurality of data collection devices, the plurality of data collection devices having different reliability and weight values.

12. The map update information includes: the category of the map element to be updated; a coordinate location of the map element to be updated on the map; A change amount of the map element to be updated on the map; and The length of time of continued mismatch; the first time a map element mismatch is detected; a second time that the map update information was reported; and The reliability of the map update information; 12. The method according to claim 1, comprising at least one of the following:

13. A map update method executed by an in-vehicle device, comprising: receiving, by a receiving module, environmental data; determining, by a processing module, whether the environmental data matches pre-stored map data; reporting map update information to a cloud server when the sending module determines that the environmental data does not match the map data; Including, The map update information includes an impact level of a vehicle traveling corresponding to a map element to be updated, the impact level being a level to which the map element to be updated affects vehicle traveling safety; 2. The method of claim 1, wherein the map update information further comprises: a first time at which a map element mismatch was detected; a second time at which the map update information was reported; and a combination of the first time and the second time indicating a need or urgency for updating the map element to be updated.

14. the map elements to be updated include a first map element and a second map element, the impact levels include a first impact level and a second impact level, the first impact level corresponds to the first map element and the second impact level corresponds to the second map element, the first impact level being higher than the second impact level, and the method includes: receiving, by the receiving module, first map data from the cloud server based on direct delivery, the first map data including the first map element; receiving, by the receiving module, second map data from the cloud server based on a map update request or periodic delivery, the second map data including the second map element; The method of claim 13 further comprising:

15. 15. The method of claim 13 or 14, wherein the map update information further comprises a data source of the map elements to be updated, the data source being at least one data collection device that detects the map elements to be updated.

16. The method of claim 15 , wherein the at least one data collection device is a plurality of data collection devices, the plurality of data collection devices having different reliability and weight values.

17. The map update information includes: the category of the map element to be updated; a coordinate location on a map of the map element to be updated; A change amount of the map element to be updated on the map; and The length of time of continued mismatch; the first time a map element mismatch is detected; a second time that the map update information was reported; and The reliability of the map update information; 17. The method according to any one of claims 13 to 16, comprising at least one of the following:

18. 13. A map updating apparatus comprising a processor and an interface circuit, the interface circuit being adapted to receive computer instructions and transmit the computer instructions to the processor, the processor executing the computer instructions to perform a method according to any one of claims 1 to 12.

19. 18. An in-vehicle device comprising a processor and an interface circuit, the interface circuit being adapted to receive computer instructions and transmit the computer instructions to the processor, the processor executing the computer instructions to perform the method of any one of claims 13 to 17.

20. A computer readable storage medium containing a program, which when executed by a processor performs the method according to any one of claims 1 to 12.

21. A computer readable storage medium containing a program which, when executed by a processor, performs the method according to any one of claims 13 to 17.

Images