Map update method and related update device

Abstract

The present application provides a map update method and related devices. In the technical solution provided in the present application, the terminal-side device does not report data collected by sensors to a cloud device, but reports the change status of map elements on a target map. Because reporting the change status of map elements on a target map requires much fewer transmission resources than reporting data collected by sensors, the method of the present application can save transmission resources. Furthermore, because fewer transmission resources are used to update map information, in resource-limited scenarios, the terminal-side device can report more map element change statuses according to the technical solution of the present application, thereby improving the accuracy of the target map after updating.

Description

[Technical field]

[0001] The present application relates to the field of intelligent driving technology, and more particularly, to a map update method and related update device. [Background technology]

[0002] When an intelligent driving vehicle (e.g., an unmanned vehicle) travels, an electronic map needs to provide accurate information about the driving environment to ensure the safety of the intelligent driving vehicle. However, the actual driving environment changes frequently. Therefore, in order to ensure the safe driving of the intelligent driving vehicle, the electronic map needs to be updated in a timely manner to ensure the accuracy of the electronic map.

[0003] At present, in the field of intelligent driving technology, a crowdsourcing-based method is proposed for updating an electronic map. The method includes a crowdsourcing vehicle collecting data of a driving scenario and reporting the collected data to a cloud server. The cloud server assembles a large amount of data collected by the vehicles, processes the data collected by the vehicles, and obtains changed map elements and positions of the changed map elements on the electronic map to determine map information that needs to be updated and update the electronic map.

[0004] Compared with the traditional map information collection method, the above-mentioned method reduces the data collection cost, but requires a large amount of communication resources between the vehicle and the cloud server to transmit the data collected by the vehicle. Therefore, how to update the electronic map in a crowdsourcing manner with a small amount of communication resources is an urgent technical problem to be solved. Summary of the Invention

[0005] The present application provides a map update method and related apparatus, which reduces resources for transmitting related data used for updating map information between a terminal side device and a cloud device.

[0006] According to a first aspect, the present application provides a map updating method, which may be performed by a terminal-side device or chip, for example, by a computing device of a vehicle or a computing device of a roadside unit, or by a chip that can be used in a computing device of a vehicle or a chip that can be used in a roadside unit.

[0007] The method includes receiving detection information from a sensor, where the detection information indicates data collected by the sensor; and transmitting first information to a cloud device based on the detection information, where the first information includes first indication information, the first indication information indicating change information of a map element at a first location on a target map.

[0008] According to this method, the terminal side device does not report the data collected by the sensor to the cloud device, but reports the change state of the map element on the target map, and the method of this application can save the transmission resource because the transmission resource is much less for reporting the change state of the map element on the target map than for reporting the data collected by the sensor.

[0009] From another perspective, the method of the present application can update map information using less transmission resources. Therefore, the method of the present application can be used not only in scenarios where transmission resources are not limited, but also in scenarios where transmission resources are limited, so that more terminal side devices can report more map element change states, and the accuracy of the target map after updating can be improved.

[0010] Furthermore, in the method, the terminal-side device or the chip of the terminal-side device recognizes the change state of the map elements on the target map based on the data collected by the sensor. Compared with the case where the work is done on the cloud device, the method shares most of the workload of the cloud device with each terminal-side device, so that the complexity of the crowdsourcing-based map update performed on the cloud side can be reduced and the map update efficiency can be improved. In this way, the latest map information can be obtained in a timely manner, and the safe driving of the vehicle can be improved.

[0011] In relation to the first aspect, in a first possible implementation example, the first information may further include first reliability information, where the first reliability information indicates a first reliability of the first indication information.

[0012] In other words, when the changed state of the map element at the first location is indicated to the cloud device, a confidence level of the changed state is further indicated so that the cloud device can update the target map based on this confidence level to improve the map update accuracy.

[0013] In relation to the first aspect or the first possible implementation example, in a second possible implementation example, the first information further includes first trust radius information, the first trust radius information indicating a first trust radius, the first trust radius being smaller than or equal to the distance between the horizontal coordinate of the first position and the horizontal coordinate of any reference position on the target map, and smaller than or equal to the distance between the vertical coordinate of the first position and the vertical coordinate of the reference position on the target map, the reference position being a position of a predetermined reference map element on the target map.

[0014] In this implementation example, when a change state of a map element at a first position on a target map is reported to a cloud device, a corresponding first trust radius is also reported, so that the cloud device can determine whether the map element related to the map element change state reported by another terminal-side device and the map element at the first position are the same map element based on the first trust radius. This can prevent the cloud device from mistaking the map element reported by another terminal-side device for the map element at the first position, and can further prevent the cloud device from updating the map element at the first position using inaccurate information, ultimately improving the update accuracy of the map element at the first position. In this way, when the target map is updated based on the first instruction information, the accuracy of the target map after the update can be improved, and the safe driving of the vehicle can be improved.

[0015] In relation to the first aspect, in a third possible implementation example, before transmitting the first information to the cloud device, the method further includes receiving second information from the cloud device, the second information including second indication information, the second indication information indicating map element change information at a second location on the target map, the second location being adjacent to the first location.

[0016] The step of transmitting the first information to the cloud device may include transmitting the first information to the cloud-side device based on the second information.

[0017] In other words, the first information reported to the cloud device is the latest version of the second information delivered by the cloud device. From another perspective, in this implementation example, the related information of the same changed map element may be updated by using multiple terminal side devices or by the terminal side device performing multiple detections, so that the cloud device can obtain more accurate related information of the same changed map element, and the cloud device can obtain more accurate map information when updating the target map based on the related information of the map element.

[0018] In relation to the third possible implementation example, in a fourth possible implementation example, the second information further includes second trust radius information, where the second trust radius information indicates a second trust radius, the second trust radius being smaller than or equal to the distance between the horizontal coordinate of the second position and the horizontal coordinate of any reference position on the target map, and smaller than or equal to the distance between the vertical coordinate of the second position and the vertical coordinate of the reference position on the target map, and the reference position being the position of a predetermined reference map element on the target map.

[0019] Transmitting the first information to the cloud device based on the second information includes transmitting the first information to the cloud device if the first location is located within a circular area centered on the second location and having a radius of the second trust radius.

[0020] In this implementation example, whether the first map element indicated in the second instruction information and the first map element detected by the terminal side device are the same map element is determined based on the second trust radius, thereby improving accuracy and improving the accuracy of the target map after updating.

[0021] In relation to the third or fourth possible implementation example, in a fifth possible implementation example, the second information further includes second reliability information, which indicates a second reliability of the second indication information.

[0022] Transmitting the first information to the cloud device based on the second information includes transmitting the first information to the cloud device if the first confidence level is greater than the second confidence level.

[0023] In other words, the first information reported by the terminal side device to the cloud device is an updated version of the second information delivered by the cloud device, and the updated changed state is reported to the cloud device only if the reliability of the changed state after the update is greater than the reliability of the changed state before the update.

[0024] From another perspective, in this implementation example, the related information of the same changed map element may be updated by using multiple terminal side devices or by the terminal side device performing multiple detections, so that the cloud device can obtain more accurate related information of the same changed map element. Furthermore, since the more accurate updated information is guaranteed, when the cloud device updates the target map based on the related information of the map element, it can obtain more accurate map information.

[0025] In relation to the first aspect or any one of the above-mentioned possible implementation examples, in a sixth possible implementation example, if the first reliability of the first indication information is greater than or equal to a first predetermined reliability threshold, the first information further includes first acknowledgement information, and the first acknowledgement information indicates that the first indication information is reliable.

[0026] In this implementation example, if the terminal side device determines that the change state of the first map element is reliable, it reports the information to the cloud device and notifies the cloud device that it can directly update the map information based on the first information, thereby improving update efficiency.

[0027] In this implementation example, when it is determined that the reliability of the map element at the first location has changed to a reliability of the first map element that is greater than or equal to a preset threshold value, the terminal side device considers that the reliability of the map element at the first location has changed to the reliability of the first map element. In this way, the reliability of the first information can be guaranteed, and the accuracy of the map update can be improved.

[0028] In relation to the sixth possible implementation example, in a seventh possible implementation example, the first reliability threshold may be a preset threshold or may be a preset threshold based on configuration information sent by the cloud device.

[0029] In relation to the seventh possible implementation example, in an eighth possible implementation example, the method is performed by a vehicle or a chip used in the vehicle, and the method further includes a step of sending first indication information and first reliability information to the roadside unit when the first reliability is less than a second predetermined reliability threshold, and the first reliability information indicates the first reliability.

[0030] In this implementation example, when the first reliability is smaller than a second preset reliability threshold, the first instruction information and the first reliability information are transmitted to the roadside unit, so that the roadside unit further detects the change state of the first map element based on these information and obtains more accurate change information.

[0031] The second confidence threshold may be a pre-set threshold or may be a pre-set threshold based on configuration information sent by the cloud device.

[0032] From another perspective, since the vehicle and the roadside unit update map information in cooperation with each other, the vehicle and the roadside unit can fully utilize their respective advantages to perform map updating. Furthermore, considering the limitations of channel transmission resources, especially uplink transmission resources, the cooperation between the vehicle and the roadside unit can avoid the repeated transmission of the same information, thereby improving the utilization of the channel resources of the vehicle and the roadside unit.

[0033] In relation to the first aspect or any one of the above-mentioned possible implementations, in some possible implementations, the first instruction information includes first location information, the first location information indicating the first location, or the first location information indicating the first location and a third trust radius centered on the first location.

[0034] In relation to the first aspect or any one of the above-mentioned possible implementation examples, in some possible implementation examples, the first position information includes absolute position information, or the first position information includes offset information of the first position relative to the second position, or the first position information includes position information of one or more reference map elements on the target map and offset information of the first position relative to the positions of the respective reference map elements.

[0035] According to a second aspect, the present application provides a map updating method, which may be performed by a cloud computing device (shortly referred to as cloud device) or a chip that can be used in the cloud device. The method includes: receiving first information from a first terminal side device, where the first information includes first indication information, and the first indication information indicates change information of a map element at a first position on a target map; and updating the target map based on the first information.

[0036] In relation to the second aspect, in a first possible implementation example, the first information may further include first reliability information, where the first reliability information indicates a first reliability of the first indication information.

[0037] In other words, when the changed state of the map element at the first location is indicated to the cloud device, the confidence level of the changed state is further indicated so that the cloud device can update the target map based on this confidence level and improve the update accuracy.

[0038] In this implementation example, in one example, the first reliability is less than a preset reliability threshold, and the first terminal side device is a roadside unit.

[0039] In relation to the second aspect or the first possible implementation example, in the second possible implementation example, the first information may further include first trust radius information, where the first trust radius information indicates a first trust radius, the first trust radius being smaller than or equal to the distance between the horizontal coordinate of the first position and the horizontal coordinate of any reference position on the target map, and smaller than or equal to the distance between the vertical coordinate of the first position and the vertical coordinate of the reference position on the target map, where the reference position is a position of a predetermined reference map element on the target map.

[0040] In relation to the second aspect, in a third possible implementation example, before the step of receiving the first information from the first terminal side device, the method further includes a step of acquiring second information, where the second information includes second instruction information, the second instruction information indicating change information of a map element at a second location on the target map; and a step of transmitting the second information to the first terminal side device.

[0041] Generally, the positional relationship between the first location and the second location satisfies a first preset condition, for example, the distance between the first location and the second location is less than or equal to a preset distance threshold.

[0042] In other words, the first information reported by the terminal device to the cloud device is the latest version of the second information delivered by the cloud device. In this way, the accuracy of the change information of the first map element can be improved, and the accuracy of the target map after the update can be improved.

[0043] In relation to the third possible implementation example, in a fourth possible implementation example, the second information may further include second trust radius information, where the second trust radius information indicates a second trust radius, the second trust radius being smaller than or equal to the distance between the horizontal coordinate of the second position and the horizontal coordinate of any reference position on the target map, and smaller than or equal to the distance between the vertical coordinate of the second position and the vertical coordinate of the reference position on the target map, and the reference position being the position of a predetermined reference map element on the target map.

[0044] In relation to the third or fourth possible implementation example, in a fifth possible implementation example, the second information may further include second reliability information, the second reliability information indicating a second reliability of the second indication information.

[0045] In relation to the second aspect, in a sixth possible implementation example, if the first reliability of the first indication information is greater than or equal to a first predetermined reliability threshold, the first information further includes first acknowledgement information, and the first acknowledgement information indicates that the first indication information is reliable.

[0046] Optionally, the first terminal side device may be a vehicle.

[0047] In relation to the sixth possible implementation example, in a seventh possible implementation example, the first reliability threshold may be a threshold preset by the terminal side device, or may be a threshold preset based on configuration information sent by the cloud device.

[0048] In relation to the second aspect or any one of the above-mentioned possible implementation examples, in an eighth possible implementation example, the first instruction information includes first location information, and the first location information indicates the first location, or the first location information indicates the first location and a third trust radius centered on the first location.

[0049] In relation to the eighth possible implementation example, in a ninth possible implementation example, the first position information includes absolute position information, or the first position information includes offset information of the first position relative to the second position, or the first position information includes position information of one or more reference map elements on the target map and offset information of the first position relative to the positions of the respective reference map elements.

[0050] According to a third aspect, the present application provides a map updating apparatus, the apparatus including a module configured to perform the method according to the first aspect or any one of the implementations of the first aspect.

[0051] According to a fourth aspect, the present application provides a map updating apparatus, the apparatus including a module configured to perform the method according to the second aspect or any one of the implementations of the second aspect.

[0052] According to a fifth aspect, the present application provides a map update apparatus, the apparatus including: a memory configured to store a program; and a processor configured to execute the program stored in the memory. When the program stored in the memory is executed, the processor is configured to perform a method according to the first aspect or any one of the implementations of the first aspect.

[0053] According to a sixth aspect, the present application provides a map update apparatus, the apparatus including: a memory configured to store a program; and a processor configured to execute the program stored in the memory. When the program stored in the memory is executed, the processor is configured to perform a method according to the second aspect or any one of the implementations of the second aspect.

[0054] According to a seventh aspect, there is provided a computer readable medium having stored thereon a program code for execution by a device, the program code being used to perform a method according to the first aspect or any one of the implementations of the first aspect.

[0055] According to an eighth aspect, there is provided a computer readable medium having stored thereon a program code for execution by a device, the program code being used to perform a method according to the second aspect or any one of the implementations of the second aspect.

[0056] According to a ninth aspect, there is provided a computer program product comprising instructions, which when executed on a computer, enable the computer to perform a method according to the first aspect or any one of the implementations of the first aspect.

[0057] According to a tenth aspect, there is provided a computer program product comprising instructions, which when executed on a computer, enable the computer to perform a method according to the second aspect or any one of the implementations of the second aspect.

[0058] According to an eleventh aspect, a chip is provided. The chip includes a processor and a data interface. The processor reads instructions stored in a memory through the data interface to perform the method according to the first aspect or any one of the implementations of the first aspect.

[0059] Optionally, in one implementation, the chip may further include a memory, the memory storing instructions, and the processor configured to execute the instructions stored in the memory, the processor configured, upon execution of the instructions, to perform the method according to the first aspect or any one of the implementations of the first aspect.

[0060] According to a twelfth aspect, a chip is provided. The chip includes a processor and a data interface. The processor reads instructions stored in a memory through the data interface to perform the method according to the second aspect or any one of the implementations of the second aspect.

[0061] Optionally, in one implementation, the chip may further include a memory, the memory storing instructions, and the processor configured to execute the instructions stored in the memory, the processor configured, upon execution of the instructions, to perform the method according to the second aspect or any one of the implementations of the second aspect.

[0062] According to a thirteenth aspect, a computing device is provided. The computing device includes a memory configured to store a program; and a processor configured to execute the program stored in the memory. When the program stored in the memory is executed, the processor is configured to perform the method according to the first aspect or any one of the implementation examples of the first aspect.

[0063] According to a fourteenth aspect, a computing device is provided. The computing device includes a memory configured to store a program; and a processor configured to execute the program stored in the memory. When the program stored in the memory is executed, the processor is configured to perform the method according to the second aspect or any one of the implementation examples of the second aspect.

[0064] According to a fifteenth aspect, a vehicle is provided. The vehicle includes a memory configured to store a program; and a processor configured to execute the program stored in the memory. When the program stored in the memory is executed, the processor is configured to perform a method according to the first aspect or any one of the implementation examples of the first aspect.

[0065] According to a sixteenth aspect, a roadside unit is provided. The roadside unit includes: a memory configured to store a program; and a processor configured to execute the program stored in the memory. When the program stored in the memory is executed, the processor is configured to perform a method according to the first aspect or any one of the implementation examples of the first aspect.

[0066] It will be understood that in the solution provided in the present application, the computing device is a device that can be abstracted as a computer system. The map update device in the present application may be the entire computing device, or may be a part of a component in the computing device, for example, a chip having a computing function (such as a system chip). Optionally, the map update device in the present application may further include a wireless communication device. The wireless communication device may be the entire computing device that supports a wireless communication function, or may be a part of a component included in the entire device, for example, a communication chip having a wireless communication function.

[0067] The system chip is also called a system on chip, or system on chip (SoC). The communication chip may include a radio frequency processing chip and a baseband processing chip. The baseband processing chip may be called a modem. In the physical implementation, the communication chip may or may not be integrated into the SoC chip. For example, the baseband processing chip is integrated into the SoC chip, and the radio frequency processing chip is not integrated into the SoC chip.

[0068] In one example, the map update unit may be a computing device such as an end-side device, or may be a system chip that may be located in the end-side device.

[0069] In the solutions provided herein, unless otherwise specified, it will be understood that the memory is typically the main memory of a computer system. The main memory is configured to temporarily store relevant data and program instructions used when the processor executes a program. The main memory is typically a DRAM, or may be an SRAM, or another memory that can provide the same or similar functions as a DRAM or an SRAM. [Brief description of the drawings]

[0070] [Figure 1] FIG. 2 is a schematic diagram of an application scenario of the map update method according to the present application;

[0071] [Diagram 2] 1 is a schematic flowchart of a map updating method according to an embodiment of the present application;

[0072] [Diagram 3] 4 is a flowchart of an example of a map update method according to another embodiment of the present application;

[0073] [Figure 4] 4 is a flowchart of an example of a map update method according to yet another embodiment of the present application;

[0074] [Diagram 5] FIG. 2 is a schematic diagram of the structure of a map update device according to an embodiment of the present application;

[0075] [Figure 6] FIG. 2 is a schematic diagram of the structure of a map update device according to another embodiment of the present application;

[0076] [Figure 7] FIG. 2 is a schematic diagram of the structure of a computer program product according to an embodiment of the present application.

[0077] [Figure 8] FIG. 2 is a schematic diagram of the structure of an apparatus according to another embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0078] 1 is a schematic diagram of an application scenario of a map update method according to an embodiment of the present application. As shown in FIG. 1, an exemplary application scenario may include a vehicle 11, a roadside unit 12, and a cloud device 13. The vehicle 11 or the roadside unit 12 may be referred to as a terminal device, and the cloud device may be referred to as a cloud server or a server.

[0079] The roadside units 12 and the cloud devices 13 can communicate with each other through a communication network, such as the Internet, wireless-fidelity (Wi-Fi), or a cellular network.

[0080] The vehicle 11 and the cloud device 13 can also communicate with each other. For example, the vehicle 11 and the cloud device 13 can communicate with each other in a conventional vehicle to everything (V2X) communication manner. Optionally, the vehicle 11 may directly communicate with the cloud device 13, for example, through a communication network. Optionally, the vehicle 11 may alternatively communicate with the cloud device 13 through the roadside unit 12. Optionally, the vehicle 11 may directly communicate with the cloud device 13 or may communicate with the cloud device 13 through the roadside unit 12.

[0081] The vehicle 11 and the roadside unit 12 can communicate with each other through a communication network, such as the Internet, Wi-Fi, or a cellular network.

[0082] It should be noted that the application scenario illustrated in Fig. 1 is merely a schematic diagram of an example application scenario according to one embodiment of the present application, and the devices and the relationships between the devices illustrated in Fig. 1 do not constitute any limitations. In some other example application scenarios of this embodiment of the present application, the roadside unit 12 may not be included.

[0083] In the embodiments of the present application, both the vehicle and the roadside device may be referred to as a terminal-side device. The terminal-side device may be understood as a device having a computing function on the terminal side, or the terminal-side device may be a computing device on the terminal side. The cloud device may be understood as a computing device on the cloud side.

[0084] 2 is a schematic flowchart of a map updating method according to an embodiment of the present application. As shown in FIG. 2, the method may include S210, S220, and S230.

[0085] S210: A first terminal-side device receives sensing information from a sensor, the sensing information indicating data collected by the sensor.

[0086] In this embodiment, the sensors on the first terminal side device may collect data in a driving scenario in which the terminal side device is located. For ease of explanation, the data collected by the sensors is called sensor data, and the information used to represent the sensor data is called sensor information. The sensor information may be direct sensor data, or may be information obtained after further processing of the sensor data. In one example, the sensor data may include raw data collected by each sensor, such as images collected by a camera, point cloud data collected by a laser radar or millimeter wave radar, and sound wave data collected by an ultrasound.

[0087] In another example, the sensor data may include target data detected by a sensor, such as traffic light information detected by a camera, lane boundary information detected by a laser radar, or light pole information acquired by merging multiple sensors. This specification does not particularly limit this. Alternatively, the sensor data may include feature data acquired by processing a sensor, such as visual features acquired by processing raw image data collected by a camera, or important point cloud features acquired by processing raw point cloud data collected by a laser radar.

[0088] S220: The first terminal-side device transmits first information to the cloud device based on the detection information. The first information includes first indication information, and the first indication information indicates change information of the map element at the first position on the target map. In response, the cloud device may receive the first information from the terminal-side device.

[0089] After obtaining the detection information, the first terminal side device generates first information based on the data collected by the sensor, the first information including first indication information, the first indication information indicating change information of the map element at the first position on the target map.

[0090] The first terminal-side device may be any terminal-side device, and the terminal-side device in this embodiment may be a vehicle, a roadside device, or another device that can collect data of a driving scenario and determine the change state of a map element on a target map based on the data of the driving scenario.

[0091] The object map may be an electronic map pre-stored in the first terminal-side device or a cloud device. The object map includes map elements, or the map elements are the contents of the object map.

[0092] When a current map element on the target map is compared with a past map element on the target map, and the map element at the first location has changed, the first terminal side device can generate first indication information to indicate that the map element at the first location has changed, and to indicate the changed state of the map element at the first location, for example, to indicate type information of the changed map element at the first location.

[0093] The map elements in this embodiment may include one or more types of map elements: road, traffic light, lane boundary, road sign, and pavement marking. The road type map elements may include one or more types of guard rail or road edge. The road sign type map elements may include one or more types of road marking, directional sign, or height limit sign. The pavement marking may include one or more types of marking, such as traffic division marking, entrance / exit marking, speed limit marking, and time limit marking. The map elements described above are merely examples and should not constitute a limitation on the method of this embodiment.

[0094] After collecting data, the sensor on the first terminal side device may detect a map element and the position of the map element in the current driving scenario of the terminal side device based on the sensor data. For ease of explanation, in this embodiment, the map element detected by the sensor is called an actual map element in the driving scenario corresponding to the sensor data. It will be understood that the current driving scenario and the driving scenario corresponding to the sensor data here are driving scenarios in which the terminal side device is located when the sensor collects the sensor data. It should be understood that the driving scenario here may be an intersection, a lane, a parking lot, etc. This specification does not particularly limit this.

[0095] After detecting the actual map elements in the driving scenario, the first terminal-side device may obtain the map elements recorded in the target map and included in the driving scenario. For the purpose of the following description, in this embodiment, the map elements recorded in the target map are referred to as past map elements.

[0096] After obtaining the actual map elements and past map elements of the same driving scenario, the first terminal side device may detect the changed map elements in the driving scenario and the positions where the map elements have changed based on the actual map elements and the past map elements. The changes in the map elements include the addition and disappearance of map elements, the position change of the map elements, the change of the correspondence relationship of the map elements, and the change of another attribute of the map elements, etc. In this embodiment, for ease of explanation, the position where the map element has changed is called the first position, the actual map element at the first position is called the first map element, and the past map element at the first position is called the second map element.

[0097] In one example, for each actual map element position, the first terminal side device may detect whether the same past map element exists at that position on the target map, if not, it may be determined that the map element at that position has changed, and that position is the first position.

[0098] For example, if the first terminal side device detects based on the first data that there is a traffic light at a certain location, but there is no traffic light at that location on the target map, the first terminal side device may determine that a map element at that location has changed, i.e., a traffic light may have been newly added at that location on the target map.

[0099] The first terminal side device may determine, based on the sensor data, that a map element at a first position on the target map has changed, and then generate first instruction information to indicate the changed state of the map element at the first position on the target map.

[0100] In one example, the first indication information may specifically indicate change information of the map element at the first position. The change information of the map element in this specification includes addition and disappearance of the map element, change in the position of the map element, change in the corresponding relationship of the map element, and change in other attributes of the map element, etc. The other attributes of the map element may include the color, geometric shape, and size of the map element, etc.

[0101] S230: The cloud device updates the object map based on the first information.

[0102] In this embodiment, after obtaining the sensor data, the terminal side device does not directly transmit the sensor data to the cloud device, and the cloud device does not update the object map based on the sensor data. Instead, the terminal side device first processes the sensor data, and after recognizing the change state of the map elements on the object map, the terminal side device directly reports the change state of the map elements on the object map to the cloud device. In this way, the amount of data reported from the terminal side device to the cloud device can be reduced, so that the communication resources between the terminal side device and the cloud device can be saved. In addition, the computing resources and computing time for the cloud device to recognize the change state of the map elements on the object map based on the sensor data can be saved, and the computing complexity and computing load of the cloud device can be reduced, so that the map update efficiency of the cloud device can be improved.

[0103] In some possible implementations of this embodiment, the first instruction information may include first location information, where the first location information indicates a first location of the first map element, or the first location information may indicate the first location and a third trust radius centered on the first location.

[0104] Optionally, the first location information is absolute location information, or the first location information is offset information of the first location relative to the second location, or the first location information is location information of one or more reference map elements on the target map and offset information of the first location relative to the locations of the respective reference map elements.

[0105] In one example of the first location information, the first location information may include location information of one or more past map elements near the first location on the map of interest and a location offset of the first location relative to each of the one or more past map elements. In other words, the first location may be indicated using location information of one or more past map elements on the map of interest and the corresponding location offsets.

[0106] For example, the first location information may include location information of map elements closest to the first location in four directions, i.e., south, east, west, and north, of the first location on the target map, and a location offset of the first location relative to the closest map element in each direction.

[0107] An example of the cloud device updating the target map based on the first information is as follows: The cloud device sends map update information to one or more terminal side devices, the map update information instructing the terminal side devices to update the change information of the map element at the first location.

[0108] In one implementation example of this embodiment, after determining the change information of the map element at the first position, the first terminal side device may obtain a first reliability of the change information of the map element at the first position on the target map, and send the first reliability information to the cloud device. The first reliability information indicates a first reliability. In this embodiment, the reliability is also referred to as a reliability level.

[0109] To obtain the first confidence, the first terminal-side device may introduce a generalized confidence to define the confidence of the change of the map element at the first location determined based on the sensor data. The generalized confidence is an approximate estimate of the confidence or a monotonically increasing function of the confidence, meaning that the generalized confidence can be compared based on the actual observation of the target and the true outcome of the target.

[0110] Suppose a classifier L has a confidence function HL(x), and any two points in the feature space of classifier L are X1 and X2. If there exists a function f(x), then there always exists a relationship of f(X1)>f(X2) when HL(X1)>HL(X2), and the converse theorem also holds, and f(x) is the generalized confidence of classifier L.

[0111] For example, the hypothesis space of a detected map element change at a location includes four cases: the map element changes, the map element does not change, the map element either changes or does not change (where the exact value cannot be determined), and invalid (i.e., no determination can be made), in which case the confidence of a hypothesis may be calculated according to a confidence function.

[0112] When the first information includes first reliability information, in one implementation, updating the target map by the cloud device based on the first information may include sending map update information to one or more terminal side devices when the cloud device determines that the first reliability is greater than or equal to a preset reliability threshold, the map update information instructing the terminal side device to update a map element at the first location to the first map element.

[0113] In another implementation example of this embodiment, after obtaining the first reliability, the first terminal side device may determine whether the first reliability is greater than or equal to a preset reliability threshold. If the determination is positive, the first information may include first acknowledgement information, and the first acknowledgement information indicates that the first indication information is reliable. In this case, the first information may not include the first reliability information.

[0114] In this implementation example, after receiving the first information, the cloud device can determine that the first instruction information is reliable based on the first acknowledgement information, so that the cloud device can send map update information to one or more terminal side devices, where the map update information instructs the terminal side device to update a map element at the first location to the first map element.

[0115] In some possible implementations of this embodiment, the first information may further include first trust radius information, where the first trust radius information indicates a first trust radius, the first trust radius being smaller than or equal to the distance between the horizontal coordinate of the first position and the horizontal coordinate of any reference position on the target map, and smaller than or equal to the distance between the vertical coordinate of the first position and the vertical coordinate of a reference position on the target map, where the reference position is a position of a predetermined reference map element on the target map.

[0116] In one example, the first terminal side device may obtain the first trust radius according to the following formula:

number

number

number

[0117] Threshold2 and Threshold1 are preset thresholds, and the values ​​of Threshold2 and Threshold1 may be the same or different. x and y are the horizontal and vertical coordinates, respectively, of a first position. a and c are the horizontal and vertical coordinates, respectively, of a reference map element on the target map. For ease of explanation, this reference map element may be referred to as a first reference map element. b and d are the horizontal and vertical coordinates, respectively, of another reference map element on the target map. For ease of explanation, this reference map element may be referred to as a second reference map element.

number

number

number

[0118] In this embodiment, the values ​​of Threshold2 and Threshold1 may be set according to the user's requirements for map accuracy. In most cases, a higher requirement for map accuracy indicates a smaller value for Threshold2 and Threshold1.

[0119] When the first information includes a first trust radius, one example of the cloud device updating the object map based on the first information includes the cloud device updating the object map based on the first trust radius and a trust radius received by the cloud device from at least one other terminal side device.

[0120] For example, the cloud device may receive from a plurality of terminal-side devices, change states of map elements on a target map detected by each of the terminal-side devices, where the plurality of terminal-side devices includes a first terminal-side device. The cloud device can find information describing the change states of the same map element reported by the terminal-side devices based on the trust radius reported by each of the terminal-side devices, and can obtain more accurate change information about the map element based on this information, thereby improving the accuracy of the target map obtained by updating the cloud device based on the change information of the map element.

[0121] It will be understood that the method shown in FIG. 2 is described using a terminal-side device and a cloud device as execution subjects. However, the execution subjects of the method shown in FIG. 2 are not limited to the terminal-side device and the cloud device. For example, the execution subject of any of the methods shown in FIG. 2 may be a chip. In one example, in the scheme shown in FIG. 2, the terminal-side device may be replaced with a chip that may be used in the terminal-side device, and the cloud device may be replaced with a chip that may be used in the cloud device.

[0122] In this embodiment, optionally, when the first information includes multiple types of information, for example, at least two of first instruction information, first trust radius information, first reliability information, and first acknowledgement information, the multiple types of information included in the first information may be carried in the same message, or may be carried in different messages, or may be partially carried in the same message.

[0123] In other words, when the first terminal side device sends at least two types of information, including the first instruction information, the first trust radius information, the first reliability information, and the first acknowledgement information, to the cloud device, the first terminal side device may send the at least two types of information using one message, or may send the at least two types of information using multiple messages.

[0124] 3 is a flowchart of an example of a map update method according to another embodiment of the present application. As shown in FIG. 3, before S230, the method of this embodiment may include S202 and S204. Correspondingly, S220 may include S222.

[0125] S202: The cloud device obtains second information, the second information including second indication information, where the second indication information indicates change information of the map element at a second position on the target map.

[0126] In one example, the second indication may include second location information, the second location information indicating the second location, the second location information may indicate the second location using a location of a reference map element on the object map and a second location offset of the first map element relative to the reference map element.

[0127] In one implementation example of this stage, the cloud device obtaining the second information may include the cloud device receiving the second information from another terminal-side device. For ease of explanation, in this embodiment, the other terminal-side device is referred to as a second terminal-side device.

[0128] In other words, the cloud device may directly transmit the second information received from the second terminal-side device to the first terminal-side device, and the first terminal-side device updates the change information of the first map element.

[0129] For the method of the second terminal side device generating and transmitting the second information, please refer to the method of the first terminal side device generating and transmitting the first information, and the details will not be described again here.

[0130] S204: The cloud device sends the second information to the first terminal-side device, and in response, the first terminal-side device receives the second information from the cloud device.

[0131] S205: The first terminal side device receives the data collected by the sensor.

[0132] S210: The first terminal side device determines the first information based on the data.

[0133] S222: The first terminal side device transmits the first information to the cloud device based on the second information.

[0134] For example, after recognizing that the map element at the first location has changed to the first map element, the first terminal side device may determine whether the first location and the second location satisfy a first preset condition, and transmit the first information when the first preset condition is satisfied.

[0135] An example of the first preset condition includes a condition that the distance from the first location to the second location is less than or equal to a preset value. For example, the terminal side device transmits the first information only if the distance between the second location and the first location is less than or equal to a preset distance threshold. Another example of the first preset condition includes a condition that the reliability of the first location is greater than the reliability of the second location. For example, the terminal side device transmits the first information only if it determines that the reliability of the first location is relatively greater.

[0136] In this embodiment, the first terminal side device updates the change information of the first map element sent by the cloud device, obtains more accurate change information of the first map element, and improves the accuracy of the target map obtained by the cloud device updating it based on the first information.

[0137] In some possible implementations of this embodiment, the second information may further include second trust radius information, where the second trust radius information indicates a second trust radius, the second trust radius being smaller than or equal to the distance between the horizontal coordinate of the second position and the horizontal coordinate of any reference position on the target map, and smaller than or equal to the distance between the vertical coordinate of the second position and the vertical coordinate of the reference position on the target map, where the reference position is a position of a predetermined reference map element on the target map.

[0138] For a method of obtaining the second trust radius, please refer to a method of the first terminal side device obtaining the first trust radius, and the details will not be described again here.

[0139] When the second information includes second trust radius information, an example of the first preset condition includes a condition that the first location is located in a circular area centered on the second location and having a radius of the second trust radius, and / or that the second location is located in a circular area centered on the first location and having a radius of the first trust radius.

[0140] In other words, only when the first location is located in a circular area with the second location as the center and the second trust radius as the radius and / or the second location is located in a circular area with the first location as the center and the first trust radius as the radius, the terminal side device determines that the first map element detected by the first terminal side device and the first map element indicated by the second information are the same map element and transmits the first information, which helps to improve the accuracy of the map update information and further helps to improve the accuracy of the target map after the update.

[0141] In another implementation of this embodiment, the second information may further include second reliability information, where the second reliability information indicates a second reliability of the second indication information.

[0142] For the method of acquiring the second trustworthiness, please refer to the method of acquiring the first trustworthiness by the first terminal device, and the details will not be described again here.

[0143] When the second information includes second reliability information, in one example, the first terminal side device sending the first information to the cloud device may include the first terminal side device sending the first information to the cloud device if the first reliability is greater than the second reliability.

[0144] In other words, the first information reported by the terminal side device to the cloud device is an updated version of the second information delivered by the cloud device, and the updated changed state is reported to the cloud device only if the reliability of the changed state after the update is greater than the reliability of the changed state before the update.

[0145] From another perspective, in this implementation example, the related information of the same changed map element may be updated by using multiple terminal side devices or by the terminal side device performing multiple detections, so that the cloud device can obtain more accurate related information of the same changed map element. Furthermore, since the more accurate updated information is guaranteed, when the cloud device updates the target map based on the related information of the map element, it can obtain more accurate map information.

[0146] In yet another implementation of this embodiment, the second information may include not only the first trust radius information, but also the first confidence level information.

[0147] In another implementation example of obtaining the second information in the present application, the method may include a step in which the cloud device receives third information from the second terminal-side device, and the cloud device receives fourth information from the third terminal-side device. The third information includes third indication information, and the third indication information indicates change information of the map element at a third position on the target map (e.g., indicates that the map element at the third position has changed to the first map element). The fourth information includes fourth indication information, and the fourth indication information indicates change information of the map element at a fourth position on the target map (e.g., indicates that the map element at the fourth position has changed to the first map element). The cloud device obtains the second information based on the third information and the fourth information.

[0148] In one implementation example in which the cloud device obtains the second information based on the third information and the fourth information, the cloud device may calculate the second location based on the third location and the fourth location, and then generate the second information based on the second location. For example, a weighting process is performed on the third location and the fourth location to obtain the second location, and the second information is further generated.

[0149] In another implementation example in which the cloud device obtains the second information based on the third information and the fourth information, the third information further includes third trust radius information, and the fourth information further includes fourth trust radius information. The third trust radius information indicates a third trust radius, and the third trust radius is smaller than or equal to the distance between the horizontal coordinate of the third position and the horizontal coordinate of any reference position in the object map, and is smaller than or equal to the distance between the vertical coordinate of the third position and the vertical coordinate of the reference position on the object map. The reference position is the position of a preset reference map element on the object map. The fourth trust radius is smaller than or equal to the distance between the horizontal coordinate of the fourth position and the horizontal coordinate of any reference position on the object map, and is smaller than or equal to the distance between the vertical coordinate of the fourth position and the vertical coordinate of the reference position on the object map.

[0150] In this case, if the cloud device determines that the third location is located within a circular area centered on the fourth location and having a radius equal to the fourth trust radius, and / or the fourth location is located within a circular area centered on the third location and having a radius equal to the third trust radius, the cloud device generates second information based on the third information and the fourth information.

[0151] In this way, it is guaranteed that the first map element indicated by the third information and the first map element indicated by the fourth information are the same map element, which helps to improve the accuracy of the map update information and further helps to improve the accuracy of the target map after the update.

[0152] In yet another implementation example in which the cloud-side device obtains the second information based on the third information and the fourth information, the third information may further include third reliability information. Similarly, the fourth information may further include fourth reliability information. The third reliability information indicates a third reliability of the third instruction information, and the fourth reliability information indicates a fourth reliability of the fourth instruction information.

[0153] In this case, in one example, the cloud device may generate the second information based on the third information and the fourth information only if it determines that the third reliability and the fourth reliability are both greater than or equal to a pre-set reliability threshold.

[0154] In this case, in another example, the cloud device may generate a second location based on the third reliability, the fourth reliability, the third location, and the fourth location. For example, the cloud device may use the third reliability as a weight value for the third location and the fourth reliability as a weight value for the fourth location, and perform a weighting process on the third location and the fourth location to obtain the second location.

[0155] It will be understood that the method shown in FIG. 3 is described using a terminal-side device and a cloud device as execution subjects. However, the execution subjects of the method shown in FIG. 3 are not limited to the terminal-side device and the cloud device. For example, the execution subject of any of the methods shown in FIG. 3 may be a chip. In one example, in the scheme shown in FIG. 3, the terminal-side device may be replaced with a chip that may be used in the terminal-side device, and the cloud device may be replaced with a chip that may be used in the cloud device.

[0156] 4 is a flowchart of an example of a map update method according to yet another embodiment of the present application. The method may include S410, S420, S430, S440, and S450.

[0157] S410: The vehicle acquires fifth information, the fifth information including fifth indication information and fifth reliability information, the fifth indication information indicating change information of a map element at a fifth position on the target map, and the fifth reliability information indicating a fifth reliability of the fifth indication information.

[0158] A specific example of the fifth instruction information is an indication that the map element at the fifth position has changed to the second map element.

[0159] For an implementation example in which the vehicle acquires the fifth information, please refer to the above implementation example in which the first terminal side device acquires the first information, and the details will not be described again here.

[0160] S420: If the fifth reliability is less than a preset reliability threshold, the vehicle transmits the fifth information to the roadside unit.

[0161] S430: If the fifth reliability is greater than or equal to the preset reliability threshold, the vehicle sends sixth information to the cloud device. The sixth information includes fifth indication information and second acknowledgement information, and the second acknowledgement information indicates that the fifth indication information is reliable. In response, the cloud device receives the sixth information.

[0162] S440: The roadside device sends seventh information to the cloud device based on the sixth information, the seventh information including seventh indication information, where the seventh indication information indicates change information of the map element at a seventh position on the target map.

[0163] Optionally, the roadside device may obtain a sixth reliability, and if the sixth reliability is greater than or equal to a preset reliability threshold, may send third acknowledgement information to the cloud device. The third acknowledgement information indicates that the seventh instruction information is reliable. If the sixth reliability is less than the preset reliability threshold, the roadside device sends sixth reliability information to the cloud device. The sixth reliability information indicates a seventh reliability of the seventh instruction information.

[0164] S450: The cloud device updates the map information based on the information received from the vehicle or the roadside unit.

[0165] When the cloud device receives the fifth information, the cloud device may update the target map based on the fifth information. When the cloud device receives the seventh information, and the seventh information includes the third acknowledgement information, the cloud device may update the target map based on the seventh information. When the cloud device receives the seventh information, and the seventh information does not include the third acknowledgement information, the cloud device may use the seventh information as the third information or the fourth information, and use the second map element as the first map element to perform the task of obtaining the second information, so that another terminal side device updates the position of the second map element until the position of the second map element is reliable.

[0166] In this implementation example, when the first reliability is smaller than a preset threshold, the first instruction information and the first reliability information are transmitted to the roadside unit, and the roadside unit further detects the change state of the first map element based on this information to obtain more accurate change information.

[0167] From another perspective, since the vehicle and the roadside unit update map information in cooperation with each other, the vehicle and the roadside unit can fully utilize their respective advantages to perform map updating. Furthermore, considering the limitations of channel transmission resources, especially uplink transmission resources, the cooperation between the vehicle and the roadside unit can avoid the repeated transmission of the same information, thereby improving the utilization of the channel resources of the vehicle and the roadside unit.

[0168] It will be understood that the method shown in FIG. 4 is described using a vehicle, a roadside unit, and a cloud device as the execution entities. However, the execution entities of the method shown in FIG. 4 are not limited to a vehicle, a roadside unit, and a cloud device. For example, the execution entity of any of the methods shown in FIG. 4 may be a chip. In one example, in the scheme shown in FIG. 4, the vehicle may be replaced with a chip that may be used in the vehicle, the cloud device may be replaced with a chip that may be used in the cloud device, and the roadside unit may be replaced with a chip that may be used in the roadside unit.

[0169] Similar to the first information, when any of the information included in the second information to the seventh information in the above-described embodiments of the present application includes multiple types of information, the multiple types of information may be carried in the same message or in different messages.

[0170] 5 is a schematic diagram of the structure of a map update device 500 according to an embodiment of the present application. The device 500 may include a processing module 510 and a communication module 520. The processing module 510 may perform related operations or steps using a processor, and the communication module 520 may perform related operations or steps using a transceiver or communication interface.

[0171] In some examples, the apparatus 500 is an apparatus configured to perform relevant steps or operations performed by a terminal side device in the methods shown in Figure 2, Figure 3, or Figure 4. In this example, the processing module 510 may be configured to perform S210 and the communication module 520 may be configured to perform S220; or the processing module 510 may be configured to perform S210 and the communication module 520 may be configured to perform S220 and S310; or the processing module 510 may be configured to perform S410 and the communication module 520 may be configured to perform S420 and S430.

[0172] In some other examples, the apparatus 500 is an apparatus configured to perform the associated steps or operations performed by a cloud device in the methods shown in Figure 2, Figure 3, or Figure 4. In this example, the processing module 510 may be configured to perform S230 and the communication module 520 may be configured to perform S220; or the processing module 510 may be configured to perform S305 and S230 and the communication module 520 may be configured to perform S220 and S310; or the processing module 510 may be configured to perform S450 and the communication module 520 may be configured to perform S440 and S430.

[0173] In some other examples, the apparatus 500 is an apparatus configured to perform the relevant steps or operations performed by the roadside unit in the method shown in Figure 4. In this example, the processing module 510 may be configured to perform S230 and the communication module 520 may be configured to perform S220, or the processing module 510 and the communication module 520 may be configured to perform S420 and S440.

[0174] 6 is a schematic diagram of the structure of a map updating device 600 according to an embodiment of the present application. The device 600 includes a processor 602, a communication interface 603, and a memory 604.

[0175] In some examples, the apparatus 600 may be an exemplary structure of a terminal side device in any one of Figures 2 to 4, or may be an exemplary structure of a chip that may be used in a terminal side device. In this example, the apparatus 600 may be configured to perform a step or operation performed by the terminal side device in the method shown in any one of Figures 2 to 4.

[0176] In some other examples, the apparatus 600 may be an example structure of a cloud device in any one of Figures 2 to 4, or an example structure of a chip that may be used in a cloud device. In this example, the apparatus 600 may be configured to perform steps or operations performed by a cloud device in the method shown in any one of Figures 2 to 4.

[0177] In some other examples, the device 600 may be an exemplary structure of the roadside unit in FIG. 4 or an exemplary structure of a chip that may be used in the roadside unit. In this example, the device 600 may be configured to perform steps or operations performed by the roadside unit in the method shown in FIG.

[0178] The processor 602, the memory 604, and the communication interface 603 may communicate with each other through a bus. The memory 604 stores executable code. The processor 602 reads the executable code contained in the memory 604 to perform the corresponding method. The memory 604 may further include other software modules, such as an operating system used to execute the process. The operating system may be, for example, Linux, Unix, or Windows.

[0179] For example, the executable code contained in memory 604 is used to implement steps or operations performed by the terminal side device in the methods shown in any one of Figures 2 to 4. The processor 602 reads the executable code contained in memory 604 and executes the code to perform the corresponding steps or operations.

[0180] In another example, the executable code contained in memory 604 is used to perform steps or operations performed by a cloud device in the method shown in any one of Figures 2 to 4. The processor 602 reads the executable code contained in memory 604 and executes the code to perform the corresponding steps or operations.

[0181] In another example, the executable code contained in the memory 604 is used to perform steps or operations performed by the roadside unit in the method illustrated in Figure 4. The processor 602 reads the executable code contained in the memory 604 and executes the code to perform the corresponding steps or operations.

[0182] The processor 602 may be a CPU. The memory 604 may include a volatile memory, such as a random access memory (RAM). The memory 604 may further include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid state disk (SSD).

[0183] In some embodiments of the present application, the disclosed methods may be implemented as computer program instructions encoded in machine-readable form on a computer-readable storage medium or encoded on another non-transitory medium or product. FIG. 7 illustrates a conceptual partial view of an exemplary computer program product configured in accordance with at least some embodiments described herein, the exemplary computer program product including a computer program for executing a computer process on a computing device. In one embodiment, an exemplary computer program product 700 is provided using a signal-bearing medium 701. The signal-bearing medium 701 may include one or more program instructions 702. When the one or more program instructions 702 are executed by one or more processors, the functions or portions of the functions described in the manner illustrated in any one of FIGS. 2-4 may be provided. For example, in the embodiment illustrated in FIG. 2, one or more functions of S210 and S220 may be carried by one or more instructions associated with the signal-bearing medium 701.

[0184] In some examples, the signal-bearing medium 701 may include a computer-readable medium 703, such as, but not limited to, a hard disk drive, a compact disc (CD), a digital video disc (DVD), digital tape, a memory, a read-only memory (ROM), or a random access memory (RAM). In some implementations, the signal-bearing medium 701 may include a computer-recordable medium 704, such as, but not limited to, a memory, a read / write (R / W) CD and a R / W DVD. In some implementations, the signal-bearing medium 701 may include a communication medium 705, such as, but not limited to, a digital and / or analog communication medium (e.g., fiber optic cable, a wave guide, a wired communication link, or a wireless communication link). Thus, for example, the signal-bearing medium 701 may communicate in a wireless manner using the communication medium 705 (e.g., a wireless communication medium conforming to the IEEE 802.11 standard or another transmission protocol). The one or more program instructions 702 may be, for example, computer-executable instructions or logic-implemented instructions. In some examples, the computing device described above may be configured to provide various tasks, functions, or operations in response to program instructions 702 communicated to the computing device using one or more of computer-readable medium 703 and / or computer-recordable medium 704 and / or communication medium 705. It should be understood that the configurations described herein are used as examples only. Thus, it will be understood by those skilled in the art that other configurations and other elements (e.g., machines, interfaces, functions, sequences, and groups of functions) can be used instead, and that some elements can be omitted altogether based on the expected results. Furthermore, many of the described elements are functional entities that can be realized as discrete or distributed components, or in combination with other components in any suitable location and in any suitable combination.

[0185] 8 is a schematic diagram of the structure of an apparatus 800 according to an embodiment of the present application. The apparatus 800 includes a processor 802 and an interface circuit 803. The processor 802 reads instructions in a memory through the interface circuit 803, and executes the read instructions to implement a method corresponding to the instructions. Optionally, the apparatus 800 may further include a memory.

[0186] In some examples, the processor 802 reads instructions in the memory through the interface circuit 803 and executes the read instructions to realize a method performed by the terminal side device of FIG. 2 or FIG. 3, or a method performed by the vehicle of FIG. 4.

[0187] In some other examples, the processor 802 reads instructions in the memory through the interface circuitry 803 and executes the read instructions to implement a method performed by the cloud device of FIG. 2, FIG. 3, or FIG.

[0188] In some other examples, the processor 802 reads instructions in the memory through the interface circuitry 803 and executes the read instructions to implement the method performed by the roadside unit of FIG.

[0189] Those skilled in the art will recognize that the units and algorithm steps can be realized by electronic hardware, or a combination of computer software and electronic hardware, in combination with the examples described in the embodiments disclosed herein. Whether these functions are performed by hardware or software depends on the specific application and the design constraints of the technical solution. Those skilled in the art may use different methods to realize the described functions for each specific application, but the implementation examples should not be considered to go beyond the scope of this application.

[0190] For the purpose of simple and easy description, it will be clearly understood by those skilled in the art that the detailed work processes of the above-mentioned systems, devices and units may be referred to the corresponding processes in the above-mentioned method embodiments, and the details will not be described again here.

[0191] In the embodiments provided in the present application, it should be understood that the disclosed system, device, and method may be realized in other ways. For example, the embodiment of the device described is merely an example. For example, the division into multiple units is merely a logical division of functions, and may be other divisions in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some functions may be ignored or not performed. Furthermore, the shown or described mutual coupling or direct coupling or communication connection may be realized through some interfaces. Indirect coupling or communication connection between devices or units may be realized in electronic, mechanical, or other forms.

[0192] Each unit described as a separate part may or may not be physically separated, and each part shown as a unit may or may not be a physical unit, and may be located in one place or distributed among multiple network units. To achieve the objectives of the solutions of each embodiment, some or all of the units may be selected based on actual requirements.

[0193] Furthermore, each functional unit in the embodiments of the present application may be integrated into one processing unit, and each of these units may exist physically alone, or two or more units may be integrated into one unit.

[0194] When each function is realized in the form of a software functional unit and sold or used as an independent product, each function may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be essentially realized in the form of a software product, or a part of the technical solution may be realized in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for instructing a computer device (for example, which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes any medium that can store program code, such as a USB flash drive, a removable hard disk, a read-only memory, a random access memory, a magnetic disk, or an optical disk.

[0195] The above description is merely a specific implementation example of the present application, and is not intended to limit the scope of protection of the present application. Any variations or replacements that are easily conceived by those skilled in the art within the technical scope disclosed in the present application shall be included in the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the scope of protection of the claims. [Other possible items] (Item 1) receiving sensory information from a sensor, the sensory information being indicative of data collected by the sensor; and Sending first information to a cloud device based on the detection information, where the first information includes first indication information, and the first indication information indicates change information of a map element at a first location on the target map. A map update method comprising: (Item 2) 2. The method of claim 1, wherein the first information further includes first reliability information, the first reliability information indicating a first reliability of the first indication information. (Item 3) 3. The method according to claim 1 or 2, wherein the first information further includes first trust radius information, the first trust radius information indicating a first trust radius, the first trust radius being smaller than or equal to a distance between a horizontal coordinate of the first position and a horizontal coordinate of any reference position on the object map, and smaller than or equal to a distance between a vertical coordinate of the first position and a vertical coordinate of the reference position on the object map, the reference position being a position of a predetermined reference map element on the object map. (Item 4) The method further comprises: receiving second information from the cloud device, the second information including second indication information, the second indication information indicating map element change information at a second location on the target map, and a distance between the second location and the first location is less than or equal to a distance threshold; and said step of transmitting first information to a cloud device further comprising: 2. The method of claim 1, further comprising transmitting the first information to the cloud device based on the second information. (Item 5) the second information further includes second confidence radius information, the second confidence radius information indicating a second confidence radius, the second confidence radius being smaller than or equal to a distance between a horizontal coordinate of the second location and a horizontal coordinate of any reference location on the object map, and smaller than or equal to a distance between a vertical coordinate of the second location and a vertical coordinate of the reference location on the object map, the reference location being a location of a predefined map element on the object map; and transmitting the first information to the cloud device based on the second information, 5. The method of claim 4, further comprising transmitting the first information to the cloud device if the first location is located within a circular area centered on the second location and having a radius of the second trust radius. (Item 6) the second information further includes second reliability information, the second reliability information indicating a second reliability of the second indication information; and transmitting the first information to the cloud device based on the second information, 6. The method of claim 4 or 5, further comprising transmitting the first information to the cloud device if the first confidence is greater than the second confidence. (Item 7) 2. The method of claim 1, wherein if the first reliability of the first indication information is greater than or equal to a first preset reliability threshold, the first information further includes first acknowledgement information, and the first acknowledgement information indicates that the first indication information is reliable. (Item 8) The method is performed by a vehicle, the method further comprising: 8. The method according to claim 7, further comprising: transmitting the first indication information and the first reliability information to a roadside device when the first reliability is less than a second preset reliability threshold, wherein the first reliability information indicates the first reliability. (Item 9) 9. The method according to any one of items 1 to 8, wherein the first instruction information includes first location information, and the first location information indicates the first location, or the first location information indicates the first location and a third trust radius centered on the first location. (Item 10) 10. The method of claim 9, wherein the first location information includes absolute location information, or the first location information includes offset information of the first location relative to the second location, or the first location information includes location information of one or more reference map elements on the target map and offset information of the first location relative to the locations of the respective reference map elements. (Item 11) receiving first information from a first terminal side device, where the first information includes first indication information, the first indication information indicating change information of a map element at a first location on a target map; and updating the object map based on the first information. A map update method comprising: (Item 12) 12. The method of claim 11, wherein the first information further includes first reliability information, the first reliability information indicating a first reliability of the first indication information. (Item 13) and updating the object map based on the first information when the first reliability is less than a preset reliability threshold. sending request information to a roadside unit, where the request information is used to request the roadside unit to obtain a change state of a map element, and a distance between the roadside unit and the first location is less than or equal to a preset distance threshold; receiving the change state from the roadside unit; and updating the object map based on the changing state. Item 13. The method according to item 12, comprising: (Item 14) 12. The method of claim 11, wherein the first information further includes first trust radius information, the first trust radius information indicating a first trust radius, the first trust radius being smaller than or equal to a distance between a horizontal coordinate of the first position and a horizontal coordinate of any reference position on the object map, and smaller than or equal to a distance between a vertical coordinate of the first position and a vertical coordinate of the reference position on the object map, and the reference position being a position of a predetermined reference map element on the object map. (Item 15) Prior to the step of receiving the first information from the first terminal side device, the method further comprises: acquiring second information, where the second information includes second indication information, the second indication information indicating map element change information at a second location on the object map, and a distance between the second location and the first location is less than or equal to a distance threshold; and transmitting the second information to the first terminal side device; Item 12. The method of item 11, comprising: (Item 16) Item 16. The method of item 15, wherein the second information further includes second trust radius information, the second trust radius information indicating a second trust radius, the second trust radius being smaller than or equal to a distance between a horizontal coordinate of the second position and a horizontal coordinate of any reference position on the object map, and smaller than or equal to a distance between a vertical coordinate of the second position and a vertical coordinate of the reference position on the object map, and the reference position being a position of a predetermined reference map element on the object map. (Item 17) 17. The method of claim 15 or 16, wherein the second information further includes second reliability information, the second reliability information indicating a second reliability of the second indication information. (Item 18) Item 12. The method of item 11, wherein if the first reliability of the first indication information is greater than or equal to a first preset reliability threshold, the first information further includes first acknowledgement information, and the first acknowledgement information indicates that the first indication information is reliable. (Item 19) 19. The method of any one of items 11 to 18, wherein the first instruction information includes first location information, and the first location information indicates the first location, or the first location information indicates the first location and a third trust radius centered on the first location. (Item 20) 20. The method of claim 19, wherein the first location information includes absolute location information, or the first location information includes offset information of the first location relative to the second location, or the first location information includes location information of one or more reference map elements on the target map and offset information of the first location relative to the locations of the respective reference map elements. (Item 21) A map update device comprising a processor, the processor coupled to a memory; the memory configured to store instructions; and A map updating device, wherein the processor is configured to execute the instructions stored in the memory, such that the map updating device implements the method of any one of items 1 to 20. (Item 22) a processor and an interface circuit; A chip in which the processor reads instructions in a memory through the interface circuit and performs the method of any one of items 1 to 20. (Item 23) 21. A computer-readable medium comprising instructions that, when executed by a processor, enable the processor to perform the method of any one of items 1 to 20. (Item 24) 21. A computer program product comprising instructions that, when executed on a processor, enable the processor to perform the method according to any one of items 1 to 20. (Item 25) A map updating system, said map updating system comprising a map updating device according to item 21.

Claims

1. 1. A map update method applied to a first device, comprising: receiving sensory information from a sensor on the first device, where the sensory information is indicative of data collected by the sensor; receiving second information from a cloud device, the second information being information reported by the second device to a cloud device, where the second information includes second indication information, the second indication information indicating a first change in a map element on a map; and transmitting first information to the cloud device based on the sensed information and the second information, where the first information includes first indication information, the first indication information indicating a second change in the map element on the map. Equipped with The method, wherein the first indication information indicates change information of the map element at a first location on the map, and the second indication information indicates change information of the map element at a second location on the map, and a distance between the second location and the first location is less than or equal to a distance threshold.

2. The second information includes second trust radius information, the second trust radius information indicating a second trust radius, the second trust radius being smaller than or equal to a distance between a horizontal coordinate of a second position on the map and a horizontal coordinate of an arbitrary reference position on the map, and smaller than or equal to a distance between a vertical coordinate of the second position and a vertical coordinate of the reference position on the map, the reference position being a position of a predetermined map element on the map, The step of transmitting the first information includes:

2. The method of claim 1, comprising: transmitting the first information to the cloud device if a first location on the map is located within a circular area centered on the second location and having a radius of the second trust radius.

3. A map update method applied to a first device, comprising: receiving sensory information from a sensor on the first device, where the sensory information is indicative of data collected by the sensor; receiving second information from a cloud device, the second information being information reported by the second device to a cloud device, where the second information includes second indication information, the second indication information indicating a first change in a map element on a map; and transmitting first information to the cloud device based on the sensed information and the second information, where the first information includes first indication information, the first indication information indicating a second change in the map element on the map. Equipped with the second information includes second trust radius information, the second trust radius information indicating a second trust radius, the second trust radius being smaller than or equal to a distance between a horizontal coordinate of a second position on the map and a horizontal coordinate of an arbitrary reference position on the map, and smaller than or equal to a distance between a vertical coordinate of the second position and a vertical coordinate of the reference position on the map, the reference position being a position of a preset map element on the map; The step of transmitting the first information includes: sending the first information to the cloud device if a first location on the map is located within a circular area centered on the second location and having a radius of the second trust radius.

4. the second information includes second reliability information, the second reliability information indicating a second reliability of the second indication information; and the step of transmitting first information to the cloud device based on the detection information and the second information, The method according to claim 1 , further comprising: if a first reliability of the first indication information is greater than the second reliability, transmitting the first information to the cloud device.

5. The method according to claim 1 , wherein the first information comprises first reliability information, the first reliability information indicating a first reliability of the first indication information.

6. 6. The method according to claim 1, wherein if a first reliability of the first indication information is greater than or equal to a first preset reliability threshold, the first information includes first acknowledgement information, and the first acknowledgement information indicates that the first indication information is reliable.

7. The method is performed by a vehicle, the method further comprising:

7. The method according to claim 1, further comprising: transmitting the first indication information and first reliability information to a roadside unit when a first reliability of the first indication information is smaller than a second preset reliability threshold, the first reliability information indicating the first reliability.

8. 8. The method of claim 1, wherein the first indication information comprises first location information, the first location information indicating a first location of the map element, or the first location information indicating the first location and a trust radius centered on the first location.

9. 1. A map update method, comprising: receiving second information from a second device, wherein the second information includes second indication information, the second indication information indicating a second change in the map element on the map; transmitting the second information to a first device; receiving first information from the first device, wherein the first information includes first indication information, the first indication information indicating a first change to the map element on the map; and updating the map based on the first information. Equipped with The method, wherein the first indication information indicates change information of the map element at a first location on the map, and the second indication information indicates change information of the map element at a second location on the map, and a distance between the second location and the first location is less than or equal to a distance threshold.

10. The second information includes second trust radius information, the second trust radius information indicating a second trust radius, the second trust radius being smaller than or equal to a distance between a horizontal coordinate of a second position on the map and a horizontal coordinate of any reference position on the map, and smaller than or equal to a distance between a vertical coordinate of the second position and a vertical coordinate of the reference position on the map, the reference position being a position of a predetermined map element on the map, The step of receiving the first information includes:

10. The method of claim 9, comprising receiving the first information by a cloud device if the first location on the map is located within a circular area centered on the second location and having a radius of the second trust radius.

11. A map updating method, comprising: receiving second information from a second device, wherein the second information includes second indication information, the second indication information indicating a second change in the map element on the map; transmitting the second information to a first device; receiving first information from the first device, wherein the first information includes first indication information, the first indication information indicating a first change to the map element on the map; and updating the map based on the first information. Equipped with the second information includes second trust radius information, the second trust radius information indicating a second trust radius, the second trust radius being smaller than or equal to a distance between a horizontal coordinate of a second position on the map and a horizontal coordinate of an arbitrary reference position on the map, and smaller than or equal to a distance between a vertical coordinate of the second position and a vertical coordinate of the reference position on the map, the reference position being a position of a preset map element on the map; The step of receiving the first information includes: receiving, by a cloud device, the first information when a first location on the map is located within a circular area centered on the second location and having a radius of the second trust radius.

12. The method according to claim 9 , wherein the second information includes second reliability information indicating a second reliability of the second indication information, and the first reliability of the first indication information is greater than the second reliability.

13. The method according to claim 9 , wherein the first information includes first reliability information indicating a first reliability of the first indication information.

14. 14. The method of claim 9, wherein if a first reliability of the first indication information is greater than or equal to a first preset reliability threshold, the first information includes first confirmation response information indicating that the first indication information is reliable.

15. 15. The method of claim 9, wherein the first indication information comprises first location information, the first location information indicating a first location of the map element, or the first location information indicating the first location and a trust radius centered on the first location.

16. A map update device comprising a processor, the processor coupled to a memory; the memory configured to store instructions; and A map updating apparatus, wherein the processor is configured to execute the instructions stored in the memory, such that the map updating apparatus implements a method according to any one of claims 1 to 15.

17. A computer program product for causing a processor to carry out the method according to any one of claims 1 to 15.

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