Map update data processing method, device, and system

Abstract

The method includes the steps of: obtaining first information from at least one vehicle terminal in a time window; determining first change information of the second information and accuracy information and / or reliability information of the first change information based on the first information and second information in the map, wherein the first change information indicates a difference between the first information and the second information; and finally transmitting the first change information of the second information and the accuracy information and / or reliability information to the first vehicle terminal.

Description

[Technical Field]

[0001] The present application relates to the field of autonomous driving technology, and in particular to a map update data processing method, apparatus, and system. [Background technology]

[0002] Autonomous vehicles rely on the cooperation of technologies such as artificial intelligence, visual computing, radar, positioning systems, and high-definition maps, which allow computers to operate automobiles automatically and safely without any active manual intervention. High-definition maps are used as essential tools for vehicle navigation, and the accuracy, precision, and update efficiency of high-definition maps are important to the safety of autonomous vehicles. For example, maps need to be updated when roads are closed, routes are changed, or traffic signs are changed.

[0003] In existing high-definition map update solutions, sensors on the vehicle terminal are used to detect the surrounding environment, and the detection results (e.g., road feature information) corresponding to the detected target are compared with a local map. If it is determined that the detection result corresponding to the target does not match the corresponding map element in the local map, the detection result corresponding to the target is sent to a cloud server, and the cloud server updates the map based on the detection result and sends the updated map to the vehicle terminal.

[0004] However, since the sensor performance of different vehicle terminals is different, the accuracy of the map elements collected by different vehicle terminals is not completely consistent, and the sensor status of different vehicle terminals is unstable. In the above-mentioned method, the reliability of the map update data received by the vehicle terminal is uncertain. When the vehicle terminal performs navigation by using the map update data, security cannot be ensured. Summary of the Invention

[0005] The present application provides a map update data processing method, apparatus, and system for use in a smart vehicle to improve the reliability of map update data sent to the vehicle terminal and further ensure the security of the use of the map update data by the vehicle terminal.

[0006] According to a first aspect, the present application provides a map update data processing method, the method including: a computing device first acquiring first information from at least one vehicle terminal during a time window. The first information does not match corresponding second information in a local map stored in the vehicle terminal. Next, the computing device determines first change information of the second information and accuracy and / or reliability information corresponding to the first change information based on the first information. The first change information is information about a difference between the first information and the second information. Finally, the computing device transmits the first change information of the second information and the accuracy and / or reliability information corresponding to the first change information to the at least one vehicle terminal. The accuracy and / or reliability information corresponding to the first change information is used by the vehicle terminal to determine whether to use the first change information of the second information. The map update data transmitted by the computing device to the vehicle terminal carries accuracy information and / or reliability information, and the accuracy information and / or reliability information may represent the accuracy and reliability of the map update data, so that the vehicle terminal may recognize the trustworthiness of the map update data and may further determine whether to use the map update data based on the reliability, thereby improving the reliability of the use of the map update data transmitted to the vehicle terminal and ensuring the security of the use of the map update data by the vehicle terminal.

[0007] In a possible design, the second information includes one or more of the following parameters: at least one map element in the local map, at least one map element group in the local map, at least one map tile in the local map, at least one region in the local map, and at least one country in the local map.

[0008] In one possible design, the method in this implementation may further include a step in which the computing device receives, from the at least one vehicle terminal, result feedback information obtained after the first change information is used. The computing device determines second change information of the second information based on the result feedback information. The second change information of the second information is data used to perform a map update. The vehicle terminal may use the first change information of the second information to check the accuracy of map elements in the updated map information and notify the computing device of the check result. The computing device may determine, based on the result feedback information, whether the second change information of the second information includes the first change information. This further improves the accuracy and reliability of the map update data.

[0009] In a possible design, the accuracy information corresponding to the first change information is the number of vehicle terminals reporting the first information in the time window. Correspondingly, the computing device may determine, based on the number of vehicle terminals reporting the first information in the time window, that the accuracy information corresponding to the first change information is the number of vehicle terminals reporting the first information in the time window.

[0010] Alternatively, the accuracy information corresponding to the first change information is a ratio of the number of vehicle terminals reporting the first information in the time window to the number of all vehicle terminals passing through the geographical position corresponding to the second information in the time window. Correspondingly, the computing device may determine the accuracy information corresponding to the first change information based on the number of vehicle terminals reporting the first information in the time window and the number of all vehicle terminals passing through the geographical position corresponding to the second information in the time window.

[0011] Alternatively, the accuracy information corresponding to the first change information is error information of the first change information. Correspondingly, the computing device may determine the accuracy information corresponding to the first change information based on the error information of the first change information.

[0012] In a possible design, the reliability information corresponding to the first change information is the maximum or weighted average of the reliability levels of the first change information in the time window.

[0013] In a possible design, if the number of map elements corresponding to the second information is greater than 1, the reliability information corresponding to the first change information is the average value of the reliability levels of all map elements corresponding to the second information.

[0014] In a possible design, if the transmission delay of the first information is greater than or equal to a preset threshold, the computing device is a cloud server.

[0015] The step of the computing device obtaining the first information from at least one vehicle terminal in a time window may specifically be as follows:

[0016] The computing device receives first information transmitted by the at least one vehicle terminal.

[0017] Alternatively, the computing device receives first information transmitted by at least one vehicle terminal through the first device.

[0018] In a possible design, before the computing apparatus receives the first information transmitted by the at least one vehicle terminal through the first device, the method further includes the following steps:

[0019] The computing device transmits information to the first device that is used to request the first information.

[0020] In a possible design, if the transmission delay of the first information is less than a preset threshold, the computing device is the second device.

[0021] The step of the computing device obtaining the first information from the at least one vehicle terminal in the time window may be as follows:

[0022] The computing device receives first information transmitted by at least one vehicle terminal, and the vehicle terminal directly transmits the first information to a second device, and the second device processes the first information. In this way, the transmission delay is relatively short, and the overall processing time can be shortened.

[0023] In a possible design, the second device is one of a base station, a roadside unit device, or another vehicle terminal excluding the at least one vehicle terminal.

[0024] In one possible design, the first information is scrambled using vehicle identification information, area identification information, or map element identification information, so that the first information transmitted by different vehicle terminals can be distinguished and the accuracy of demodulating the received information from different vehicles can be improved.

[0025] Alternatively, the first information may be initialized by using vehicle identification information, area identification information, or map element identification information, so that the first information transmitted by different vehicle terminals can be distinguished, and the accuracy of demodulating the received information from different vehicles can be improved.

[0026] In one possible design, when the transmission delay of the first information is less than a predetermined threshold, the computing device is a cloud server, and the amount of the first information whose transmission delay is less than the predetermined threshold is less than or equal to the amount of the first information whose transmission delay is greater than or equal to the predetermined threshold, thereby reducing the complexity of data processing by the computing device.

[0027] According to a second aspect, the present application provides a map update data processing method, the method including:

[0028] The vehicle terminal transmits first information to the computing device. The first information does not match corresponding second information in a local map stored on the vehicle terminal. The computing device uses the first information to determine first change information of the second information and accuracy and / or reliability information corresponding to the first change information. The first change information is information about the difference between the first information and the second information. Next, the vehicle terminal receives the first change information of the second information and the accuracy and / or reliability information corresponding to the first change information from the computing device. Finally, the vehicle terminal determines whether to use the first change information of the second information based on the accuracy and / or reliability information corresponding to the first change information. The map update data received by the vehicle terminal carries accuracy and / or reliability information, and the accuracy and / or reliability information may represent the accuracy and reliability of the map update data. Therefore, the vehicle terminal may recognize the trustworthiness of the map update data and further determine whether to use the map update data based on the reliability. This increases the reliability of the use of map update data received by the vehicle terminal and ensures the security of the use of map update data by the vehicle terminal.

[0029] In a possible design, the second information may include the following parameters: At least one map element in the local map, at least one map element group in the local map, at least one map tile in the local map, at least one region in the local map, and at least one country in the local map may include one or more of:

[0030] In a possible design, the method may further include:

[0031] The vehicle terminal may transmit result feedback information obtained after the first change information is used to the computing device. The vehicle terminal may use the first change information of the second information to check the accuracy of the map elements in the updated map information and notify the computing device of the check result. The computing device may determine whether the second change information of the second information includes the first change information based on the result feedback information. This further improves the accuracy and reliability of the map update data.

[0032] In a possible design, the accuracy information corresponding to the first change information is the number of vehicle terminals reporting the first information in a time window.

[0033] Alternatively, the accuracy information corresponding to the first change information is the ratio of the number of vehicle terminals reporting the first information in the time window to the total number of vehicle terminals passing through the geographical location corresponding to the second information in the time window.

[0034] Alternatively, the accuracy information corresponding to the first variation information is error information of the first variation information.

[0035] In a possible design, the reliability information corresponding to the first change information is the maximum or weighted average of the reliability levels of the first change information in the time window.

[0036] In a possible design, if the number of map elements corresponding to the second information is greater than 1, the reliability information corresponding to the first change information is the average value of the reliability levels of all map elements corresponding to the second information.

[0037] In one possible design, the first information is scrambled using vehicle identification information, area identification information, or map element identification information, so that the first information transmitted by different vehicle terminals can be distinguished and the accuracy of demodulating the received information from different vehicles can be improved.

[0038] Alternatively, the first information may be initialized by using vehicle identification information, area identification information, or map element identification information, so that the first information transmitted by different vehicle terminals can be distinguished, and the accuracy of demodulating the received information from different vehicles can be improved.

[0039] According to a third aspect, the present application provides a map update data processing device, the device including: an acquisition module configured to acquire first information from at least one vehicle terminal during a time window, where the first information does not match corresponding second information in a local map stored in the vehicle terminal; a determination module configured to determine first change information of the second information and accuracy information and / or reliability information corresponding to the first change information based on the first information, where the first change information is information about a difference between the first information and the second information; and a transmission module configured to transmit the first change information of the second information and the accuracy information and / or reliability information corresponding to the first change information to at least one vehicle terminal, where the accuracy information and / or reliability information corresponding to the first change information is used by the vehicle terminal to determine whether to use the first change information of the second information.

[0040] In a possible design, the second information may include the following parameters: At least one map element in the local map, at least one map element group in the local map, at least one map tile in the local map, at least one region in the local map, and at least one country in the local map Contains one or more of the following:

[0041] In a possible design, the apparatus further includes a receiving module configured to receive, from the at least one vehicle terminal, result feedback information obtained after the first change information has been used.

[0042] The determination module is further configured to determine second change information of the second information based on the result feedback information, wherein the second change information of the second information is data used to perform the map update.

[0043] In a possible design, the accuracy information corresponding to the first change information is the number of vehicle terminals reporting the first information in a time window.

[0044] Alternatively, the accuracy information corresponding to the first change information is the ratio of the number of vehicle terminals reporting the first information in the time window to the total number of vehicle terminals passing through the geographical location corresponding to the second information in the time window.

[0045] Alternatively, the accuracy information corresponding to the first variation information is error information of the first variation information.

[0046] In a possible design, the reliability information corresponding to the first change information is the maximum or weighted average of the reliability levels of the first change information in the time window.

[0047] In a possible design, if the number of map elements corresponding to the second information is greater than 1, the reliability information corresponding to the first change information is the average value of the reliability levels of all map elements corresponding to the second information.

[0048] In a possible design, if the transmission delay of the first information is greater than or equal to a preset threshold, the device includes a cloud server.

[0049] Specifically, the acquisition module: receiving first information transmitted by at least one vehicle terminal; or receiving first information transmitted by at least one vehicle terminal through the first device; It is configured as follows.

[0050] In a possible design, the transmitting module further comprises: The acquisition module transmits information used to request the first information to the first device before receiving the first information transmitted by the at least one vehicle terminal through the first device. It is configured as follows.

[0051] In a possible design, the apparatus includes the second device if the transmission delay of the first information is less than a preset threshold.

[0052] The obtaining module is specifically configured to receive first information transmitted by at least one vehicle terminal.

[0053] In possible designs, the second device includes one of a base station, a roadside unit device, or another vehicle terminal excluding the at least one vehicle terminal.

[0054] In a possible design, the first information is scrambled by using vehicle identification information, area identification information, or map element identification information.

[0055] Alternatively, the first information is initialized by using vehicle identification information, area identification information, or map element identification information.

[0056] In a possible design, when the transmission delay of the first information is less than a predetermined threshold, the apparatus includes a cloud computing apparatus, and the amount of the first information whose transmission delay is less than the predetermined threshold is less than or equal to the amount of the first information whose transmission delay is greater than or equal to the predetermined threshold.

[0057] The beneficial effects of the map update data processing device according to the third aspect and any one of the possible designs of the third aspect refer to the beneficial effects of the first aspect and any one of the possible implementations of the first aspect, and will not be described in detail again in this specification.

[0058] According to a fourth aspect, the present application provides a vehicle terminal, the vehicle terminal comprising: a transmitting module configured to transmit first information to a computing device, the first information not matching corresponding second information in a local map stored in the vehicle terminal, the first information being used by the computing device to determine first variation information of the second information and accuracy information and / or reliability information corresponding to the first variation information, the first variation information being information about a difference between the first information and the second information; a receiving module configured to receive, from the computing device, first variation information of the second information and accuracy information and / or reliability information corresponding to the first variation information; a determination module configured to determine whether to use the first variation information of the second information based on accuracy information and / or reliability information corresponding to the first variation information; Includes:

[0059] In a possible design, the second information may include the following parameters: At least one map element in the local map, at least one map element group in the local map, at least one map tile in the local map, at least one region in the local map, and at least one country in the local map Contains one or more of the following:

[0060] In a possible design, the transmitting module further comprises: Sending result feedback information obtained after the first change information is used to the computing device. It is configured as follows.

[0061] In a possible design, the accuracy information corresponding to the first change information is the number of vehicle terminals reporting the first information in a time window.

[0062] Alternatively, the accuracy information corresponding to the first change information is the ratio of the number of vehicle terminals reporting the first information in the time window to the total number of vehicle terminals passing through the geographical location corresponding to the second information in the time window.

[0063] Alternatively, the accuracy information corresponding to the first variation information is error information of the first variation information.

[0064] In a possible design, the reliability information corresponding to the first change information is the maximum or weighted average of the reliability levels of the first change information in the time window.

[0065] In a possible design, if the number of map elements corresponding to the second information is greater than 1, the reliability information corresponding to the first change information is the average value of the reliability levels of all map elements corresponding to the second information.

[0066] In a possible design, the first information is scrambled by using vehicle identification information, area identification information, or map element identification information.

[0067] Alternatively, the first information is initialized by using vehicle identification information, area identification information, or map element identification information.

[0068] The beneficial effects of the map update data processing device according to the fourth aspect and any one of the possible designs of the fourth aspect refer to the beneficial effects of the second aspect and any one of the possible implementations of the second aspect, and will not be described in detail again in this specification.

[0069] According to a fifth aspect, the present application provides a map update data processing device, the device including a memory and a processor.

[0070] The memory is configured to store program instructions.

[0071] The processor is configured to invoke program instructions in the memory and to execute the map update data processing method according to any one of the first aspect and possible designs of the first aspect.

[0072] According to a fifth aspect, the present application provides a vehicle terminal, the vehicle terminal including a memory and a processor.

[0073] The memory is configured to store program instructions.

[0074] The processor is configured to invoke program instructions in the memory and to execute a map update data processing method according to any one of the second aspect and possible designs of the second aspect.

[0075] According to a sixth aspect, the present application provides a readable storage medium, the readable storage medium storing executable instructions, which, when executed by at least one processor of the map update data processing device, cause the map update data processing device to perform a method according to the first aspect and any one of the possible designs of the first aspect.

[0076] According to a seventh aspect, the present application provides a readable storage medium, the readable storage medium storing executable instructions, which, when executed by at least one processor of the vehicle terminal, cause the vehicle terminal to perform a method according to any one of the second aspect and possible designs of the second aspect.

[0077] According to an eighth aspect, the present application provides a map update data processing system, the map update data processing system including a map update data processing device according to any one of the third aspect and its possible designs, and a vehicle terminal according to any one of the fourth aspect and its possible designs. [Brief explanation of the drawings]

[0078] [Figure 1] 1 is a schematic diagram of a scenario in which the map update data processing method according to the present application is applied;

[0079] [Figure 2] FIG. 2 is a schematic diagram of another scenario in which the map update data processing method according to the present application may be applied;

[0080] [Figure 3] 1 is a flowchart of an embodiment of a map update data processing method according to the present application.

[0081] [Figure 4] 1 is a flowchart of an embodiment of a map update data processing method according to the present application.

[0082] [Figure 5A] 1 is an interaction flowchart of an embodiment of a map update data processing method according to the present application; [Figure 5B] 1 is an interaction flowchart of an embodiment of a map update data processing method according to the present application;

[0083] [Figure 6] 1 is a schematic diagram of the structure of an embodiment of a map update data processing device according to the present application;

[0084] [Figure 7] 1 is a schematic diagram of the structure of an embodiment of a map update data processing device according to the present application;

[0085] [Figure 8] 1 is a schematic diagram of the structure of a vehicle terminal according to the present application;

[0086] [Figure 9] 1 is a schematic diagram of the structure of a map update data processing device according to the present application;

[0087] [Figure 10] 1 is a schematic diagram of the structure of a vehicle terminal according to the present application; DETAILED DESCRIPTION OF THE INVENTION

[0088] In the embodiments of the present application, terms such as "example" or "for example" are used to provide an example, illustration, or explanation. Any embodiment or scheme described as "example" or "for example" in the embodiments of the present application is not intended to be preferred or have more advantages than another embodiment or scheme. Rather, the use of the terms "example" or "for example" is intended to indicate a relative concept in a specific manner. The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0089] In the prior art, the reliability of the map update data received by the vehicle terminal is uncertain, so security cannot be ensured when the vehicle terminal performs navigation by using the map update data.

[0090] To solve this problem, the present application provides a map update data processing method, device, and system. A computing device determines map update data and accuracy and / or reliability information of the map update data based on data collected by a vehicle terminal. The map update data and accuracy and / or reliability information of the map update data are then transmitted to the vehicle terminal. The map update data transmitted to the vehicle terminal by the computing device carries accuracy and / or reliability information, and the accuracy and / or reliability information may represent the reliability of the map update data. Therefore, the vehicle terminal may recognize the trustworthiness of the map update data and further determine whether to use the map update data based on the reliability. This improves the reliability of the use of the map update data transmitted to the vehicle terminal and ensures the security of the use of the map update data by the vehicle terminal. The map update data processing method, device, and system provided in the present application are described in detail below with reference to the accompanying drawings.

[0091] The map update data processing method, apparatus, and system provided herein may be applied to the fields of unmanned driving, driver assistance (ADAS), or intelligent driving.

[0092] The map update data processing method provided herein may be performed by a computing device, which may be a server or a device such as a processor located within a server, or the server may be a cloud server, etc.

[0093] FIG. 1 is a schematic diagram of a scenario in which the map update data processing method according to the present application is applied. As shown in FIG. 1, the application scenario mainly includes a cloud server 11 and a vehicle terminal 12. The vehicle terminal 12 may use a local map to detect the surrounding environment. For example, the vehicle terminal 12 may detect the surrounding environment through a sensor disposed on the vehicle terminal 12 and detect first information. The vehicle terminal 12 compares the detected first information with corresponding second information in the local map, and if the detected first information does not match the corresponding second information, transmits the detected first information to the cloud server. The cloud server 11 may store a high-definition map database. The cloud server 11 may receive at least one piece of first information from the vehicle terminal 12; determine, based on the first information received from the at least one vehicle terminal during a time window, first variation information of the second information and accuracy information and / or reliability information corresponding to the first variation information, where the first variation information is information about a difference between the first information and the second information or information indicating that the first information is inconsistent with the second information; and then transmit the first variation information of the second information and the accuracy information and / or reliability information corresponding to the first variation information to the vehicle terminal 12 and another vehicle terminal. The vehicle terminal 12 or another vehicle terminal may determine whether to use the first variation information based on the accuracy information and / or reliability information corresponding to the first variation information. For example, if the vehicle terminal determines that the accuracy information and / or reliability information corresponding to the first variation information meets a predetermined requirement, the first variation information is used. For example, navigation may be performed directly by using the first change information, or navigation may be performed after the local map is updated by using the first change information. After using the first change information, the vehicle terminal 12 transmits result feedback information obtained after the first change information is used to the cloud server 11. The result feedback information is the driving result of the vehicle after the first change information is used. The cloud server 11 determines second change information of the second information based on the result feedback information after the first change information is used.

[0094] FIG. 2 is a schematic diagram of another scenario in which the map update data processing method according to the present application is applied. As shown in FIG. 2, this application scenario mainly includes a cloud server 11, a vehicle terminal 12, and a base station or roadside unit device 13. The vehicle terminal 12 uses a local map. Furthermore, the vehicle terminal 12 may sense the surrounding environment. For example, the vehicle terminal 12 may sense the surrounding environment through a sensor disposed on the vehicle terminal 12 and detect first information. The vehicle terminal 12 compares the detected first information with corresponding second information in the local map. If the detected first information does not match the corresponding second information, a transmission delay of the first information is first determined. If the transmission delay of the first information is greater than or equal to a preset threshold, the first information is delay-insensitive information. In this case, the vehicle terminal 12 transmits the first information to the cloud server 11 directly or through a first device. The cloud server 11 performs processing. Specifically, the cloud server 11 performs processing by using the map update data processing method provided herein. If the transmission delay of the first information is smaller than a preset threshold, i.e., if the first information is delay-sensitive information, real-time information, and information that needs to be processed in a short time, the vehicle terminal 12 transmits the first information to the second device 13. The second device 13 performs processing. Specifically, the second device 13 performs processing by using the map update data processing method provided in the present application. The first device may be a base station, a roadside unit device, or another vehicle terminal other than the vehicle terminal transmitting the first information. Hereinafter, the technical solution of the present application will be described in detail with reference to the accompanying drawings.

[0095] 3 is a flowchart of an embodiment of a map update data processing method according to the present application. As shown in FIG. 3, this embodiment may be performed by a computing device. The computing device may be a server or a device such as a processor located in a server. The method in this embodiment may include the following steps:

[0096] S101: A computing device acquires first information from at least one vehicle terminal in a time window, and the first information does not match corresponding second information in a local map stored in the vehicle terminal.

[0097] The time window may be a preset period, for example, one second, one minute, one hour, one day, one week, or half a month. The computing device may periodically obtain the first information from the vehicle terminal by using the time window as the periodicity.

[0098] Specifically, the map in this application may be an electronic map. An electronic map is a digital map. An electronic map is a map that can be stored in digital format using computer technology based on a map database and displayed on a terminal device display. The main components of an electronic map are map elements, such as geographical elements such as mountains, river systems, land, administrative divisions, points of interest, or roads, and other examples include target elements on roads such as lane lines, crosswalks, stop lines, traffic signs, road maps, lampposts, traffic lights, gantries, roundabouts, or parking lots. Roads may be further classified into five classes: expressways, first-class roads, second-class roads, third-class roads, and fourth-class roads. Each class of road may be a different map element.

[0099] The first information may be information detected by the vehicle terminal by sensing the surrounding environment. For example, during a driving process, the vehicle terminal acquires the first information by detecting the surrounding environment through a sensor, such as a laser radar or a camera, disposed on the vehicle terminal. The first information may be one or more elements, such as a road map, a lamppost, a traffic sign, or a traffic light. Alternatively, the first information may be attribute or characteristic information of the elements, such as road feature information. The road feature information may be, for example, the width, shape, curvature, or friction coefficient of the road. Alternatively, the first information may be newly detected information compared with the local map, i.e., information not present in the local map.

[0100] The sensor located on the vehicle terminal may be a sensor such as a camera, laser radar, millimeter-wave radar, ultrasound, or combined inertial navigation. The second information may be at least one map element or at least one attribute of a map element in the local map. The second information may be, for example, a lamppost, a traffic sign, a traffic light, or a lane boundary. Alternatively, the second information may be at least one map element group, at least one map tile, at least one region, or at least one country in the local map. Alternatively, the second information may be at least one of a road shape, curvature, slope, or width.

[0101] The vehicle terminal compares the detected first information with the corresponding second information in the local map, and if the detected first information does not match the corresponding second information, sends the detected first information to the computing device. The mismatch may occur in the following four cases, for example:

[0102] 1. If the second information is at least one map element in the local map, the vehicle terminal compares the detected first information with the corresponding second information in the local map, and if the position of the second information (which is at least one map element in the local map), for example, the position of a lane boundary line, a stop line, a crosswalk, an intersection area, or a circumscribing rectangular surface formed by a lamppost and a streetlight, changes, the vehicle terminal determines that the first information does not match the second information.

[0103] 2. If the second information is at least one attribute of a map element in the local map, the vehicle terminal compares the detected first information with the corresponding second information in the local map, and if the second information (which is at least one attribute of a map element in the local map) has changed, for example, the color, shape, width, material, line type, whether the lane is a special purpose lane, or the road curvature / slope topology has changed, the vehicle terminal determines that the first information does not match the second information.

[0104] 3. The vehicle terminal compares the detected first information with the corresponding second information in the local map, and if it determines that the first information is a newly added map element, the vehicle terminal determines that the first information does not match the second information.

[0105] 4. The vehicle terminal compares the detected first information with the corresponding second information in the local map, and if it determines that the second information is the original map element and that the original map element has disappeared, it determines that the first information does not match the second information.

[0106] S102: The computing device determines, based on the first information, first variation information of the second information and accuracy information and / or reliability information corresponding to the first variation information, where the first variation information is information about a difference between the first information and the second information.

[0107] Specifically, during a time window, the computing device may receive one or more pieces of first information. The computing device first determines first change information of the second information based on the first information and corresponding second information in a local map stored in the vehicle terminal. Note that the local map stored in the vehicle terminal is transmitted to the vehicle terminal by the computing device. Thus, the computing device recognizes the local map stored in the vehicle terminal and the corresponding version of the local map. The first change information is information about a difference between the first information and the second information, or information indicating that the first information is inconsistent with the second information. For example, the vehicle terminal may perform the following steps: detect a first road map at point A of the first intersection, where the first information is attribute information such as the position (i.e., point A of the first intersection), color, shape, and size of the road map; search for second information (i.e., map elements in this specification) of a position corresponding to the position of the road map in the local map based on the first information; and if the position has the second road map, determine information about the difference between the attribute information of the first road map and the second road map, for example, the difference between color, shape, and size, and determine the determined difference information as first change information of the second information; or if the position in the local map has no information, determine that the first road map is a newly added road map and determine attribute information such as the position, shape, and size of the first road map as first change information of the second information.

[0108] The computing device may further determine, based on the determined first change information, accuracy information and / or reliability information corresponding to the first change information. Specifically, the accuracy information and / or reliability information may be used to represent the reliability of the map update data. Specifically, the computing device determines, based on the determined first change information, the accuracy information corresponding to the first change information. Three possible exemplary implementations are provided below.

[0109] Method 1: The accuracy information corresponding to the first change information may be defined as the number of vehicle terminals that report the first information in a time window. In this case, the computing device may determine, based on the number of vehicle terminals that report the first information in a time window, that the accuracy information corresponding to the first change information is the number of vehicle terminals that report the first information in a time window. For example, if the number of vehicle terminals that report the first information in a time window is 50, the accuracy information corresponding to the first change information is 50.

[0110] Method 2: The accuracy information corresponding to the first change information may be defined as a ratio of the number of vehicle terminals reporting the first information in a time window to the number of all vehicle terminals passing through the geographical position corresponding to the second information in the time window. Specifically, the vehicle terminal may report its geographical position to a computing device, thereby allowing the computing device to recognize the number of vehicle terminals passing through the geographical position. In this case, the computing device may determine the accuracy information corresponding to the first change information based on the number of vehicle terminals reporting the first information in the time window and the number of all vehicle terminals passing through the geographical position corresponding to the second information in the time window. For example, if the number of vehicle terminals reporting the first information in a time window is 50 and the number of all vehicle terminals passing through the geographical position corresponding to the second information in the time window is 80, the accuracy information corresponding to the first change information is 5 / 8=0.625.

[0111] Method 3: The accuracy information corresponding to the first change information may be defined as error information of the first change information. In this case, the computing device may determine the accuracy information corresponding to the first change information based on the error information of the first change information, and the error information is a measurement deviation value of the vehicle terminal. It should be understood that the measurement deviation value in this specification may be quantified into multiple discrete levels. For example, if the update data is the position of an element, the accuracy information is deviation information or deviation order of the position.

[0112] The confidence level in this embodiment of the present application may be the probability that the overall parameter value falls within the interval of the sample's statistical value, and may also be referred to as any one of a guarantee rate, reliability, confidence level, or confidence coefficient, i.e., a form of a confidence level in traditional mathematics. Alternatively, the confidence level may be a posterior probability of determining the detected target, for example, a posterior probability value based on Bayesian estimation, or a value between 0 and 1 obtained through calculation based on a membership function of fuzzy mathematics. This is not particularly limited in this embodiment.

[0113] Specifically, the accuracy information corresponding to the first change information may be used to measure the accuracy and reliability of the first change information. The computing device may be used to determine the accuracy information corresponding to the first change information, thereby determining the accuracy and reliability of the first change information. When transmitting the first change information to the vehicle terminal, the computing device retains the accuracy information corresponding to the first change information, thereby allowing the vehicle terminal to recognize the accuracy and reliability of the first change information and determine whether to use map update data based on the reliability. This ensures the security of the use of the first change information by the vehicle terminal.

[0114] According to this embodiment of the present application, in a possible implementation, the reliability information corresponding to the first change information may be a maximum value or a weighted average value of the reliability levels of the first change information in a time window. Correspondingly, the computing device determining the reliability information corresponding to the first change information based on the determined first change information may be calculating a maximum value or a weighted average value of the reliability levels of the first change information in a time window. The calculated maximum value or the weighted average value of the reliability levels of the first change information is the reliability information corresponding to the first change information.

[0115] In another possible implementation, when the number of map elements corresponding to the second information is greater than 1, the reliability information corresponding to the first change information may be an average value of the reliability levels of all map elements corresponding to the second information. Correspondingly, the computing device's determination of the reliability information corresponding to the first change information based on the determined first change information may involve calculating an average value of the reliability levels of all map elements corresponding to the second information. The calculated average value of the reliability levels of all map elements corresponding to the second information is the reliability information corresponding to the first change information.

[0116] S103: The computing device transmits first change information of the second information and accuracy information and / or reliability information corresponding to the first change information to at least one vehicle terminal, and the accuracy information and / or reliability information corresponding to the first change information is used by the vehicle terminal to determine whether to use the first change information of the second information.

[0117] Specifically, after the computing device acquires the first change information of the second information and the accuracy information corresponding to the first change information, or after the computing device acquires the first change information of the second information and the reliability corresponding to the first change information, or after the computing device acquires the first change information of the second information and the accuracy information and / or reliability information corresponding to the first change information, the computing device transmits the first change information of the second information and the accuracy information and / or reliability information corresponding to the first change information to at least one vehicle terminal. The vehicle terminal may determine whether to use the first change information of the second information based on the first change information of the second information and the accuracy information and / or reliability information corresponding to the first change information. For example, if the vehicle terminal determines that the accuracy information and / or reliability information corresponding to the first change information of the second information meets a predetermined requirement, the vehicle terminal decides to use the first change information. For example, navigation may be performed directly by using the first change information of the second information, or navigation may be performed after the local map is updated by using the first change information of the second information. It will be understood that the first change information of the second information may be referred to as map update data. The map update data sent by the computing device to the vehicle terminal may carry accuracy information and / or reliability information, and the accuracy information and / or reliability information may represent the reliability of the map update data, so that the vehicle terminal may recognize the trustworthiness of the map update data and may further determine whether to use the map update data based on the reliability. This improves the reliability of use of the map update data sent to the vehicle terminal and ensures the security of use of the map update data by the vehicle terminal.

[0118] Furthermore, based on the above embodiment, the method according to this embodiment may further include:

[0119] S104: The computing device receives, from the at least one vehicle terminal, result feedback information obtained after the first change information is used.

[0120] S105: The computing device determines second change information of the second information based on the result feedback information, where the second change information of the second information is data used to perform map update.

[0121] Specifically, the computing device transmits first change information of the second information and accuracy information and / or reliability information corresponding to the first change information to the vehicle terminal, and the vehicle terminal determines whether to use the first change information of the second information based on the configuration of the vehicle terminal. If the vehicle terminal determines to use the first change information of the second information, after use, the vehicle terminal generates a corresponding use result in the driving process. The use result is “correct” or “incorrect,” or the use result is score feedback, and the feedback information is the use result. The vehicle terminal transmits result feedback information to the computing device. The computing device may determine second change information of the second information based on the result feedback information. For example, if the result feedback information is “correct,” the computing device may determine that the second change information of the second information includes the first change information, or if the result feedback information is “incorrect,” the computing device may determine that the second change information of the second information does not include the first change information. The second change information of the second information may be data used to perform a map update. The vehicle terminal may use the first change information of the second information to check the accuracy of the map elements in the updated map information and notify the computing device of the check result. The computing device may determine whether the second change information of the second information includes the first change information based on the result feedback information. This further improves the accuracy and reliability of the map update data.

[0122] Optionally, the computing device may perform a map update based on the second change information of the second information. The second change information of the second information is verified by driving the vehicle terminal, so that accuracy can be ensured. Therefore, the computing device may perform a map update based on the second change information of the second information.

[0123] According to the map update data processing method provided in this embodiment, a computing device is used to obtain first information from at least one vehicle terminal during a time window, where the first information does not match corresponding second information in a local map stored in the vehicle terminal. The computing device then determines first change information of the second information and accuracy information and / or reliability information corresponding to the first change information based on the first information, and finally transmits the first change information of the second information and the accuracy information and / or reliability information corresponding to the first change information to the at least one vehicle terminal. The vehicle terminal may determine whether to use the first change information of the second information based on the first change information of the second information and the accuracy information and / or reliability information corresponding to the first change information. The map update data (i.e., the first change information of the second information) transmitted to the vehicle terminal by the computing device carries the accuracy information and / or reliability information. The accuracy information and / or reliability information may represent the reliability of the map update data, so the vehicle terminal may recognize the trustworthiness of the map update data and may further determine whether to use the map update data based on the reliability. This improves the reliability of the use of map update data transmitted to the vehicle terminal and ensures the security of the use of map update data by the vehicle terminal.

[0124] In this embodiment of the present application, the computing device may be a cloud server or a second device. If the transmission delay of the first information is greater than or equal to a preset threshold, that is, the first information is data with a relatively low (or unaffected) delay requirement, the computing device is a cloud server. In this case, in S101, the step of the computing device obtaining the first information from at least one vehicle terminal in a time window may be specifically as follows:

[0125] The computing device receives first information transmitted by the at least one vehicle terminal.

[0126] Alternatively, the computing device receives the first information transmitted by at least one vehicle terminal through the first device. The first device is, for example, a base station. Specifically, the vehicle terminal may transmit the first information to the base station, and the base station transmits the first information to a cloud server for processing. Optionally, before the computing device receives the first information transmitted by the at least one vehicle terminal through the first device, the method may further include the computing device transmitting information used to request the first information to the first device. Specifically, the vehicle terminal transmits the first information to the first device, and the first device transmits the first information to the computing device only after receiving the information transmitted by the computing device used to request the first information.

[0127] If the transmission delay of the first information is smaller than the preset threshold, the estimated processing time of the first information is relatively short, and the first information is data that needs to be processed immediately, for example, some data that may cause an accident if the first information is not processed immediately. In this case, the computing device is the second device, and the step of the computing device obtaining the first information from at least one vehicle terminal in the time window in S101 may be specifically as follows:

[0128] The computing device receives the first information sent by at least one vehicle terminal. Specifically, the vehicle terminal directly transmits the first information to the second device, and the second device performs S102 and S103. In this way, the transmission delay is relatively short, and the overall processing time can be shortened.

[0129] Optionally, the second device may be one of a base station, a roadside unit device, or another vehicle terminal excluding the at least one vehicle terminal.

[0130] According to this embodiment, in a possible implementation, before the first information is transmitted by the vehicle terminal to the computing device, the first information may be scrambled by using vehicle identification information, area identification information, or map element identification information, so that the first information transmitted by different vehicle terminals can be distinguished, and the accuracy of demodulating the received information from different vehicles can be improved.

[0131] Alternatively, before the first information is transmitted by the vehicle terminal to the computing device, the first information is initialized by using the vehicle identification information, the area identification information, or the map element identification information, so that the first information transmitted by different vehicle terminals can be distinguished, and the accuracy of demodulation of the received information from different vehicles can be improved.

[0132] According to this embodiment, when the transmission delay of the first information is less than a predetermined threshold, the computing device is a cloud server, and the amount of the first information whose transmission delay is less than the predetermined threshold is less than or equal to the amount of the first information whose transmission delay is greater than or equal to the predetermined threshold, thereby reducing the complexity of data processing by the computing device.

[0133] Hereinafter, a process in which the vehicle terminal reports the first information based on different transmission delays of the first information will be described using a specific embodiment.

[0134] 4 is a flowchart of an embodiment of a map update data processing method according to the present application. As shown in FIG. 4, the method in this embodiment may include the following steps:

[0135] S201: The vehicle terminal senses the surrounding environment through a sensor disposed on the vehicle terminal, and detects first information.

[0136] Specifically, for example, during the course of travel, the vehicle terminal acquires the first information by detecting the surrounding environment through a sensor such as a laser radar or a camera disposed on the vehicle terminal. For a specific description of the first information, please refer to the description in the embodiment of FIG. 3. Details will not be described again in this specification.

[0137] S202: The vehicle terminal compares the detected first information with the corresponding second information in the local map, and determines a transmission delay for the first information if the first information does not match the second information.

[0138] The first information does not match the second information in the following four cases, for example.

[0139] 1. If the second information is at least one map element in the local map, the vehicle terminal compares the detected first information with the corresponding second information in the local map, and if the position of the second information (which is at least one map element in the local map), for example, the position of a lane boundary line, a stop line, a crosswalk, an intersection area, or a circumscribing rectangular surface formed by a lamppost and a streetlight, changes, the vehicle terminal determines that the first information does not match the second information.

[0140] 2. If the second information is at least one attribute of a map element in the local map, the vehicle terminal compares the detected first information with the corresponding second information in the local map, and if the second information (which is at least one attribute of a map element in the local map) has changed, for example, the color, shape, width, material, line type, whether the lane is a special purpose lane, or the road curvature / slope topology has changed, the vehicle terminal determines that the first information does not match the second information.

[0141] 3. The vehicle terminal compares the detected first information with the corresponding second information in the local map, and if it determines that the first information is a newly added map element, the vehicle terminal determines that the first information does not match the second information.

[0142] 4. The vehicle terminal compares the detected first information with the corresponding second information in the local map, and if it determines that the second information is the original map element and that the original map element has disappeared, it determines that the first information does not match the second information.

[0143] If it is determined that the first information does not match the second information, a transmission delay for the first information is further determined, i.e., the type of the first information is determined to determine whether the first information is data that needs to be processed immediately.

[0144] S203: If the vehicle terminal determines that the transmission delay of the first information is greater than or equal to a preset threshold, the vehicle terminal sends the first information to the cloud server.

[0145] Specifically, if the transmission delay of the first information is greater than or equal to a predetermined threshold, the first information is delay-insensitive data, and the vehicle terminal transmits the first information to the cloud server for processing.

[0146] Alternatively, the vehicle terminal may transmit the first information to the cloud server through the first device, which may be, for example, a base station. Specifically, the vehicle terminal may transmit the first information to the base station, which then transmits the first information to the cloud server for processing.

[0147] S204: If the vehicle terminal determines that the transmission delay of the first information is less than the preset threshold, the vehicle terminal transmits the first information to the second device.

[0148] The second device may be one of a base station, a roadside unit device, or another vehicle terminal other than at least one vehicle terminal. Specifically, if the transmission delay of the first information is smaller than a preset threshold, the estimated processing time of the first information is relatively short, and the first information is data that needs to be processed immediately, for example, some data that may cause an accident if the first information is not processed immediately. In this case, the vehicle terminal directly transmits the map element to the second device, and the second device processes the map element. In this way, the transmission delay is relatively short, and the overall processing time can be shortened.

[0149] S205: The cloud server or the second device determines, based on the first information received in the time window, first change information of the second information and accuracy information and / or reliability information corresponding to the first change information.

[0150] For specific details of the determination process, please refer to the explanation of S102, and the details will not be explained again in this specification.

[0151] S206: The cloud server or the second device transmits the first change information of the second information and the accuracy information and / or reliability information corresponding to the first change information to at least one vehicle terminal.

[0152] S207: The vehicle terminal determines whether to use the first variation information of the second information based on the accuracy information and / or reliability information corresponding to the first variation information of the second information.

[0153] According to the map update data processing method provided in this embodiment, when the vehicle terminal detects that the first information does not match the corresponding second information in the local map, the vehicle terminal determines a transmission delay of the first information. If the transmission delay of the first information is greater than or equal to a preset threshold, the vehicle terminal transmits the first information to the cloud server for processing, or transmits the first information to the cloud server for processing through the first device. If the transmission delay of the first information is determined to be less than the preset threshold, the vehicle terminal transmits the first information to the second device for processing. The second device may be one of a base station, a roadside unit device, or another vehicle terminal other than the at least one vehicle terminal. In this manner, map update data with relatively high real-time requirements may be transmitted to the base station, the roadside unit device, or the vehicle terminal for immediate processing, and map update data with relatively low real-time requirements may be transmitted to a cloud server for processing. Such classification processing may improve the processing efficiency of the map update data.

[0154] Hereinafter, the technical solutions of the method embodiments shown in FIG. 3 and FIG. 4 will be described in detail using specific embodiments.

[0155] 5A and 5B are interaction flowcharts of an embodiment of a map update data processing method according to the present application. As shown in FIG. 5A and 5B, the method in this embodiment may include the following steps:

[0156] S301: The vehicle terminal senses the surrounding environment through a sensor disposed on the vehicle terminal, and detects first information.

[0157] Specifically, for example, during the course of travel, the vehicle terminal acquires the first information by detecting the surrounding environment through a sensor such as a laser radar or a camera disposed on the vehicle terminal. For a specific description of the first information, please refer to the description in the embodiment of FIG. 3. Details will not be described again in this specification.

[0158] S302: The vehicle terminal compares the detected first information with the corresponding second information in the local map, and determines a transmission delay for the first information if the first information does not match the second information.

[0159] Specifically, there may be four cases where the first information does not match the second information. For details, please refer to the description of S101 in the embodiment shown in FIG. 3. Details will not be described again in this specification. If it is determined that the first information does not match the second information, the transmission delay of the first information is further determined. That is, the type of the first information is determined to determine whether the first information is data that needs to be processed immediately.

[0160] S303: If the vehicle terminal determines that the transmission delay of the first information is greater than or equal to a preset threshold, the vehicle terminal sends the first information to the cloud server.

[0161] Specifically, if the transmission delay of the first information is greater than or equal to a preset threshold, the first information is delay-insensitive data, and the vehicle terminal transmits the first information to the cloud server for processing.

[0162] Alternatively, the vehicle terminal may transmit the first information to the cloud server through the first device, which may be, for example, a base station. Specifically, the vehicle terminal may transmit the first information to the base station, which then transmits the first information to the cloud server for processing.

[0163] S304: If the vehicle terminal determines that the transmission delay of the first information is less than the preset threshold, the vehicle terminal transmits the first information to the second device.

[0164] The second device may be one of a base station, a roadside unit device, or another vehicle terminal other than at least one vehicle terminal. Specifically, if the transmission delay of the first information is smaller than a preset threshold, the estimated processing time of the first information is relatively short, and the first information is data that needs to be processed immediately, for example, some data that may cause an accident if the first information is not processed immediately. In this case, the vehicle terminal directly transmits the map element to the second device, and the second device processes the map element. In this way, the transmission delay is relatively short, and the overall processing time can be shortened.

[0165] S305: The cloud server or the second device determines, based on the first information received in the time window, first change information of the second information and accuracy information and / or reliability information corresponding to the first change information.

[0166] Specifically, there are multiple vehicle terminals, and each vehicle terminal reports the detected first information to a cloud server or a second device. The cloud server or the second device determines first change information of the second information and accuracy information and / or reliability information corresponding to the first change information based on the first information received in the time window. The time granularity of the time window may be, for example, minutes, hours, days, weeks, or months. For specific determination processing, please refer to the description of S102. Details will not be described again in this specification.

[0167] S306: The cloud server or the second device transmits the first change information of the second information and the accuracy information and / or reliability information corresponding to the first change information to at least one vehicle terminal.

[0168] S307: The vehicle terminal determines whether to use the first change information of the second information based on the accuracy information and / or reliability information corresponding to the first change information of the second information. If the vehicle terminal determines to use the first change information of the second information, it continues to execute S308.

[0169] S308: The vehicle terminal sends the result feedback information obtained after the first change information is used to the cloud server or the second device.

[0170] S309: The cloud server or the second device determines second change information of the second information based on the result feedback information, where the second change information of the second information is data used to perform map update.

[0171] Specifically, the vehicle terminal determines whether to use the first change information of the second information based on the configuration of the vehicle terminal. If the vehicle terminal determines to use the first change information of the second information, after use, the vehicle terminal generates a corresponding use result in the driving process. The use result is “correct” or “incorrect,” and the feedback information is the use result. As an example, a cloud server is used. The vehicle terminal transmits the feedback information to the cloud server. The cloud server may determine the second change information of the second information based on the feedback information. For example, if the feedback information is “correct,” the cloud server may determine that the second change information of the second information includes the first change information, or if the feedback information is “incorrect,” the cloud server may determine that the second change information of the second information does not include the first change information. The second change information of the second information may be data used to perform a map update. The vehicle terminal may use the first change information of the second information to check the accuracy of map elements in the updated map information and notify the cloud server of the check result. The cloud server may determine whether the second change information of the second information includes the first change information based on the result feedback information, thereby further improving the accuracy and reliability of the map update data.

[0172] Furthermore, the cloud server or the second device may perform a map update based on the second change information of the second information. The second change information of the second information is verified by the vehicle terminal's driving, so accuracy can be ensured. Therefore, the cloud server or the second device may perform a map update based on the second change information of the second information.

[0173] 6 is a structural schematic diagram of an embodiment of a map update data processing device according to the present application. As shown in FIG. 6, the device in this embodiment may include: an obtaining module 11, a determining module 12, and a sending module 13.

[0174] The acquisition module 11 is configured to acquire first information from at least one vehicle terminal during a time window, the first information not matching corresponding second information in a local map stored in the vehicle terminal.

[0175] The determination module 12 is configured to determine, based on the first information, first variation information of the second information and accuracy information and / or reliability information corresponding to the first variation information, where the first variation information is information about a difference between the first information and the second information.

[0176] The transmitting module 13 is configured to transmit the first variation information of the second information and the accuracy information and / or reliability information corresponding to the first variation information to at least one vehicle terminal, where the accuracy information and / or reliability information corresponding to the first variation information is used by the vehicle terminal to determine whether to use the first variation information of the second information.

[0177] Optionally, the second information comprises the following parameters: At least one map element in the local map, at least one map element group in the local map, at least one map tile in the local map, at least one region in the local map, and at least one country in the local map Contains one or more of the following:

[0178] The device in this embodiment can be used to implement the technical solutions of the method embodiments described above, and the implementation principles and technical effects thereof are similar, and the details will not be described again in this specification.

[0179] 7 is a structural schematic diagram of an embodiment of a map update data processing device according to the present application. As shown in FIG. 7, based on the device shown in FIG. 6, the device in this embodiment may further include a receiving module 14. The receiving module 14 is configured to receive, from at least one vehicle terminal, result feedback information obtained after the first change information is used.

[0180] The determination module 12 is further configured to determine second change information of the second information based on the result feedback information, wherein the second change information of the second information is data used to perform the map update.

[0181] Optionally, the accuracy information corresponding to the first change information is the number of vehicle terminals reporting the first information in a time window.

[0182] Alternatively, the accuracy information corresponding to the first change information is the ratio of the number of vehicle terminals reporting the first information in the time window to the total number of vehicle terminals passing through the geographical location corresponding to the second information in the time window.

[0183] Alternatively, the accuracy information corresponding to the first variation information is error information of the first variation information.

[0184] Optionally, the reliability information corresponding to the first change information is a maximum value or a weighted average value of the reliability levels of the first change information in the time window.

[0185] Optionally, if the number of map elements corresponding to the second information is greater than 1, the reliability information corresponding to the first change information is an average value of the reliability levels of all map elements corresponding to the second information.

[0186] Optionally, when the transmission delay of the first information is greater than or equal to a preset threshold, the apparatus in this embodiment includes a cloud server.

[0187] Specifically, the acquisition module 11 receiving first information transmitted by at least one vehicle terminal; or receiving first information transmitted by at least one vehicle terminal through the first device; It is configured as follows.

[0188] Furthermore, the transmitting module 13 further comprises: The acquisition module 11 transmits information used to request the first information to the first device before receiving the first information transmitted by the at least one vehicle terminal through the first device. It is configured as follows.

[0189] Optionally, if the transmission delay of the first information is less than a preset threshold, the apparatus in this embodiment includes a second device.

[0190] The obtaining module 11 is specifically configured to receive first information transmitted by at least one vehicle terminal.

[0191] Optionally, the second device includes one of a base station, a roadside unit device, or another vehicle terminal excluding the at least one vehicle terminal.

[0192] Optionally, the first information is scrambled by using vehicle identification information, area identification information, or map element identification information.

[0193] Alternatively, the first information is initialized by using vehicle identification information, area identification information, or map element identification information.

[0194] Optionally, when the transmission delay of the first information is smaller than a preset threshold, the device in this embodiment includes a cloud server, and the amount of the first information whose transmission delay is smaller than the preset threshold is smaller than or equal to the amount of the first information whose transmission delay is greater than or equal to the preset threshold.

[0195] The device in this embodiment can be used to implement the technical solutions of the method embodiments described above, and the implementation principles and technical effects thereof are similar, and the details will not be described again in this specification.

[0196] 8 is a schematic diagram of the structure of the vehicle terminal of the present application. As shown in FIG. 8, the vehicle terminal in this embodiment may include: a sending module 21, a receiving module 22, and a determining module 23.

[0197] The transmitting module 21 is configured to transmit first information to the computing device. The first information does not match corresponding second information in the local map stored in the vehicle terminal, and the first information is used by the computing device to determine first variation information of the second information and accuracy and / or reliability information corresponding to the first variation information. The first variation information is information about the difference between the first information and the second information.

[0198] The receiving module 22 is configured to receive first variation information of the second information transmitted by the computing device and accuracy information and / or reliability information corresponding to the first variation information.

[0199] The determination module 23 is configured to determine whether to use the first variation information of the second information based on the accuracy information and / or reliability information corresponding to the first variation information.

[0200] Additionally, the second information may include the following parameters: At least one map element in the local map, at least one map element group in the local map, at least one map tile in the local map, at least one region in the local map, and at least one country in the local map may include one or more of:

[0201] Furthermore, the transmitting module 21 further Sending result feedback information obtained after the first change information is used to the computing device. It is configured as follows.

[0202] Furthermore, the accuracy information corresponding to the first change information is the number of vehicle terminals that report the first information in the time window.

[0203] Alternatively, the accuracy information corresponding to the first change information is the ratio of the number of vehicle terminals reporting the first information in the time window to the total number of vehicle terminals passing through the geographical location corresponding to the second information in the time window.

[0204] Alternatively, the accuracy information corresponding to the first variation information is error information of the first variation information.

[0205] Furthermore, the reliability information corresponding to the first change information is the maximum value or weighted average value of the reliability levels of the first change information in the time window.

[0206] Furthermore, when the number of map elements corresponding to the second information is greater than 1, the reliability information corresponding to the first change information is the average value of the reliability levels of all map elements corresponding to the second information.

[0207] Furthermore, the first information is scrambled by using the vehicle identification information, the area identification information, or the map element identification information.

[0208] Alternatively, the first information is initialized by using vehicle identification information, area identification information, or map element identification information.

[0209] The device in this embodiment can be used to implement the technical solutions of the method embodiments described above, and the implementation principles and technical effects thereof are similar, and the details will not be described again in this specification.

[0210] 9 is a schematic diagram of the structure of a map update data processing device according to the present application. The map update data processing device 100 includes a memory 101 and a processor 102.

[0211] The memory 101 is configured to store a computer program.

[0212] The processor 102 is configured to execute a computer program stored in the memory to implement the map update data processing method in the aforementioned embodiment, for details, please refer to the related description in the aforementioned method embodiment.

[0213] Optionally, the memory 101 may be separate or integrated with the processor 102 .

[0214] If the memory 101 is a component separate from the processor 102, the map update data processing device 100 may: a bus 103 configured to connect the memory 101 and the processor 102; It may further include:

[0215] Optionally, the embodiment further includes a communication interface 104. The communication interface 104 may be connected to the processor 102 through a bus 103. The processor 102 may control the communication interface 104 to implement the above-mentioned receiving and transmitting functions of the map update data processing device 100.

[0216] The apparatus may be configured to perform steps and / or procedures corresponding to the server in the method embodiments described above.

[0217] FIG. 10 is a schematic diagram of the structure of a vehicle terminal according to the present invention. The vehicle terminal 200 includes: memory 201 and processor 202 Includes:

[0218] The memory 201 is configured to store a computer program.

[0219] The processor 202 is configured to execute a computer program stored in the memory to implement the map update data processing method in the aforementioned embodiment, for details, please refer to the related description in the aforementioned method embodiment.

[0220] Optionally, memory 201 may be separate or integrated with processor 202.

[0221] If the memory 201 is a component separate from the processor 202, the vehicle terminal 200 may: a bus 203 configured to connect the memory 201 and the processor 202; It may further include:

[0222] Optionally, the embodiment further includes a communication interface 204. The communication interface 204 may be connected to the processor 202 through a bus 203. The processor 202 may control the communication interface 204 to implement the above-mentioned receiving and transmitting functions of the vehicle terminal 200.

[0223] The apparatus may be configured to perform steps and / or procedures corresponding to the server in the method embodiments described above.

[0224] The present application further provides a readable storage medium, which stores executable instructions, which, when executed by at least one processor of the map update data processing device, cause the map update data processing device to perform the map update data processing method provided in the aforementioned implementation.

[0225] The present application further provides a readable storage medium, which stores executable instructions, and when at least one processor of the vehicle terminal executes the executable instructions, the vehicle terminal performs the map update data processing method provided in the above implementation.

[0226] The present application further provides a program product, the program product including executable instructions stored in a readable storage medium, wherein at least one processor of a map update data processing device reads the executable instructions from the readable storage medium, and the at least one processor executes the executable instructions, thereby causing the map update data processing device to implement the map update data processing method provided in the aforementioned implementation.

[0227] Those skilled in the art will understand that all or part of the above-described embodiments may be implemented using software, hardware, firmware, or any combination thereof. When software is used to implement an embodiment, all or part of the embodiment may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions of the embodiments of the present application are generated, in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or another programmable device. The computer instructions may be stored on a computer-readable storage medium or transmitted from a computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, or digital subscriber line (DSL)) or wireless (e.g., infrared, radio wave, or microwave) transmission. The computer-readable storage medium may be any available medium accessible by a computer or a data storage device, such as a server or data center, that integrates one or more available media. The usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, or a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state drive, a solid state disk (SSD)). Other possible items 1. A map update data processing method, comprising: acquiring, by a computing device, first information from at least one vehicle terminal during a time window, wherein the first information does not match corresponding second information in a local map stored in the vehicle terminal; determining, by the computing device, based on the first information, first variation information of the second information and accuracy information and / or reliability information corresponding to the first variation information, wherein the first variation information is information about a difference between the first information and the second information; transmitting, by the computing device, the first variation information of the second information and the accuracy information and / or the reliability information corresponding to the first variation information to the at least one vehicle terminal, wherein the accuracy information and / or the reliability information corresponding to the first variation information is used by the vehicle terminal to determine whether to use the first variation information of the second information; A method for providing 2. The second information is the following parameters: At least one map element in the local map, at least one map element group in the local map, at least one map tile in the local map, at least one region in the local map, and at least one country in the local map. Item 1. The method of item 1, comprising one or more of: 3. The method comprises: receiving, by the computing device, result feedback information obtained after the first change information is used from the at least one vehicle terminal; determining, by the computing device, second change information of the second information based on the result feedback information, the second change information of the second information being data used to perform a map update; 3. The method of claim 1 or 2, further comprising: 4. The accuracy information corresponding to the first change information is the number of vehicle terminals reporting the first information in the time window, or The accuracy information corresponding to the first change information is a ratio of the number of vehicle terminals reporting the first information in the time window to the number of all vehicle terminals passing through the geographical location corresponding to the second information in the time window; or The accuracy information corresponding to the first change information is error information of the first change information. 4. The method according to any one of items 1 to 3. 5. A method according to any one of items 1 to 4, wherein the reliability information corresponding to the first change information is the maximum value or weighted average value of the reliability levels of the first change information in the time window. 6. The method according to any one of items 1 to 4, wherein, when the number of map elements corresponding to the second information is greater than 1, the reliability information corresponding to the first change information is the average value of the reliability levels of all map elements corresponding to the second information. 7. If the transmission delay requirement of the first information is greater than or equal to a preset threshold, the computing device is a cloud server; The step of acquiring, by a computing device, first information from at least one vehicle terminal during a time window includes: receiving, by said computing device, said first information transmitted by said at least one vehicle terminal; or receiving, by the computing device, the first information transmitted by the at least one vehicle terminal through a first device; Item 1. The method according to item 1, comprising: 8. Before the step of receiving, by the computing device, the first information transmitted by the at least one vehicle terminal through a first device, the method further comprises: transmitting, by the computing device, information to the first device used to request the first information; Item 8. The method of item 7, further comprising: 9. If the transmission delay requirement of the first information is less than a preset threshold, the computing device is a second device; The step of acquiring, by a computing device, first information from at least one vehicle terminal during a time window includes: receiving, by said computing device, said first information transmitted by said at least one vehicle terminal; Item 1. The method according to item 1, comprising: 10. The method of item 9, wherein the second device includes one of a base station, a roadside unit device, or another vehicle terminal other than the at least one vehicle terminal. 11. The first information is scrambled by using vehicle identification information, area identification information, or map element identification information; or The first information is initialized by using vehicle identification information, area identification information, or map element identification information. 11. The method according to any one of items 1 to 10. 12. The method of item 1, wherein, when the transmission delay requirement of the first information is smaller than a preset threshold, the computing device is a cloud server, and the amount of first information whose transmission delay requirement is smaller than the preset threshold is smaller than or equal to the amount of first information whose transmission delay requirement is larger than or equal to the preset threshold. 13. A map update data processing method comprising: transmitting, by the vehicle terminal, first information to a computing device, wherein the first information does not match corresponding second information in a local map stored on the vehicle terminal, and the first information is used by the computing device to determine first variation information of the second information and accuracy and / or reliability information corresponding to the first variation information, the first variation information being information about a difference between the first information and the second information; receiving, by the vehicle terminal, the first variation information of the second information and the accuracy information and / or the reliability information corresponding to the first variation information from the computing device; determining, by the vehicle terminal, whether to use the first variation information of the second information based on the accuracy information and / or the reliability information corresponding to the first variation information; A method for providing 14. The second information is the following parameters: At least one map element in the local map, at least one map element group in the local map, at least one map tile in the local map, at least one region in the local map, and at least one country in the local map. Item 14. The method of item 13, comprising one or more of: 15. The method further comprises: and transmitting, by the vehicle terminal, result feedback information obtained after the first change information is used to the computing device. Item 15. The method according to item 13 or 14. 16. The accuracy information corresponding to the first change information is the number of vehicle terminals reporting the first information in a time window; or The accuracy information corresponding to the first change information is a ratio of the number of vehicle terminals reporting the first information in a time window to the number of all vehicle terminals passing through the geographical location corresponding to the second information in a time window; or The accuracy information corresponding to the first change information is error information of the first change information. 16. The method according to any one of items 13 to 15. 17. A method according to any one of items 13 to 16, wherein the reliability information corresponding to the first change information is a maximum value or a weighted average value of the reliability levels of the first change information in the time window. 18. A method according to any one of items 13 to 16, wherein if the number of map elements corresponding to the second information is greater than 1, the reliability information corresponding to the first change information is the average value of the reliability levels of all map elements corresponding to the second information. 19. The first information is scrambled by using vehicle identification information, area identification information, or map element identification information; or The first information is initialized by using vehicle identification information, area identification information, or map element identification information. 19. The method according to any one of items 13 to 18. 20. A map update data processing device, an acquisition module configured to acquire first information from at least one vehicle terminal during a time window, the first information not matching corresponding second information in a local map stored in the vehicle terminal; a determination module configured to determine, based on the first information, first variation information of the second information and accuracy information and / or reliability information corresponding to the first variation information, wherein the first variation information is information about a difference between the first information and the second information; a transmitting module configured to transmit the first change information of the second information and the accuracy information and / or the reliability information corresponding to the first change information to the at least one vehicle terminal, wherein the accuracy information and / or the reliability information corresponding to the first change information is used by the vehicle terminal to determine whether to use the first change information of the second information; An apparatus comprising: 21. The second information is the following parameters: At least one map element in the local map, at least one map element group in the local map, at least one map tile in the local map, at least one region in the local map, and at least one country in the local map. 21. The device of item 20, comprising one or more of: 22. The device comprises: a receiving module configured to receive, from the at least one vehicle terminal, result feedback information obtained after the first change information is used; The determination module is further configured to determine second change information of the second information based on the result feedback information, and the second change information of the second information is data used to perform a map update. 22. The device according to item 20 or 21. 23. The accuracy information corresponding to the first change information is the number of vehicle terminals reporting the first information in the time window, or The accuracy information corresponding to the first change information is a ratio of the number of vehicle terminals reporting the first information in the time window to the number of all vehicle terminals passing through the geographical location corresponding to the second information in the time window; or The accuracy information corresponding to the first change information is error information of the first change information. 23. The device according to any one of items 20 to 22. 24. The device described in any one of items 20 to 23, wherein the reliability information corresponding to the first change information is a maximum value or a weighted average value of the reliability levels of the first change information in the time window. 25. An apparatus described in any one of items 20 to 23, wherein, when the number of map elements corresponding to the second information is greater than 1, the reliability information corresponding to the first change information is the average value of the reliability levels of all map elements corresponding to the second information. 26. When the transmission delay requirement of the first information is greater than or equal to a preset threshold, the device includes a cloud server; The acquisition module specifically receives the first information sent by the at least one vehicle terminal; or receiving the first information transmitted by the at least one vehicle terminal through a first device; Item 21. The device according to item 20, configured as follows: 27. The transmitting module further comprises: The receiving module transmits, to the first device, information used to request the first information before receiving the first information transmitted by the at least one vehicle terminal through the first device. Item 27. The device according to item 26, configured as follows: 28. If the transmission delay requirement of the first information is less than a preset threshold, the apparatus includes a second device; The acquisition module is specifically configured to receive the first information transmitted by the at least one vehicle terminal; Item 21. The device according to item 20. 29. The apparatus of item 28, wherein the second device is one of a base station, a roadside unit device, or another vehicle terminal other than the at least one vehicle terminal. 30. The first information is scrambled by using vehicle identification information, area identification information, or map element identification information; or The first information is initialized by using vehicle identification information, area identification information, or map element identification information. 30. The device according to any one of items 20 to 29. 31. The device described in Item 20, wherein, when the transmission delay requirement of the first information is smaller than a preset threshold, the device includes a cloud server, and the amount of first information whose transmission delay requirement is smaller than the preset threshold is smaller than or equal to the amount of first information whose transmission delay requirement is greater than or equal to the preset threshold. 32. A vehicle terminal, a transmitting module configured to transmit first information to a computing device, the first information not matching corresponding second information in a local map stored in the vehicle terminal, the first information being used by the computing device to determine first variation information of the second information and accuracy and / or reliability information corresponding to the first variation information, the first variation information being information about a difference between the first information and the second information; a receiving module configured to receive the first change information of the second information transmitted by the computing device and the accuracy information and / or the reliability information corresponding to the first change information; a determination module configured to determine whether to use the first change information of the second information based on the accuracy information and / or the reliability information corresponding to the first change information; A vehicle terminal comprising: 33. The second information is the following parameters: At least one map element in the local map, at least one map element group in the local map, at least one map tile in the local map, at least one region in the local map, and at least one country in the local map. 33. The vehicle terminal according to item 32, comprising one or more of: 34. The transmitting module further comprises: sending result feedback information obtained after the first change information is used to the computing device; 34. The vehicle terminal according to item 32 or 33, configured to: 35. The accuracy information corresponding to the first change information is the number of vehicle terminals reporting the first information in a time window, or The accuracy information corresponding to the first change information is a ratio of the number of vehicle terminals reporting the first information in a time window to the number of all vehicle terminals passing through the geographical location corresponding to the second information in a time window; or The accuracy information corresponding to the first change information is error information of the first change information. 35. A vehicle terminal according to any one of items 32 to 34. 36. A vehicle terminal described in any one of items 32 to 35, wherein the reliability information corresponding to the first change information is the maximum value or weighted average value of the reliability levels of the first change information in the time window. 37. A vehicle terminal described in any one of items 32 to 35, wherein, when the number of map elements corresponding to the second information is greater than 1, the reliability information corresponding to the first change information is the average value of the reliability levels of all map elements corresponding to the second information. 38. The first information is scrambled by using vehicle identification information, area identification information, or map element identification information; or The first information is initialized by using vehicle identification information, area identification information, or map element identification information. Item 38. A vehicle terminal according to any one of items 32 to 37. 39. A memory configured to store program instructions; a processor configured to execute the map update data processing method of any one of items 1 to 12 when the program instructions in the memory are called and executed; A map update data processing device comprising: 40. A memory configured to store program instructions; a processor configured to execute the map update data processing method according to any one of items 13 to 19 when the program instructions in the memory are called and executed; A vehicle terminal comprising: 41. A readable storage medium storing executable instructions, the executable instructions being executed by at least one processor of a map update data processing device, causing the map update data processing device to perform the map update data processing method described in any one of items 1 to 12. 42. A readable storage medium storing executable instructions, which, when executed by at least one processor of a vehicle terminal, causes the vehicle terminal to perform the map update data processing method described in any one of items 13 to 19. 43. A map update data processing system comprising a map update data processing device according to any one of items 13 to 24 and a vehicle terminal according to any one of items 32 to 38.

Claims

1. 1. A method for processing map update data executed by a computing device, comprising: acquiring, by a computing device, first information from at least one vehicle terminal during a time window; determining, by the computing device, first change information and accuracy and / or reliability information for the first change information based on the first information and second information in a map, the first change information indicating a difference between the first information and the second information; the computing device transmitting the first change information and the accuracy information and / or the reliability information to a first vehicle terminal; receiving, by the computing device, result feedback information from the first vehicle terminal, the result feedback information being obtained after the first change information, the accuracy information, and / or the reliability information is used by the first vehicle terminal; determining, by the computing device, second change information for updating the map based on the result feedback information; Equipped with The time window is a predetermined period of time. method.

2. The second information includes the following parameters: At least one map element in the map, at least one group of map elements in the map, at least one map tile in the map, at least one region in the map, and at least one country in the map. The method of claim 1 , comprising one or more of:

3. The accuracy information is the number of the at least one vehicle terminal; or The accuracy information is a ratio of the number of the at least one vehicle terminal to the number of all vehicle terminals passing through the geographical position corresponding to the second information in the time window; or The accuracy information is error information of the first change information.

3. The method according to claim 1 or 2.

4. The method according to claim 1 , wherein the reliability information is a maximum value or a weighted average value of the reliability levels of the first change information.

5. 4. The method according to claim 1, wherein if the number of map elements corresponding to the second information is greater than one, the reliability information corresponding to the first change information is an average value of the reliability levels of all map elements corresponding to the second information.

6. A map update data processing method executed by a vehicle terminal, comprising: transmitting first information from the vehicle terminal to a computing device, the first information not matching corresponding second information in a map stored on the vehicle terminal; receiving, by the vehicle terminal, first variation information and accuracy and / or reliability information of the first variation information from the computing device, the first variation information indicating a difference between the first information and the second information; the vehicle terminal determining whether to use the first change information to update the map based on the accuracy information and / or the reliability information; The vehicle terminal transmits result feedback information obtained after the first change information is used to the computing device; Equipped with method.

7. The second information includes the following parameters: At least one map element in the map, at least one map element group in the map, at least one map tile in the map, at least one region in the map, and at least one country in the map. The method of claim 6, comprising one or more of:

8. The accuracy information is the number of vehicle terminals reporting the first information in a time window; or The accuracy information is a ratio of the number of vehicle terminals reporting the first information in the time window to the number of all vehicle terminals passing through the geographical location corresponding to the second information in the time window; or the accuracy information is error information of the first change information, The time window is a predetermined period of time.

8. The method according to claim 6 or 7.

9. 9. The method according to claim 6, wherein the reliability information is a maximum or weighted average value of the reliability levels of the first change information in a time window, the time window being a predetermined period of time.

10. 9. The method of claim 6, wherein if the number of map elements corresponding to the second information is greater than one, the reliability information is an average value of the reliability levels of all map elements corresponding to the second information.

11. a memory configured to store program instructions; a processor configured to, when the program instructions in the memory are invoked and executed, perform the map update data processing method of any one of claims 1 to 5; A map update data processing device comprising:

12. a memory configured to store program instructions; a processor configured to, when the program instructions in the memory are invoked and executed, perform the map update data processing method of any one of claims 6 to 10; A map update data processing device comprising:

13. A program that causes a computer to execute the map update data processing method according to any one of claims 1 to 5.

14. A program that causes a computer to execute the map update data processing method according to any one of claims 6 to 10.

15. A map update data processing system comprising: a map update data processing device according to claim 11; and a map update data processing system according to claim 12.

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