CN109579857A

CN109579857A - It is a kind of for updating the method and apparatus of map

Info

Publication number: CN109579857A
Application number: CN201811487224.4A
Authority: CN
Inventors: 张小卉; 齐歆瑜
Original assignee: Uisee Shanghai Automotive Technologies Ltd
Current assignee: Uisee Shanghai Automotive Technologies Ltd
Priority date: 2018-12-06
Filing date: 2018-12-06
Publication date: 2019-04-05
Anticipated expiration: 2038-12-06
Also published as: CN109579857B

Abstract

The purpose of the application is to provide a kind of for updating the method, apparatus, system and storage medium of map.Compared with prior art, the application is by obtaining one or more wheelpath information, determine one or more superposition sections in lane in the wheelpath information and existing cartographic information, and the wheelpath information is added to by the existing cartographic information according to the superposition section, thus the method for realizing map automatic updating.

Description

It is a kind of for updating the method and apparatus of map

Technical field

This application involves intelligent driving fields more particularly to a kind of for updating the technology of map.

Background technique

High-precision map (Definition Maps) or high-precision map (HD Maps) refer to for automatic Pilot purpose and special The map not made.High-precision map is accurate to Centimeter Level in precision, has high accuracy, can drive automatically in this way Accurate navigation instruction is provided when sailing.

The information and accuracy that current unmanned technical solution is provided highly dependent upon high-precision map, high-precision map are drawn Quality processed directly affects the running of entire Unmanned Systems.Existing high-precision cartography is mainly by being accomplished manually, although can To guarantee required precision, but at high cost, low efficiency.Labor costs can be with the increase of unmanned scene and geometry grade increases Greatly, production bottleneck is eventually encountered.Therefore the scheme that automatically generates for exploring high-precision map becomes significant, this will largely The upper future development for influencing existing unmanned technical solution.

Summary of the invention

The purpose of the application is to provide a kind of for updating the method, apparatus, system and storage medium of map.

According to the one aspect of the application, provide a kind of for updating the method for map, wherein the described method includes:

Obtain one or more wheelpath information；

Determine one or more superposition sections in lane in the wheelpath information and existing cartographic information；

The wheelpath information is added to the existing cartographic information according to the superposition section.

According to further aspect of the application, provide a kind of for updating the updating device of map, wherein the update Device includes:

Module is obtained, for obtaining one or more wheelpath information；

Determining module, for determining that the wheelpath information and the one or more in lane in existing cartographic information are overlapped Section；

Adding module, for the wheelpath information to be added to the existing cartographic information according to the superposition section.

According to the one aspect of the application, provide it is a kind of for updating the system of map, including processor and memory, Wherein, computer program instructions are stored in the memory, the computer program instructions are used when being run by the processor In the method for executing update map as described above.

According to the one aspect of the application, a kind of storage medium is provided, program is stored on said storage and refers to It enables, described program instruction is at runtime for executing the method for updating map as described above.

Compared with prior art, the application determines the wheelpath by obtaining one or more wheelpath information One or more superposition sections in lane in information and existing cartographic information, and according to the superposition section by the wheelpath information It is added to the existing cartographic information, thus the method for realizing map automatic updating.The application is based only upon the row being easily obtained Wheel paths data reduce the cost of map rejuvenation, improve update effect without relying on other high-cost acquisition equipment Rate；Also, the application is not only suitable for the restriction scene of various no lane lines, is also applied for the open route field that size is arbitrarily expanded Scape realizes and collects the total solution that road network generates from track for any range；Meanwhile the application is not necessarily to anyone Work participate in, as long as wheelpath be accurately, the high-precision map road network automatically generated be exactly it is reliable, realize efficiently and accurately Road network update method.

Detailed description of the invention

By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other Feature, objects and advantages will become more apparent upon:

Fig. 1 is shown according to a kind of for updating the method flow diagram of map of the application one embodiment；

Fig. 2 shows according to a kind of for updating the updating device structure chart of map of the application another embodiment；

Fig. 3 is shown according to lane in a kind of wheelpath information of the application one embodiment and existing cartographic information Schematic diagram；

Fig. 4 shows corresponding according to a kind of lanes in the same direction of increase by two in existing cartographic information of the application one embodiment Lane-change mark information schematic diagram；

Fig. 5 shows the exemplary system that can be used for implementing each embodiment described herein；

Fig. 6 is shown to be updated according to a kind of superposition section being adjacent according to non-coincidence track of one embodiment of the application The schematic diagram of existing cartographic information；

Fig. 7 shows a kind of processing schematic that the linkage section in schematic diagram shown in fig. 6 is adaptively adjusted；

Fig. 8 shows the schematic diagram by carrying out adaptive existing cartographic information adjusted to cartographic information shown in fig. 6.

The same or similar appended drawing reference represents the same or similar component in attached drawing.

Specific embodiment

The application is described in further detail with reference to the accompanying drawing.

Fig. 1 is shown according to a kind of for updating the method flow diagram of map of the application one embodiment, wherein the party Method includes step S101, step S102 and step S103.

Step S101 obtains one or more wheelpath information.

One wheelpath information is the coordinate point sequence with timestamp, the successive pass of the timestamp between coordinate points System represents the direction of track.The wheelpath information can be by car-mounted terminal obtain wheelpath, be also possible to from The point range of the one section of road extracted in existing numerical map can also be it is by equipment of taking photo by plane, such as unmanned plane is along road The track that driving direction flight in road obtains.The wheelpath information can be GPS data either other acquisition modes such as The data that SLAM is obtained.

A plurality of wheelpath information can be a plurality of wheelpath of same vehicle, be also possible to the driving rail of different vehicle Mark.

Step S102 determines one or more superposition sections in lane in the wheelpath information and existing cartographic information.

Wherein, the superposition section includes that the wheelpath information is completely coincident with lane in the existing cartographic information Lane is adjoining in part and/or the wheelpath information and the existing cartographic information and distance difference between the two Part in certain threshold range.

For example, can by by the wheelpath information coordinate points and existing cartographic information in lane coordinate points Be compared, if continuous two or more coordinate points of the wheelpath information in existing cartographic information lane it is continuous Two or more coordinate points be respectively compared after, the two continuously two or more coordinate points correspond to it is identical, or both opposite The difference for the coordinate points answered is in preset range, then shows that section corresponding to described two or multiple coordinate points belongs to coincidence Section.

Alternatively, by the lane in the wheelpath information and existing cartographic information, respectively with same drawing coordinate system, same One drawing ratio track drafting line, to generate multiple track pictures of same resolution ratio, same size；It will be described two or multiple Track picture is handled, such as described two or multiple tracks picture is converted to two-value grayscale image, and according to the two-value The shared pixel position of all trajectory lines is matched in grayscale image, finally determines track based on the pictorial information after matching Intersection；Then the track superposition section is determined according to the track intersection.

The wheelpath information is added to the existing cartographic information according to the superposition section by step S103.

Here, being based on the coincidence if there are superposition sections in lane in the wheelpath information and existing cartographic information Section, the wheelpath information is added in the existing cartographic information.Here, the wheelpath information includes described heavy Close section, or other than the superposition section, further include non-coincidence section.Then in step s 103, according to the superposition section, by institute Some or all of wheelpath information is stated to be added in the existing cartographic information.

Fig. 3 is shown according to lane in a kind of wheelpath information of the application one embodiment and existing cartographic information Schematic diagram.Lane in Fig. 3 is marked as 1, and wheelpath information is marked as 2, and the superposition section of the two includes by framework 300 Part, rest part belongs to non-coincidence section.

Based on attached drawing 3, after superposition section has been determined, the wheelpath information is added to the existing map and is believed Breath, that is, the part for the wheelpath information 2 being represented by dotted lines in attached drawing 3 is added in map, so that the map increases New lane information.

In one embodiment, can the tie point according to corresponding to the superposition section and connection distance, determination wanted Non-coincidence section of range of addition, for example, determining that institute is non-coincidence section to be added according to the length of the superposition section come equal proportion Length, so that the wheelpath information is added to the existing cartographic information.

In one embodiment, the wheelpath information includes being overlapped track and extremely correspondingly with the superposition section A few non-coincidence track, each non-coincidence track is overlapped track with described at least one and is adjacent in the wheelpath information Tracing point；Wherein, step S103 adds the non-coincidence track according to the superposition section adjacent with the non-coincidence track To the existing cartographic information.

For example, if the wheelpath information includes being overlapped track a, non-coincidence track b, being overlapped track c, non-coincidence track D, non-coincidence track e, track a, b, c, d, e are arranged successively by travel route, and be overlapped track a be overlapped track c with it is described existing There is the lane in cartographic information to coincide, belongs to superposition section；It is overlapped track a and non-coincidence track b is adjacent to the wheelpath In point A, be overlapped track c and non-coincidence track d and be adjacent to the point B in the wheelpath, then will the non-coincidence track b and D is added in existing cartographic information.

In one embodiment, the superposition section adjacent with the non-coincidence track includes any one of following:

The coincidence lane portion in existing lane in the existing cartographic information, wherein the coincidence lane portion with it is described non- It is overlapped the coincidence track that track is abutted and corresponds to the same superposition section.

Here, if the coincidence lane portion with it is described be overlapped track and belong to be completely coincident, can directly retain existing The coincidence lane portion in lane, and corresponding non-coincidence track is inserted into based on the existing lane.Alternatively, if the coincidence lane Part with the non-coincidence track abutted be overlapped track not be completely coincident (such as described coincidence lane portion with it is described non- Track is adjoining and distance difference between the two is in certain threshold range for being overlapped of being overlapped that track abutted, then it is assumed that the two It is still correspond to the same superposition section), then can also be using the coincidence lane portion in existing lane as final lane, and being based on should Corresponding non-coincidence track is inserted into existing lane.

Newly-generated lane in the existing cartographic information, wherein the newly-generated lane is based on the non-coincidence rail Mark abutted be overlapped track generate, or the coincidence lane portion based on existing lane in the existing cartographic information with What the non-coincidence track was abutted is overlapped what track generated, the weight which is abutted with the non-coincidence track It closes track and corresponds to the same superposition section.

Here, if it is described be overlapped that lane portion and the non-coincidence track abutted to be overlapped track not be to weigh completely It closes, when generating new lane based on the superposition section, the coincidence track next life that the non-coincidence track is abutted can be directly based upon At new lane；Alternatively, in one embodiment, it can also be based on the coincidence lane portion in existing lane in the existing cartographic information Point new lane is generated with the track that is overlapped that the non-coincidence track is abutted, such as takes the center line of the two using as new lane, or The modes such as it is weighted and averaged by the coordinate to the two to determine new lane etc..Finally, being inserted based on the newly-generated lane Enter corresponding non-coincidence track.

Fig. 6 is shown to be updated according to a kind of superposition section being adjacent according to non-coincidence track of one embodiment of the application The schematic diagram of existing cartographic information.In Fig. 6, two black song solid lines respectively indicate existing lane and/or wheelpath information, Updated existing cartographic information generated after dotted line expression handles existing lane and/or wheelpath information.Root According to Fig. 6 as can be seen that the newly-generated lane in superposition section part is center line by both taking using as new lane.

Further, in one embodiment, the step 103 further includes by the coincidence lane portion in the existing lane Divide and replaces with the newly-generated lane.For example, by the newly-generated lane respectively with the front and back lane for being overlapped lane Part is connected, to realize replacement process.It is possible to further by being smoothed to the coupling part, with right The replacement process optimizes.

In one embodiment, if the step 103 include: the superposition section that is adjacent of the non-coincidence track meet it is pre- Fixed trigger condition replaces with linkage section by first segment track in the non-coincidence track and is added to the non-coincidence track The existing cartographic information, wherein the first segment track by the non-coincidence track the first tracing point and the second track Point is formed by connecting, the linkage section closer endpoint of the first tracing point as described in distance in second tracing point and the superposition section It is formed by connecting, the public tracing point for being overlapped track that first tracing point is abutted by the non-coincidence track with it is described Second tracing point is adjacent with first tracing point.

Here, then detecting the non-coincidence track first when needing to be attached non-coincidence track and superposition section Whether the superposition section being adjacent meets scheduled trigger condition.It is as existing after the superposition section in example shown in fig. 6, Fig. 6 The part that lane and/or wheelpath information coincide, linkage section is will be in the existing lane and/or wheelpath information What is be not overlapped is partially attached to the junction of the superposition section.Here, the linkage section is detected, it is whether full to detect it The scheduled trigger condition of foot.

In one embodiment, the trigger condition includes following at least any one:

Trigger condition one: the first turning angle of the superposition section that the non-coincidence track is adjacent is greater than or equal to first Angle threshold value information, wherein the first turning angle is by between the linkage section and second tracing point and third tracing point Line surround, the third tracing point is adjacent with second tracing point in the non-coincidence track.

Here, as shown in fig. 7, Fig. 7 shows what a kind of linkage section in schematic diagram shown in fig. 6 was adaptively adjusted Processing schematic.For ease of description, the side cd is wheelpath information in Fig. 7, the side ab is existing lane, then with the driving of the side ocd For trace information: the first tracing point is o, i.e., the public tracing point for being overlapped track that the described non-coincidence track is abutted with it； Second tracing point is c, i.e., the point in non-coincidence track adjacent with first tracing point, described；Third tracing point is d, i.e., The point adjacent with the second tracing point c in the non-coincidence track；Linkage section is oc, i.e., by oc by superposition section with it is non-heavy Conjunction section carries out connected.To which ∠ ocd is the first turning angle.If the first turning angle is greater than or equal to the first angle threshold Value information then illustrates that superposition section and non-coincidence section of connection are excessively lofty, it is therefore desirable to carry out subsequent processing.

Trigger condition two: the second turning angle of the superposition section that the non-coincidence track is adjacent is less than or equal to second Angle threshold value information, wherein the second turning angle is by extended line and second tracing point of the linkage section and described The line of third tracing point surrounds.

Here, as shown in fig. 7, the side cd is wheelpath information in Fig. 7, and the side ab is existing lane, then with ocd after upper example For the wheelpath information of side: linkage section oc, the second tracing point are c, and third tracing point is d, then the second turning angle is For ∠ β.If the second turning angle is less than or equal to the second angle threshold value information, illustrate the connection of superposition section Yu non-coincidence section It is excessively lofty, it is therefore desirable to carry out subsequent processing.

Trigger condition three: the third turning angle in the non-coincidence lane that the superposition section is adjacent is pressed from both sides more than or equal to third Angle threshold information, wherein third turning angle is surrounded by the first line and the second line, wherein first line by First lane point in the non-coincidence lane is formed by connecting with second lane point, and second line is by the first lane point It is formed by connecting with the closer endpoint of the first tracing point described in distance in the superposition section, the second lane point is in the non-coincidence vehicle It is adjacent with the first lane point in road, the non-coincidence lane belong to the existing lane in the existing cartographic information and with The non-coincidence track is located at the same side of the superposition section.

Here, as shown in fig. 7, the side cd is wheelpath information in Fig. 7, and the side ab is existing lane, then with oab after upper example For the existing lane of side: non-coincidence lane is oab sections, and non-coincidence track is ocd sections, and oab sections are located at this with ocd sections and are overlapped The same side of section；First tracing point is o, and first lane point is a, and the second line is oa sections；Second lane point b, with first Lane point a is adjacent, and the first line is ab sections；Then third turning angle is ∠ oab.If third turning angle is greater than or waits In third angle threshold value information, then illustrate that superposition section and non-coincidence section of connection are excessively lofty, it is therefore desirable to carry out subsequent place Reason.

Trigger condition four: the base-leg turn angle in the superposition section and the non-coincidence lane is less than or equal to the 4th angle threshold Value information, wherein the base-leg turn angle is surrounded by the extended line of first line with second line.

Here, as shown in fig. 7, the side cd is wheelpath information in Fig. 7, and the side ab is existing lane, then with oab after upper example For the existing lane of side: the first line is ab sections, and the second line is oa sections, then base-leg turn angle is ∠ α.If the 4th Angle of turning is less than or equal to the 4th angle threshold value information, then illustrates that superposition section and non-coincidence section of connection are excessively lofty, therefore It needs to carry out subsequent processing.

Those skilled in the art will be understood that above-mentioned each threshold information can be with default setting, can also base in practice Determination is constantly adjusted in historical data, can also constantly be adjusted according to modes such as machine learning.

When the superposition section that the non-coincidence track is adjacent meets scheduled trigger condition, to the non-coincidence track In first segment track be replaced, by taking Fig. 7 as an example, first segment track is oc section, and the first tracing point is o, and the second tracing point is C, when not being adjusted to the non-coincidence track, first segment track is equal to linkage section, i.e. linkage section is oc sections；And work as When the superposition section that the non-coincidence track is adjacent meets scheduled trigger condition, then will be located at o point on, in superposition section Some endpoint is determined as the endpoint for connection, and c point and the endpoint is attached to generate linkage section, and then with the company It connects section and replaces the first segment track oc.Existing map after it is generated can be as shown in Figure 8.

In fig. 8, two black song solid lines respectively indicate existing lane and/or wheelpath information, and dotted line is indicated to existing Updated existing cartographic information generated after thering is lane and/or wheelpath information to be handled.

If being formed by new lane letter here, those skilled in the art will be understood that after some endpoint has been determined Breath still meets scheduled trigger condition, then the position of endpoint is readjusted based on this method, until lane generated is believed Breath meets demand.To which the application can generate the superposition section being smoothly connected and non-coincidence section.

In one embodiment, the method also includes steps: if the superposition section that the non-coincidence track is adjacent is not Meet the trigger condition, reduces the superposition section；According to the superposition section after reduction, the non-coincidence track is added to described Existing cartographic information.

Here, as shown in figure 8, will be described non-heavy if replacing with linkage section by first segment track in the non-coincidence track It closes track and is added to the existing cartographic information, until the superposition section that the non-coincidence track is adjacent does not meet the triggering Condition then illustrates that superposition section moves forward with non-coincidence section of tie point, thus according to currently determined linkage section, Former superposition section is reduced；Finally according to the superposition section after reduction, by the non-coincidence track be added to it is described existingly Figure information, wherein the adding procedure is as shown in step S103.

In one embodiment, according to the superposition section after reduction, by the non-coincidence track be added to it is described existingly If the step of figure information further includes that the superposition section after the non-coincidence track and the reduction does not meet the trigger condition, continue to contract Subtract the superposition section, until the foreshortened length of the superposition section is more than that scheduled length threshold or the non-coincidence track are added into institute State existing cartographic information.

Here, continuing to reduce if the superposition section after the non-coincidence track and the reduction does not meet the trigger condition The superposition section, so that fused lane generated is more smooth；If exceeding initial coincidence point certain length, then it represents that The foreshortened length of the superposition section is more than scheduled length threshold, then stops reducing the superposition section, and using the point of current selected as Coincidence point；And if the non-coincidence track is added into existing cartographic information, also stops reducing the superposition section.To constant search Suitable tie point, completes fusion process by way of iteration.

In one embodiment, the method also includes steps: for adjacent in the updated existing cartographic information Two lanes in the same direction increase in the existing cartographic information if there are multiple connection tracks between described two lanes in the same direction The corresponding lane-change mark information in described two lanes in the same direction, wherein each connection track belongs to the one or more driving rail One of mark information.

Here, by taking attached drawing 4 as an example, lane 1 and lane 2 in attached drawing 4 be two adjacent in existing cartographic information in the same direction Lane, there are three connection tracks A, B, C between lane 1 and lane 2；Then this method increases lane 1 in existing cartographic information Lane-change mark information between lane 2.For example, can be by way of directly being identified between two lanes in the same direction, or pass through It is identified in a manner of legend etc..

In one embodiment, the lane-change mark information includes lane-change directional information, the lane-change directional information and institute The direction for stating connection track is identical.

In one embodiment, for two lanes in the same direction adjacent in the updated existing cartographic information, if institute It states between two lanes in the same direction there are multiple connection tracks, then only merges superposition section, without merging intermediate linkage section, pass through linkage section Walking direction lane-change information and increased newly in digraph and state the corresponding lane-change mark information in two lanes in the same direction.

By taking attached drawing 4 as an example, two vertical lines in 1 direction of lane " | | " show the route of the horizontal direction within the scope of vertical line Belong to the superposition section being fused in lane 1, two vertical lines in 2 direction of lane " | | " show the horizontal direction within the scope of vertical line Route belong to the superposition section being fused in lane 2；And be not attached between lane 1 and lane 2, only pass through " 1 → 2 " Lane-change mark information is marked.

In one embodiment, the method also includes: detect in the wheelpath information with the presence or absence of repeat track Part；If it exists, segment processing is carried out to the wheelpath information, to obtain the wheelpath information after multiple segmentations, In, there is no repeat path portion in the wheelpath information after each segmentation；After the step S102 determines the segmentation One or more superposition sections in lane in wheelpath information and existing cartographic information.

Here, including multiple tracing points in the wheelpath information, the multiple tracing point is chronologically traversed, At least one tracing point is repeated with the tracing point traversed before if it exists, it is determined that is existed in the wheelpath information and is repeated Path portion.

Then, according to path portion and the wheelpath information is repeated, which is segmented, directly Wheelpath information to the multiple segmentations of acquisition, and there is no repeat track portion in the wheelpath information after each segmentation Point.

For example, by being traversed to the wheelpath information, if the repetition track portion that discovery is made of multiple coincidence points Point, then divide since the starting point for repeating path portion, original wheelpath information is divided into " the repetition path portion Before ", " the repetition path portion " and three sections of " after the repetition path portion ".Then, continue to " after the repetition path portion " The wheelpath information of this section is traversed, and is continued to determine and is segmented according to preceding method, until to whole wheelpath information It is traversed.

Those skilled in the art, which will be understood that, any to be enabled to " be not present in the wheelpath information after each segmentation The segmented mode of repetition path portion " can be suitably used for the application, in other words, by above-mentioned segmented mode, enable to the row Wheel paths information itself does not include repetition path portion.

Then, in step s 102, by the wheelpath information for having been removed repetition path portion and existing cartographic information In lane be compared, to determine superposition section.

In one embodiment, the step S102 includes that step S1021 (not shown) and step S1022 (do not show Out), specifically, step S1021 determines that the one or more in lane in the wheelpath information and existing cartographic information is candidate Superposition section, wherein each candidate's superposition section coincides with partial traces in the wheelpath information；Step S1022 by pair Candidate's superposition section is carried out cutting processing or be screened from one or more of candidate superposition sections, obtains the wheelpath One or more superposition sections in lane in information and the existing cartographic information, wherein the lane in lane where each superposition section The direction of intersection of the direction with the superposition section in the wheelpath information matches.

In step S1021, can by by the wheelpath information coordinate points and existing cartographic information in Lane coordinate points are compared, if in continuous two or more coordinate points of the wheelpath information and existing cartographic information After continuous two or more coordinate points in lane are respectively compared, the difference of the corresponding coordinate points of the two is in preset range, Then show that section corresponding to described two or multiple coordinate points belongs to candidate superposition section.

Alternatively, by the lane in the wheelpath information and existing cartographic information, respectively with same drawing coordinate system, same One drawing ratio track drafting line, to generate multiple track pictures of same resolution ratio, same size；According to described two or more A track picture determines track intersection；And the candidate superposition section is determined according to the track intersection.

Then, in step S1022, if direction and the time of the candidate's superposition section in the wheelpath information Select the direction in lane of the superposition section in the existing cartographic information to mismatch, then to unmatched part be cut out processing or Screening Treatment.Here, the matching refers to that direction is identical or essentially identical, such as no more than a certain range of deviation of directivity. For example, if covering two track directions in candidate superposition section, one of track direction and the direction of corresponding coincidence track are not Match, another track direction is matched with the corresponding direction for being overlapped track, then cuts the wherein unmatched lane portion in direction, remaining Part is used as corresponding superposition section.

In one embodiment, the step S1021 determines that tracing point is believed in existing map in the wheelpath information Corresponding map location point in breath, wherein each map location point is by corresponding tracing point in the wheelpath information Sequence sorts；According to the map location point in the existing cartographic information affiliated lane, determine the wheelpath information With the candidate superposition section of one or more in lane in the existing cartographic information, wherein the lane where each candidate's superposition section In include multiple continuous map location points.

Here, the corresponding relationship based on the point of map location corresponding to the tracing point and with lane in existing map, Determine the candidate superposition section；If multiple continuous map location points are corresponding with existing lane, then it is assumed that the section belongs to candidate Superposition section.

In one embodiment, the step S1021 by only include the wheelpath information the first image with only wrap The second image containing lane in existing cartographic information carries out images match processing, wherein the first image and second figure As being based on identical map percent information；According to through being overlapped in images match treated the first image and second image Part determine the candidate superposition sections of the one or more in lane in the wheelpath information and existing cartographic information, wherein it is every A candidate's superposition section coincides with partial traces in the wheelpath information.

Here, described image matching treatment includes but is not limited to be matched using such as template matching algorithm etc.；In one kind In embodiment, the first image and second image can be respectively converted into two-value grayscale image, and according to the two-value The shared pixel position of all trajectory lines is matched in grayscale image.

Then, by the position according to the pixel as being overlapped in two images, the candidate superposition section is determined；Alternatively, Pixel value difference through images match treated the first image and the same pixel position of second image is direct Superposition carries out the identification of candidate superposition section by the superposition using pixel value.For example, in the two-value grayscale image trajectory line picture The pixel value of vegetarian refreshments is 0, and the pixel value of the pixel of non-trajectory line is not 0, when by the first image and second image Same pixel position pixel value be overlapped after, pixel value be 0 pixel be coincidence point.

In one embodiment, the step S102 is determined in existing cartographic information and is covered the wheelpath information Target map area information；Determine one or more of lane in the wheelpath information and the target map area information A superposition section.

Here, scheduled target map region can be based on, is determined directly in existing cartographic information and cover the driving The target map area information of trace information, for example, if being only updated to the specific region in existing map, it can be by the spy Region is determined as target map area information；Or it can be covered based on the location information of tracing point in wheelpath information to determine Cover the target map area information of the wheelpath information.

Then, based on the wheelpath information and identified target map area information, to determine the coincidence Section.

Fig. 2 shows according to a kind of for updating the updating device structure chart of map of the application another embodiment, wherein The updating device 20 includes obtaining module 201, determining module 202, adding module 203.

The acquisition module 201 obtains one or more wheelpath information.

The determining module 202 determines the one or more weight in lane in the wheelpath information and existing cartographic information Close section.

For example, the determining module 202 can be by believing the coordinate points in the wheelpath information with existing map Lane coordinate points in breath are compared, if continuous two or more coordinate points of the wheelpath information and existing map After continuous two or more coordinate points in lane are respectively compared in information, continuously two or more coordinate points correspond to phase to the two The difference of same, or both corresponding coordinate points is in preset range, then shows corresponding to described two or multiple coordinate points Section belong to superposition section.

Alternatively, the determining module 202 is by the lane in the wheelpath information and existing cartographic information, respectively with same One drawing coordinate system, same drawing ratio track drafting line, to generate multiple track pictures of same resolution ratio, same size； Described two or multiple tracks picture is handled, such as described two or multiple tracks picture is converted into two-value gray scale Figure, and according to all trajectory lines in the two-value grayscale image share pixel position matched, finally based on matching after Pictorial information determines track intersection；Then the track superposition section is determined according to the track intersection.

The wheelpath information is added to the existing map according to the superposition section and believed by the adding module 203 Breath.

Here, if there are superposition section, the adding modules in lane in the wheelpath information and existing cartographic information 203 are based on the superposition section, and the wheelpath information is added in the existing cartographic information.Here, the driving rail Mark information includes the superposition section, or other than the superposition section, further include non-coincidence section.The then adding module 203 According to the superposition section, some or all of described wheelpath information is added in the existing cartographic information.

Based on attached drawing 3, after superposition section has been determined, the wheelpath information is added to by the adding module 203 The existing cartographic information makes that is, the part for the wheelpath information 2 being represented by dotted lines in attached drawing 3 is added in map It obtains the map and increases new lane information.

In one embodiment, the adding module 203 can the tie point according to corresponding to the superposition section and company It connects distance, determines institute's non-coincidence section of range to be added, wanted for example, being determined according to the length of the superposition section come equal proportion Non-coincidence section of length of addition, so that the wheelpath information is added to the existing cartographic information.

In one embodiment, the wheelpath information includes being overlapped track and extremely correspondingly with the superposition section A few non-coincidence track, each non-coincidence track is overlapped track with described at least one and is adjacent in the wheelpath information Tracing point；Wherein, the adding module 203 is according to the superposition section adjacent with the non-coincidence track, by the non-coincidence rail Mark is added to the existing cartographic information.

Here, if it is described be overlapped that lane portion and the non-coincidence track abutted to be overlapped track not be to weigh completely It closes, when generating new lane based on the superposition section, the coincidence track next life that the non-coincidence track is abutted can be directly based upon At new lane；Alternatively, in one embodiment, the updating device 20 further includes adjacent determining module (not shown), the neighbour Coincidence lane portion of the determining module based on existing lane in the existing cartographic information is connect to be abutted with the non-coincidence track Coincidence track generate new lane, the center line both such as taken as new lane, or by the coordinate to the two to be weighted The modes such as average determine new lane etc..Finally, being inserted into corresponding non-coincidence track based on the newly-generated lane.

Further, in one embodiment, the adding module 203 can also be by the coincidence vehicle in the existing lane Road partial replacement is the newly-generated lane.For example, the adding module 203 by the newly-generated lane respectively with it is described The front and back lane portion for being overlapped lane is connected, to realize replacement process.It is possible to further by the coupling part into Row smoothing processing etc., to be optimized to the replacement process.

In one embodiment, the adding module 203 is used for: if the superposition section that the non-coincidence track is adjacent is full The scheduled trigger condition of foot, replaces with linkage section by first segment track in the non-coincidence track and adds the non-coincidence track Add to the existing cartographic information, wherein the first segment track is by the first tracing point and second in the non-coincidence track Tracing point is formed by connecting, and the linkage section is closer as second tracing point and the first tracing point described in distance in the superposition section Endpoint is formed by connecting, the public tracing point for being overlapped track that first tracing point is abutted by the non-coincidence track with it, Second tracing point is adjacent with first tracing point.

In one embodiment, the trigger condition includes following at least any one:

When the superposition section that the non-coincidence track is adjacent meets scheduled trigger condition, the adding module 203 First segment track in the non-coincidence track is replaced, by taking Fig. 7 as an example, first segment track is oc sections, the first tracing point For o, the second tracing point is c, and when not being adjusted to the non-coincidence track, first segment track is equal to linkage section, i.e., Linkage section is oc sections；And when the superposition section that the non-coincidence track is adjacent meets scheduled trigger condition, then it will be located at o Some endpoint on point, in superposition section is determined as the endpoint for connection, and c point and the endpoint are attached to generate Linkage section, and then the first segment track oc is replaced with the linkage section.Existing map after it is generated can be as shown in Figure 8.

In one embodiment, the updating device 20 further includes reduction module (not shown) and non-coincidence adding module (not shown), wherein if the superposition section that the reduction module is adjacent for the non-coincidence track does not meet the triggering Condition reduces the superposition section；The non-coincidence adding module is used for according to the superposition section after reduction, by the non-coincidence track It is added to the existing cartographic information.

Here, as shown in figure 8, will be described non-heavy if replacing with linkage section by first segment track in the non-coincidence track It closes track and is added to the existing cartographic information, until the superposition section that the non-coincidence track is adjacent does not meet the triggering Condition then illustrates that superposition section moves forward with non-coincidence section of tie point, so that the reduction module is according to current institute Determining linkage section reduces former superposition section；The last non-coincidence adding module, will according to the superposition section after reduction The non-coincidence track is added to the existing cartographic information, wherein the adding procedure is as obtained shown in module 201.

In one embodiment, if the non-coincidence adding module is also used to the weight after the non-coincidence track and the reduction It closes section and does not meet the trigger condition, continue to reduce the superposition section, until the foreshortened length of the superposition section is more than scheduled length Threshold value or the non-coincidence track are added into the existing cartographic information.

In one embodiment, the updating device 20 further includes that lane-change increases module (not shown), wherein the lane-change Increase module to be used for for two lanes in the same direction adjacent in the updated existing cartographic information, if two vehicles in the same direction There are multiple connection tracks between road, increase the corresponding lane-change label letter in described two lanes in the same direction in the existing cartographic information Breath, wherein each connection track belongs to one of described one or more wheelpath information.

Here, by taking attached drawing 4 as an example, lane 1 and lane 2 in attached drawing 4 be two adjacent in existing cartographic information in the same direction Lane, there are three connection tracks A, B, C between lane 1 and lane 2；Then the lane-change increases module in existing cartographic information Increase the lane-change mark information between lane 1 and lane 2.For example, can by way of directly being identified between two lanes in the same direction, Or by being identified in a manner of legend etc..

In one embodiment, the updating device 20 further includes that detection module (not shown) and segmentation module (do not show Out), wherein the detection module is for detecting in the wheelpath information with the presence or absence of repetition path portion；If it exists, institute It states segmentation module and segment processing is carried out to the wheelpath information, to obtain the wheelpath information after multiple segmentations, wherein There is no repeat path portion in wheelpath information after each segmentation；After the determining module 202 determines the segmentation One or more superposition sections in lane in wheelpath information and existing cartographic information.

Here, including multiple tracing points in the wheelpath information, the multiple tracing point is chronologically traversed, At least one tracing point is repeated with the tracing point traversed before if it exists, then the detection module determines the wheelpath letter Exist in breath and repeats path portion.

Then, the segmentation module believes the wheelpath according to path portion and the wheelpath information is repeated Breath is segmented, until obtaining the wheelpath information after multiple segmentations, and is not deposited in the wheelpath information after each segmentation Repeating path portion.

Then, the determining module 202 believes the wheelpath information for having been removed repetition path portion and existing map Lane in breath is compared, to determine superposition section.

In one embodiment, the determining module 202 includes that first unit (not shown) and second unit (do not show Out), specifically, the first unit determines that the one or more of lane wait in the wheelpath information and existing cartographic information Select superposition section, wherein each candidate's superposition section coincides with partial traces in the wheelpath information；The second unit is logical It crosses and the candidate superposition section is carried out cutting processing or is screened from one or more of candidate superposition sections, obtain the driving One or more superposition sections in lane in trace information and the existing cartographic information, wherein lane where each superposition section The direction of intersection of the track direction with the superposition section in the wheelpath information matches.

The first unit can by by the wheelpath information coordinate points and existing cartographic information in vehicle Road coordinate points are compared, if vehicle in continuous two or more coordinate points of the wheelpath information and existing cartographic information After continuous two or more coordinate points in road are respectively compared, the difference of the corresponding coordinate points of the two is in preset range, then Show that section corresponding to described two or multiple coordinate points belongs to candidate superposition section.

Alternatively, the first unit is by the lane in the wheelpath information and existing cartographic information, respectively with same Drawing coordinate system, same drawing ratio track drafting line, to generate multiple track pictures of same resolution ratio, same size；Root Track intersection is determined according to described two or multiple tracks picture；And the candidate is determined according to the track intersection Superposition section.

Then, if the direction of candidate's superposition section in the wheelpath information and candidate's superposition section are described The direction in the lane in existing cartographic information mismatches, then the second unit is cut out processing or sieve to unmatched part Choosing processing.Here, the matching refers to that direction is identical or essentially identical, such as no more than a certain range of deviation of directivity.Example Such as, if covering two track directions in candidate superposition section, one of track direction is mismatched with the corresponding direction for being overlapped track, Another track direction is matched with the corresponding direction for being overlapped track, then the second unit cuts the wherein unmatched lane in direction Part, remainder is as corresponding superposition section.

In one embodiment, the first unit determines that tracing point is in existing cartographic information in the wheelpath information In corresponding map location point, wherein each map location point by corresponding tracing point it is suitable in the wheelpath information Sequence sequence；According to the map location point in the existing cartographic information affiliated lane, determine the wheelpath information with The candidate superposition section of the one or more in lane in the existing cartographic information, wherein in the lane where each candidate's superposition section Including multiple continuous map location points.

In one embodiment, the first unit by only include the wheelpath information the first image with only include Second image in lane carries out images match processing in existing cartographic information, wherein the first image and second image Based on identical map percent information；According to being overlapped in images match treated the first image and second image Part determines the candidate superposition section of the one or more in lane in the wheelpath information and existing cartographic information, wherein each Candidate superposition section coincides with partial traces in the wheelpath information.

In one embodiment, the determining module 202 determines in existing cartographic information covers the wheelpath letter The target map area information of breath；Determine one of lane in the wheelpath information and the target map area information or Multiple superposition sections.

Here, the determining module 202 can be based on scheduled target map region, directly in existing cartographic information really Surely the target map area information of the wheelpath information is covered, for example, if only carrying out to the specific region in existing map It updates, then it can be using the specific region as target map area information；Or the determining module 202 can be based on wheelpath In information the location information of tracing point come determine cover the wheelpath information target map area information.

It according to one embodiment of the application, additionally provides a kind of for updating the system of map, including processor and deposits Reservoir, wherein stored in the memory for realizing according to each step in the method for the update map of the embodiment of the present application Rapid computer program instructions.The processor is for running the computer program instructions stored in the memory, to execute According to the corresponding steps of the method for the update map of the embodiment of the present application, and for realizing according to the update of the embodiment of the present application Acquisition module 201, determining module 202 and adding module 203 in device 20.

In addition, additionally providing a kind of storage medium according to one embodiment of the application, storing on said storage Program instruction makes the computer or processor to execute this Shen when described program instruction is run by computer or processor Please embodiment update map method corresponding steps, and for realizing in the updating device 20 according to the embodiment of the present application Corresponding module.

Fig. 5 shows the exemplary system that can be used for implementing each embodiment described herein.

In some embodiments, system 500 can be used as Fig. 1, Fig. 2, Fig. 3, embodiment shown in Fig. 4 or other described realities Apply any one system for being used to update map in example.In some embodiments, system 500 may include one with instruction Or multiple computer-readable mediums (for example, system storage or NVM/ store equipment 520) and with one or more calculating Machine readable medium couple and be configured as executing instruction with realize module thereby executing one of movement described herein or Multiple processors (for example, (one or more) processor 505).

For one embodiment, system control module 510 may include any suitable interface controller, with to (one or It is multiple) at least one of processor 505 and/or any suitable equipment or component that communicate with system control module 510 mentions For any suitable interface.

System control module 510 may include Memory Controller module 530, to provide interface to system storage 515.It deposits Memory controller module 530 can be hardware module, software module and/or firmware module.

System storage 515 can be used for for example, load of system 500 and storing data and/or instruction.For a reality Example is applied, system storage 515 may include any suitable volatile memory, for example, DRAM appropriate.In some embodiments In, system storage 515 may include four Synchronous Dynamic Random Access Memory of Double Data Rate type (DDR4SDRAM).

For one embodiment, system control module 510 may include one or more input/output (I/O) controller, with Equipment 520 is stored to NVM/ and (one or more) communication interface 525 provides interface.

For example, NVM/ storage equipment 520 can be used for storing data and/or instruction.NVM/ storage equipment 520 may include appointing It anticipates nonvolatile memory appropriate (for example, flash memory) and/or to may include that any suitable (one or more) is non-volatile deposit Equipment is stored up (for example, one or more hard disk drives (HDD), one or more CD (CD) drivers and/or one or more Digital versatile disc (DVD) driver).

NVM/ storage equipment 520 may include a part for the equipment being physically mounted on as system 500 Storage resource or its can by the equipment access without a part as the equipment.For example, NVM/ storage equipment 520 can It is accessed by network via (one or more) communication interface 525.

(one or more) communication interface 525 can be provided for system 500 interface with by one or more networks and/or with Other any equipment communications appropriate.System 500 can be according to any mark in one or more wireless network standards and/or agreement Quasi- and/or agreement is carried out wireless communication with the one or more components of wireless network.

For one embodiment, at least one of (one or more) processor 505 can be with system control module 510 The logic of one or more controllers (for example, Memory Controller module 530) is packaged together.For one embodiment, (one It is a or multiple) at least one of processor 505 can encapsulate with the logic of one or more controllers of system control module 510 Together to form system in package (SiP).For one embodiment, at least one of (one or more) processor 505 It can be integrated on same mold with the logic of one or more controllers of system control module 510.For one embodiment, At least one of (one or more) processor 505 can be with the logic of one or more controllers of system control module 510 It is integrated on same mold to form system on chip (SoC).

In various embodiments, system 500 can be, but not limited to be: server, work station, desk-top calculating equipment or movement It calculates equipment (for example, lap-top computing devices, handheld computing device, tablet computer, net book etc.).In various embodiments, System 500 can have more or fewer components and/or different frameworks.For example, in some embodiments, system 500 includes One or more video cameras, keyboard, liquid crystal display (LCD) screen (including touch screen displays), nonvolatile memory port, Mutiple antennas, graphic chips, specific integrated circuit (ASIC) and loudspeaker.

Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies Within, then the application is also intended to include these modifications and variations.

It should be noted that the application can be carried out in the assembly of software and/or software and hardware, for example, can adopt With specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment In, the software program of the application can be executed to implement the above steps or functions by processor.Similarly, the application Software program (including relevant data structure) can be stored in computer readable recording medium, for example, RAM memory, Magnetic or optical driver or floppy disc and similar devices.In addition, hardware can be used to realize in some steps or function of the application, example Such as, as the circuit cooperated with processor thereby executing each step or function.

In addition, a part of the application can be applied to computer program product, such as computer program instructions, when its quilt When computer executes, by the operation of the computer, it can call or provide according to the present processes and/or technical solution. Those skilled in the art will be understood that the existence form of computer program instructions in computer-readable medium includes but is not limited to Source file, executable file, installation package file etc., correspondingly, the mode that computer program instructions are computer-executed include but Be not limited to: the computer directly execute the instruction or the computer compile the instruction after execute program after corresponding compiling again, Perhaps the computer reads and executes the instruction or after the computer reads and install and execute corresponding installation again after the instruction Program.Here, computer-readable medium can be for computer access any available computer readable storage medium or Communication media.

Communication media includes whereby including, for example, computer readable instructions, data structure, program module or other data Signal of communication is transmitted to the medium of another system from a system.Communication media may include having the transmission medium led (such as electric Cable and line (for example, optical fiber, coaxial etc.)) and can propagate wireless (not having the transmission the led) medium of energy wave, such as sound, electricity Magnetic, RF, microwave and infrared.Computer readable instructions, data structure, program module or other data can be embodied as example wireless Medium (such as carrier wave or be such as embodied as spread spectrum technique a part similar mechanism) in modulated message signal. Term " modulated message signal " refers to that one or more feature is modified or is set in a manner of encoded information in the signal Fixed signal.Modulation can be simulation, digital or Hybrid Modulation Technology.

As an example, not a limit, computer readable storage medium may include such as computer-readable finger for storage Enable, the volatile and non-volatile that any method or technique of the information of data structure, program module or other data is realized, can Mobile and immovable medium.For example, computer readable storage medium includes, but are not limited to volatile memory, such as with Machine memory (RAM, DRAM, SRAM)；And nonvolatile memory, such as flash memory, various read-only memory (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic/ferroelectric memory (MRAM, FeRAM)；And magnetic and optical storage apparatus (hard disk, Tape, CD, DVD)；Or other currently known media or Future Development can store the computer used for computer system Readable information/data.

Here, including a device according to one embodiment of the application, which includes for storing computer program The memory of instruction and processor for executing program instructions, wherein when the computer program instructions are executed by the processor When, trigger method and/or technology scheme of the device operation based on aforementioned multiple embodiments according to the application.

It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie In the case where without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.This Outside, it is clear that one word of " comprising " does not exclude other units or steps, and odd number is not excluded for plural number.The meaning of " plurality " is two or more It is more, unless otherwise specifically defined.The multiple units or device stated in device claim can also be by a units Or device is implemented through software or hardware.The first, the second equal words are used to indicate names, and are not offered as any specific Sequentially.

The various aspects of each embodiment are defined in detail in the claims.Each reality is defined in following number clause Apply these and other aspects of example:

1. a kind of for updating the method for map, wherein the described method includes:

Obtain one or more wheelpath information；

2. according to method described in clause 1, wherein the wheelpath information includes one-to-one with the superposition section It is overlapped track and at least one non-coincidence track, each non-coincidence track is overlapped track with described at least one and is adjacent to the row Tracing point in wheel paths information；

It is wherein, described that the wheelpath information is added to by the existing cartographic information according to the superposition section, comprising:

According to the superposition section adjacent with the non-coincidence track, the non-coincidence track is added to the existing map and is believed Breath.

3. according to method described in clause 2, wherein the superposition section adjacent with the non-coincidence track includes following One:

The coincidence lane portion in existing lane in the existing cartographic information, wherein the coincidence lane portion with it is described non- It is overlapped the coincidence track that track is abutted and corresponds to the same superposition section；

4. according to method described in clause 3, wherein the superposition section adjacent with the non-coincidence track includes described existing There is lane newly-generated in cartographic information, wherein the newly-generated lane is based on existing lane in the existing cartographic information Coincidence lane portion and the non-coincidence track abutted be overlapped track generation, the coincidence lane portion with it is described non-heavy It closes the coincidence track that track is abutted and corresponds to the same superposition section；

Wherein, the method also includes:

The newly-generated lane is determined with the track that is overlapped that the non-coincidence track is abutted based on the coincidence lane portion.

5. according to method described in clause 4, wherein the basis superposition section adjacent with the non-coincidence track, by institute It states non-coincidence track and is added to the existing cartographic information, further includes:

Coincidence lane portion in the existing lane is replaced with into the newly-generated lane.

6. according to method described in clause 2, wherein the basis superposition section adjacent with the non-coincidence track, by institute It states non-coincidence track and is added to the existing cartographic information, comprising:

If the superposition section that the non-coincidence track is adjacent meets scheduled trigger condition, pass through the non-coincidence track Middle first segment track replaces with linkage section and the non-coincidence track is added to the existing cartographic information, wherein described first Section track is formed by connecting by the first tracing point in the non-coincidence track with the second tracing point, and the linkage section is by described second Tracing point is formed by connecting with the closer endpoint of the first tracing point described in distance in the superposition section, and first tracing point is described non- It is overlapped the public tracing point for being overlapped track that track is abutted with it, second tracing point is adjacent with first tracing point.

7. according to method described in clause 6, wherein the trigger condition includes following at least any one:

First turning angle of the superposition section that the non-coincidence track is adjacent is believed more than or equal to the first angle threshold value Breath, wherein the first turning angle is surrounded by the line between the linkage section and second tracing point and third tracing point, The third tracing point is adjacent with second tracing point in the non-coincidence track；

Second turning angle of the superposition section that the non-coincidence track is adjacent is believed less than or equal to the second angle threshold value Breath, wherein it is described second turning angle by the linkage section extended line and second tracing point and the third tracing point Line surround；

The third turning angle in the non-coincidence lane that the superposition section is adjacent is greater than or equal to third angle threshold value information, Wherein, the third turning angle is surrounded by the first line and the second line, wherein first line is by the non-coincidence vehicle First lane point in road is formed by connecting with second lane point, and second line is by the first lane point and the superposition section It is formed by connecting apart from the closer endpoint of the first tracing point, the second lane point is in the non-coincidence lane with described Lane point is adjacent, the non-coincidence lane belong to the existing lane in the existing cartographic information and with the non-coincidence rail Mark is located at the same side of the superposition section；

The base-leg turn angle in the superposition section and the non-coincidence lane is less than or equal to the 4th angle threshold value information, In, the base-leg turn angle is surrounded by the extended line of first line with second line.

8. according to method described in clause 6, wherein the method also includes:

If the superposition section that the non-coincidence track is adjacent does not meet the trigger condition, reduce the superposition section；

According to the superposition section after reduction, the non-coincidence track is added to the existing cartographic information.

9. according to method described in clause 8, wherein described superposition section according to after reduction, by the non-coincidence track It is added to the existing cartographic information, further includes:

If the superposition section after the non-coincidence track and the reduction does not meet the trigger condition, continue to reduce the coincidence Section, until the foreshortened length of the superposition section be more than scheduled length threshold or the non-coincidence track be added into it is described existingly Figure information.

10. the method according to any one of clause 1 to 9, wherein the method also includes:

For two lanes in the same direction adjacent in the updated existing cartographic information, if between described two lanes in the same direction There are multiple connection tracks, increase the corresponding lane-change mark information in described two lanes in the same direction in the existing cartographic information, Wherein, each connection track belongs to one of described one or more wheelpath information.

11. according to method described in clause 10, wherein the lane-change mark information includes lane-change directional information, described to change Road directional information is identical as the connection direction of track.

12. the method according to any one of clause 1 to 9, wherein the method also includes:

It detects in the wheelpath information with the presence or absence of repetition path portion；

If it exists, segment processing is carried out to the wheelpath information, to obtain the wheelpath information after multiple segmentations, Wherein, there is no repeat path portion in the wheelpath information after each segmentation；

Wherein, one or more superposition sections of the determination wheelpath information and lane in existing cartographic information, Include:

One or more superposition sections in lane in wheelpath information and existing cartographic information after determining the segmentation.

13. the method according to any one of clause 1 to 12, wherein the determination wheelpath information and existing There are one or more superposition sections in lane in cartographic information, comprising:

Determine the candidate superposition section of the one or more in lane in the wheelpath information and existing cartographic information, wherein Each candidate's superposition section coincides with partial traces in the wheelpath information；

By carrying out cutting processing to the candidate superposition section or be screened from one or more of candidate superposition sections, obtain Obtain one or more superposition sections in lane in the wheelpath information and the existing cartographic information, wherein each superposition section The direction of intersection of the track direction in place lane with the superposition section in the wheelpath information matches.

14. according to method described in clause 13, wherein in the determination wheelpath information and existing cartographic information The candidate superposition section of the one or more in lane, wherein each candidate's superposition section and partial traces phase in the wheelpath information It is overlapped, comprising:

Determine corresponding map location point of the tracing point in existing cartographic information in the wheelpath information, wherein Sequence sequence of each map location point by corresponding tracing point in the wheelpath information；

According to the map location point in the existing cartographic information affiliated lane, determine the wheelpath information with The candidate superposition section of the one or more in lane in the existing cartographic information, wherein in the lane where each candidate's superposition section Including multiple continuous map location points.

15. according to method described in clause 13, wherein in the determination wheelpath information and existing cartographic information The candidate superposition section of the one or more in lane, wherein each candidate's superposition section and partial traces phase in the wheelpath information It is overlapped, comprising:

By the first image for only including the wheelpath information and the second figure only comprising lane in existing cartographic information As carrying out images match processing, wherein the first image is based on identical map percent information with second image；

According to through images match, treated described in part that the first image is overlapped with second image determines The candidate superposition sections of the one or more in lane in wheelpath information and existing cartographic information, wherein each candidate's superposition section with Partial traces coincide in the wheelpath information.

16. the method according to any one of clause 1 to 15, wherein the determination wheelpath information and existing There are one or more superposition sections in lane in cartographic information, comprising:

The target map area information for covering the wheelpath information is determined in existing cartographic information；

Determine one or more superposition sections in lane in the wheelpath information and the target map area information.

17. a kind of for updating the updating device of map, wherein the updating device includes:

Module is obtained, for obtaining one or more wheelpath information；

18. according to updating device described in clause 17, wherein the wheelpath information include with the superposition section one by one Corresponding coincidence track and at least one non-coincidence track, each non-coincidence track are overlapped track with described at least one and are adjacent to Tracing point in the wheelpath information；

Wherein, the adding module is used for:

19. according to updating device described in clause 18, wherein the superposition section adjacent with the non-coincidence track include It is any one of following:

20. according to updating device described in clause 19, wherein the superposition section adjacent with the non-coincidence track include Newly-generated lane in the existing cartographic information, wherein the newly-generated lane is based on existing in the existing cartographic information There is the coincidence lane portion in lane to be overlapped what track generated with what the non-coincidence track was abutted, the coincidence lane portion and institute It states the coincidence track that non-coincidence track is abutted and corresponds to the same superposition section；

Wherein, the updating device further include:

Adjacent determining module, for abutted based on the coincidence lane portion and the non-coincidence track to be overlapped track true The fixed newly-generated lane.

21. according to updating device described in clause 20, wherein the adding module is also used to:

22. according to updating device described in clause 18, wherein the adding module is used for:

23. according to updating device described in clause 22, wherein the trigger condition includes following at least any one:

24. according to updating device described in clause 22, wherein the updating device further include:

Reduce module, if not meeting the trigger condition for the superposition section that the non-coincidence track is adjacent, reduction The superposition section；

Non-coincidence adding module, for the non-coincidence track being added to described existing according to the superposition section after reduction There is cartographic information.

25. according to updating device described in clause 24, wherein the non-coincidence adding module is also used to:

26. the updating device according to any one of clause 17 to 25, wherein the updating device further include:

Lane-change increases module, for for two lanes in the same direction adjacent in the updated existing cartographic information, if There are multiple connection tracks between described two lanes in the same direction, increase described two lanes pair in the same direction in the existing cartographic information The lane-change mark information answered, wherein each connection track belongs to one of described one or more wheelpath information.

27. according to updating device described in clause 26, wherein the lane-change mark information includes lane-change directional information, institute It is identical as the connection direction of track to state lane-change directional information.

28. the updating device according to any one of clause 17 to 25, wherein the updating device further include:

Detection module, for detecting in the wheelpath information with the presence or absence of repetition path portion；

Segmentation module carries out segment processing to the wheelpath information for repeating path portion if it exists, to obtain Wheelpath information after multiple segmentations, wherein there is no repeat path portion in the wheelpath information after each segmentation；

Wherein, the determining module is used for:

29. the updating device according to any one of clause 17 to 28, wherein the determining module includes:

First unit, the one or more for determining lane in the wheelpath information and existing cartographic information are candidate Superposition section, wherein each candidate's superposition section coincides with partial traces in the wheelpath information；

Second unit, for by carrying out cutting processing to the candidate superposition section or be weighed from one or more of candidates It closes and is screened in section, obtain one or more superposition sections in lane in the wheelpath information and the existing cartographic information, In, the direction of the track direction and intersection of the superposition section in the wheelpath information in lane where each superposition section Match.

30. according to updating device described in clause 29, wherein the first unit is used for:

31. according to updating device described in clause 29, wherein the first unit is used for:

32. the updating device according to any one of clause 17 to 31, wherein the determining module is used for:

33. a kind of for updating the system of map, including processor and memory, wherein be stored in the memory Computer program instructions, for executing such as any one of clause 1 to 16 when the computer program instructions are run by the processor The method of the update map.

34. a kind of storage medium, stores program instruction on said storage, described program instruction is used at runtime In the methods for executing the described in any item update maps of such as clause 1 to 16.

Claims

Obtain one or more wheelpath information；

2. according to the method described in claim 1, wherein, the wheelpath information includes one-to-one with the superposition section It is overlapped track and at least one non-coincidence track, each non-coincidence track is overlapped track with described at least one and is adjacent to the row Tracing point in wheel paths information；

According to the superposition section adjacent with the non-coincidence track, the non-coincidence track is added to the existing cartographic information.

3. method according to claim 1 or 2, wherein the method also includes:

For two lanes in the same direction adjacent in the updated existing cartographic information, if existing between described two lanes in the same direction Multiple connection tracks increase the corresponding lane-change mark information in described two lanes in the same direction in the existing cartographic information, wherein Each connection track belongs to one of described one or more wheelpath information.

4. according to the method in any one of claims 1 to 3, wherein the method also includes:

If it exists, segment processing is carried out to the wheelpath information, to obtain the wheelpath information after multiple segmentations, In, there is no repeat path portion in the wheelpath information after each segmentation；

Wherein, one or more superposition sections of the determination wheelpath information and lane in existing cartographic information, comprising:

5. method according to claim 1 to 4, wherein the determination wheelpath information with it is existing One or more superposition sections in lane in cartographic information, comprising:

Determine the candidate superposition section of the one or more in lane in the wheelpath information and existing cartographic information, wherein each Candidate superposition section coincides with partial traces in the wheelpath information；

By carrying out cutting processing to the candidate superposition section or screen from one or more of candidate superposition sections, institute is obtained State one or more superposition sections in lane in wheelpath information and the existing cartographic information, wherein where each superposition section The direction of intersection of the track direction in lane with the superposition section in the wheelpath information matches.

6. according to the method described in claim 5, wherein, vehicle in the determination wheelpath information and existing cartographic information The candidate superposition section of the one or more in road, wherein each candidate's superposition section is mutually be overlapped with partial traces in the wheelpath information It closes, comprising:

Determine corresponding map location point of the tracing point in existing cartographic information in the wheelpath information, wherein various regions Sequence sequence of the figure location point by corresponding tracing point in the wheelpath information；

According to the map location point in the existing cartographic information affiliated lane, determine the wheelpath information with it is described The candidate superposition section of the one or more in lane in existing cartographic information, wherein include in the lane where each candidate's superposition section Multiple continuous map location points.

7. method according to any one of claim 1 to 6, wherein the determination wheelpath information with it is existing One or more superposition sections in lane in cartographic information, comprising:

8. a kind of for updating the updating device of map, wherein the updating device includes:

Module is obtained, for obtaining one or more wheelpath information；

Determining module, for determining one or more superposition sections in lane in the wheelpath information and existing cartographic information；

9. a kind of for updating the system of map, including processor and memory, wherein be stored with computer in the memory Program instruction, for executing as described in any one of claim 1 to 8 when the computer program instructions are run by the processor Update map method.

10. a kind of storage medium stores program instruction on said storage, described program instruction is at runtime for holding The row method as claimed in any one of claims 1 to 8 for updating map.