CN109579857B

CN109579857B - Method and equipment for updating map

Info

Publication number: CN109579857B
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: 2022-09-20
Anticipated expiration: 2038-12-06
Also published as: CN109579857A

Abstract

An object of the present application is to provide a method, apparatus, system, and storage medium for updating a map. Compared with the prior art, the method for automatically updating the map comprises the steps of obtaining one or more pieces of driving track information, determining one or more overlapped sections of lanes in the driving track information and the existing map information, and adding the driving track information to the existing map information according to the overlapped sections, so that the method for automatically updating the map is realized.

Description

Method and equipment for updating map

Technical Field

The present application relates to the field of intelligent driving, and more particularly, to a technique for updating a map.

Background

High-precision Maps (Definition Maps) or high-precision Maps (HD Maps) are Maps that are specifically created for the purpose of autonomous driving. The high-precision map is accurate to centimeter level in precision and has extremely high precision, so that accurate navigation instructions can be provided during automatic driving.

The existing unmanned technical scheme greatly depends on the information and accuracy provided by a high-precision map, and the drawing quality of the high-precision map directly influences the operation of the whole unmanned system. The existing high-precision map making is mainly finished manually, and although the precision requirement can be guaranteed, the cost is high and the efficiency is low. The labor cost increases in geometric level with the increase of the unmanned scene, and finally, a production bottleneck is met. It becomes significant to explore automatic generation schemes for high-precision maps, which will greatly influence the future development of existing unmanned driving solutions.

Disclosure of Invention

An object of the present application is to provide a method, apparatus, system, and storage medium for updating a map.

According to an aspect of the present application, there is provided a method for updating a map, wherein the method includes:

acquiring one or more pieces of driving track information;

determining one or more coincident sections of the driving track information and the lane in the existing map information;

and adding the driving track information to the existing map information according to the overlapped section.

According to another aspect of the present application, there is provided an updating apparatus for updating a map, wherein the updating apparatus includes:

the acquisition module is used for acquiring one or more pieces of driving track information;

the determining module is used for determining one or more overlapped sections of the driving track information and the lane in the existing map information;

and the adding module is used for adding the driving track information to the existing map information according to the overlapped section.

According to an aspect of the present application, there is provided a system for updating a map, comprising a processor and a memory, wherein the memory has stored therein computer program instructions for performing, when executed by the processor, the method of updating a map as described above.

According to an aspect of the present application, there is provided a storage medium having stored thereon program instructions for performing, when executed, the method of updating a map as described above.

Compared with the prior art, the method for automatically updating the map comprises the steps of obtaining one or more pieces of driving track information, determining one or more overlapped sections of lanes in the driving track information and the existing map information, and adding the driving track information to the existing map information according to the overlapped sections, so that the method for automatically updating the map is realized. The method and the device are based on the easily-obtained driving track data, other high-cost acquisition equipment is not needed, the map updating cost is reduced, and the updating efficiency is improved; in addition, the method and the device are suitable for various limited scenes without lane lines and open road scenes with arbitrarily expanded sizes, and an integral solution from track acquisition to road network generation in any range is realized; meanwhile, the method does not need any manual participation, and the automatically generated high-precision map road network is reliable as long as the driving track is accurate, so that the efficient and accurate road network updating method is realized.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 illustrates a flow diagram of a method for updating a map according to one embodiment of the present application;

fig. 2 is a diagram illustrating a structure of an updating apparatus for updating a map according to another embodiment of the present application;

FIG. 3 is a schematic diagram of a driving path information and lanes in an existing map information according to an embodiment of the present application;

FIG. 4 is a diagram illustrating an example of adding lane change mark information corresponding to two lanes in the same direction to existing map information according to an embodiment of the present application;

FIG. 5 illustrates an exemplary system that can be used to implement the various embodiments described herein;

FIG. 6 illustrates a schematic diagram of updating existing map information based on a coincident segment to which a non-coincident trajectory is adjacent, according to one embodiment of the present application;

FIG. 7 is a schematic diagram of a process for adaptively adjusting the connection segments in the schematic diagram of FIG. 6;

fig. 8 is a schematic diagram showing the conventional map information after the map information shown in fig. 6 is adaptively adjusted.

The same or similar reference numbers in the drawings identify the same or similar elements.

Detailed Description

The present application is described in further detail below with reference to the attached figures.

Fig. 1 shows a flowchart of a method for updating a map according to an embodiment of the present application, wherein the method includes step S101, step S102, and step S103.

And step S101, acquiring one or more pieces of driving track information.

The driving track information is a coordinate point sequence with time stamps, and the sequence of the time stamps among the coordinate points represents the direction of the track. The driving track information may be a driving track acquired through a vehicle-mounted terminal, a point sequence of a section of road extracted from an existing digital map, or a track acquired by an aerial device, such as an unmanned aerial vehicle flying along the driving direction of the road. The driving track information can be GPS data or data obtained by other acquisition modes such as SLAM.

The plurality of pieces of trajectory information may be a plurality of trajectories of the same vehicle or trajectories of different vehicles.

And S102, determining one or more overlapped sections of the driving track information and the lane in the existing map information.

The overlapping section comprises a part of the traffic track information which is completely overlapped with the lanes in the existing map information and/or a part of the traffic track information which is adjacent to the lanes in the existing map information and the distance difference between the two is within a certain threshold range.

For example, by comparing the coordinate points in the driving track information with the coordinate points of the lane in the existing map information, if two or more continuous coordinate points of the driving track information are compared with two or more continuous coordinate points of the lane in the existing map information, and the two or more continuous coordinate points are corresponding to the same coordinate point, or the difference value between the two corresponding coordinate points is in a predetermined range, it indicates that the road segments corresponding to the two or more coordinate points belong to the overlapped segment.

Or respectively drawing the trajectory lines of the driving trajectory information and the lanes in the existing map information in the same drawing coordinate system and the same drawing proportion to generate a plurality of trajectory pictures with the same resolution and the same size; processing the two or more track pictures, for example, converting the two or more track pictures into a binary gray-scale picture, matching according to pixel point positions shared by all track lines in the binary gray-scale picture, and finally determining a track overlapping part based on matched picture information; and then determining the track overlapping section according to the track overlapping part.

And step S103, adding the driving track information to the existing map information according to the overlapped section.

Here, if there is an overlapping section between the trajectory information and the lane in the existing map information, the trajectory information is added to the existing map information based on the overlapping section. Here, the trajectory information includes the overlapped section or includes a non-overlapped section in addition to the overlapped section. In step S103, according to the overlapped section, a part or all of the trajectory information is added to the existing map information.

Fig. 3 shows a schematic diagram of a driving track information and a lane in an existing map information according to an embodiment of the present application. The lane in fig. 3 is denoted by 1, the trajectory information is denoted by 2, the overlapping section of the two is the section included in the frame 300, and the rest is the non-overlapping section.

Based on fig. 3, after the overlapped section is determined, the driving path information is added to the existing map information, that is, the part of the driving path information 2 indicated by the dotted line in fig. 3 is added to the map, so that the map is added with new lane information.

In one embodiment, the range of the non-overlapped section to be added may be determined according to the connection point and the connection distance corresponding to the overlapped section, for example, the length of the non-overlapped section to be added is determined in an equal proportion according to the length of the overlapped section, so as to add the trajectory information to the existing map information.

In one embodiment, the driving track information includes a coinciding track and at least one non-coinciding track, which are in one-to-one correspondence with the coinciding segments, and each non-coinciding track and the at least one coinciding track are adjacent to a track point in the driving track information; step S103, adding the non-coincident track to the existing map information according to a coincident section adjacent to the non-coincident track.

For example, if the driving track information includes a coincident track a, a non-coincident track b, a coincident track c, a non-coincident track d, and a non-coincident track e, the tracks a, b, c, d, and e are arranged in sequence according to the driving route, and the coincident track a and the coincident track c coincide with the lane in the existing map information and belong to a coincident section; and if the coincident track a and the non-coincident track B are adjacent to a point A in the driving track, and the coincident track c and the non-coincident track d are adjacent to a point B in the driving track, adding the non-coincident tracks B and d to the existing map information.

In one embodiment, the coincident segments that are contiguous with the non-coincident tracks include any of:

-a coinciding lane portion of an existing lane in the existing map information, wherein a coinciding trajectory, to which the non-coinciding trajectory adjoins, corresponds to a same coinciding segment.

Here, if the overlapped lane portion and the overlapped track are completely overlapped, the overlapped lane portion of the existing lane may be directly reserved, and the corresponding non-overlapped track may be inserted based on the existing lane. Or, if the overlapped track adjacent to the non-overlapped track is not completely overlapped (if the overlapped track is adjacent to the overlapped track adjacent to the non-overlapped track and the distance difference between the two is within a certain threshold range, the overlapped track and the non-overlapped track are considered to still correspond to the same overlapped section), the overlapped track of the existing track may be used as the final track, and the corresponding non-overlapped track is inserted based on the existing track.

-a newly generated lane in the existing map information, wherein the newly generated lane is generated based on a coinciding trajectory to which the non-coinciding trajectory is adjacent, or based on a coinciding trajectory to which a coinciding lane portion of an existing lane in the existing map information is adjacent to the non-coinciding trajectory, the coinciding lane portion and the non-coinciding trajectory being adjacent to a coinciding trajectory corresponding to a same coinciding segment.

Here, if the overlapping track adjacent to the non-overlapping track is not completely overlapped with the overlapping track of the overlapping lane part, when a new lane is generated based on the overlapped section, a new lane may be generated based directly on the overlapping track adjacent to the non-overlapping track; alternatively, in an embodiment, the new lane may be generated based on the overlapped track adjacent to the non-overlapped track and the overlapped lane portion of the existing lane in the existing map information, for example, taking the center lines of the two as the new lane, or determining the new lane by performing weighted average on the coordinates of the two, or the like. Finally, a corresponding non-coincident trajectory is inserted based on the newly generated lane.

FIG. 6 illustrates a schematic diagram of updating existing map information based on a coincident segment to which a non-coincident trajectory is contiguous, according to one embodiment of the present application. In fig. 6, two solid black curves respectively represent the existing lane and/or trajectory information, and a dotted line represents the updated existing map information generated after processing the existing lane and/or trajectory information. As can be seen from fig. 6, the newly generated lane at the overlapping section part is determined by taking the center lines of the two as a new lane.

Further, in one embodiment, the step 103 further comprises replacing a coinciding lane portion of the existing lane with the newly generated lane. For example, the newly generated lanes are connected with the front and rear lane portions of the coinciding lanes, respectively, to implement the replacement process. Further, the replacement process may be optimized by performing smoothing processing or the like on the connection portion.

In one embodiment, the step 103 comprises: if the non-coincident track and an adjacent coincident section meet a preset triggering condition, the non-coincident track is added to the existing map information by replacing a first section of track in the non-coincident track with a connecting section, wherein the first section of track is formed by connecting a first track point and a second track point in the non-coincident track, the connecting section is formed by connecting the second track point and an end point which is closer to the first track point in the coincident section, the first track point is a common track point of the non-coincident track and the adjacent coincident track, and the second track point is adjacent to the first track point.

Here, when a non-overlapping track and an overlapping section need to be connected, it is first detected whether the non-overlapping track and the adjacent overlapping section meet a predetermined trigger condition. Following the example shown in fig. 6, the overlapping section in fig. 6 is a portion where the existing lane and/or trajectory information overlaps, and the connection section is a connection point where the portion where the existing lane and/or trajectory information does not overlap is connected to the overlapping section. In this case, the connection segment is checked to determine whether it meets a predefined trigger condition.

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

triggering a condition one: non-coincidence orbit is greater than or equal to first contained angle threshold value information rather than the first contained angle of turning of the coincidence section that borders on, wherein, first turn contained angle by the linkage segment with line between second track point and third track point encloses, third track point is in the non-coincidence orbit with second track point is adjacent.

Here, as shown in fig. 7, fig. 7 shows a schematic diagram of a process of adaptively adjusting a connection segment in the schematic diagram shown in fig. 6. For convenience of description, in fig. 7, the cd side is the traffic track information, and the ab side is the existing lane, the ocd side is taken as an example: the first track point is o, namely a common track point of the non-coincident track and the adjacent coincident track; the second track point is c, namely a point in the non-coincident track adjacent to the first track point; a third track point is d, namely a point adjacent to the second track point c in the non-coincident track; the connecting section is oc, namely the overlapping section is connected with the non-overlapping section through the oc. Thus, the angle ocd is the first turning angle. If the first turning included angle is larger than or equal to the first included angle threshold information, the connection between the overlapped section and the non-overlapped section is too abrupt, and therefore subsequent processing is required.

Triggering condition two: the second turning included angle of the non-coincident track and the adjacent coincident section is smaller than or equal to second included angle threshold value information, wherein the second turning included angle is formed by the extension line of the connecting section, the second track point and the connecting line of the third track point in a surrounding mode.

Here, as shown in fig. 7, in the example, when the cd side is the traffic track information and the ab side is the existing lane in fig. 7, the ocd side traffic track information is taken as an example: and the connecting section is oc, the second track point is c, the third track point is d, and the second turning included angle is ^ beta. If the second turning included angle is smaller than or equal to the second included angle threshold information, the connection between the overlapped section and the non-overlapped section is too abrupt, and therefore subsequent processing is required.

Triggering conditions are as follows: the third turning included angle of the coincident section and the adjacent non-coincident lane is larger than or equal to third included angle threshold information, wherein the third turning included angle is formed by a first connecting line and a second connecting line in a surrounding mode, the first connecting line is formed by connecting a first lane point and a second lane point in the non-coincident lane, the second connecting line is formed by connecting the first lane point and an end point, close to the first track point, in the coincident section, the second lane point is adjacent to the first lane point in the non-coincident lane, and the non-coincident lane belongs to the existing lane in the existing map information and is located on the same side of the coincident section with the non-coincident track.

Here, as shown in fig. 7, in the example, if the cd side in fig. 7 is the trajectory information and the ab side is the existing lane, the existing lane on the oab side is taken as an example: the non-coincident lane is an oab section, the non-coincident track is an ocd section, and the oab section and the ocd section are positioned on the same side of the coincident section; the first track point is o, the first lane point is a, and the second connecting line is an oa section; the second lane point b is adjacent to the first lane point a, and the first connecting line is an ab segment; the third turning included angle is ═ oab. If the third turning angle is greater than or equal to the third angle threshold information, it means that the connection between the overlapped section and the non-overlapped section is too abrupt, and therefore, the subsequent processing is required.

And a triggering condition is four: and a fourth turning included angle between the coincident section and the non-coincident lane is smaller than or equal to fourth included angle threshold information, wherein the fourth turning included angle is formed by the extension line of the first connecting line and the second connecting line in a surrounding mode.

Here, as shown in fig. 7, in the example, if the cd side is the traffic track information and the ab side is the existing lane in fig. 7, the existing lane on the oab side is taken as an example: the first connecting line is an ab section, the second connecting line is an oa section, and the fourth turning included angle is ≈ alpha. If the fourth turning included angle is smaller than or equal to the fourth included angle threshold information, the connection between the overlapped section and the non-overlapped section is too abrupt, and therefore subsequent processing is required.

Those skilled in the art should understand that each of the above threshold information may be set by default, or may be continuously adjusted and determined based on historical data in practice, or may be continuously adjusted according to a machine learning manner, etc.

When the non-coincident track and the adjacent coincident section meet the preset triggering condition, replacing a first section of track in the non-coincident track, taking fig. 7 as an example, the first section of track is an oc section, the first track point is o, the second track point is c, and when the non-coincident track is not adjusted, the first section of track is equal to the connecting section, namely the connecting section is an oc section; and when the non-coincident track and the adjacent coincident section meet a preset triggering condition, determining one endpoint of the coincident section positioned on the point o as an endpoint for connection, connecting the point c with the endpoint to generate a connection section, and replacing the first section track oc with the connection section. The existing map after its generation can be as shown in fig. 8.

In fig. 8, two solid black curves respectively represent the existing lane and/or trajectory information, and a dotted line represents the updated existing map information generated by processing the existing lane and/or trajectory information.

Here, it should be understood by those skilled in the art that if a certain endpoint is determined and the new lane information formed by the endpoint still meets the predetermined trigger condition, the position of the endpoint is readjusted based on the method until the generated lane information meets the requirement. Thus, the present application is able to generate smoothly connected coincident and non-coincident segments.

In one embodiment, the method further comprises the steps of: if the non-coincident track and the adjacent coincident section of the non-coincident track do not meet the triggering condition, reducing the coincident section; and adding the non-coincident track to the existing map information according to the reduced coincident section.

Here, as shown in fig. 8, if a first section of track in the non-overlapping track is replaced with a connecting section to add the non-overlapping track to the existing map information until the non-overlapping track and an adjacent overlapping section of the non-overlapping track do not satisfy the trigger condition, it indicates that a connection point between the overlapping section and the non-overlapping section has been moved forward, so that an original overlapping section is reduced according to a currently determined connecting section; and finally, adding the non-coincident track to the existing map information according to the reduced coincident section, wherein the adding process is shown as step S103.

In one embodiment, the step of adding the non-coincident track to the existing map information according to the reduced coincident section further includes continuing to reduce the coincident section if the non-coincident track and the reduced coincident section do not satisfy the trigger condition until the reduced length of the coincident section exceeds a predetermined length threshold or the non-coincident track is added to the existing map information.

If the non-coincident track and the reduced coincident section do not meet the triggering condition, continuing to reduce the coincident section, so that the generated lane after fusion is smoother; if the length of the overlapped section exceeds a certain length of the initial overlapped point, the length reduction of the overlapped section is stopped when the length reduction of the overlapped section exceeds a preset length threshold value, and the currently selected point is used as the overlapped point; and if the non-coincident track is added to the existing map information, stopping reducing the coincident section. Therefore, suitable connection points are continuously searched, and the fusion process is completed in an iterative mode.

In one embodiment, the method further comprises the steps of: and for two adjacent equidirectional lanes in the updated existing map information, if a plurality of connecting tracks exist between the two equidirectional lanes, adding lane change mark information corresponding to the two equidirectional lanes in the existing map information, wherein each connecting track belongs to one of the one or more pieces of driving track information.

Here, taking fig. 4 as an example, lane 1 and lane 2 in fig. 4 are two adjacent co-directional lanes in the existing map information, and there are three connecting tracks A, B, C between lane 1 and lane 2; the method adds lane change marking information between the lane 1 and the lane 2 to the existing map information. For example, the lane identification can be performed directly between two lanes in the same direction, or by using a legend or the like.

In one embodiment, the lane change mark information includes lane change direction information, and the lane change direction information is the same as the direction of the connection track.

In one embodiment, for two adjacent equidirectional lanes in the updated existing map information, if a plurality of connection tracks exist between the two equidirectional lanes, only the overlapped section is fused, but the middle connection section is not fused, the lane change information is judged according to the direction of the connection section, and the lane change mark information corresponding to the two equidirectional lanes is newly added in the directed graph.

Taking fig. 4 as an example, two vertical lines "|" in the lane 1 direction indicate that the horizontal direction route in the vertical line range belongs to the merged overlapped section in the lane 1, and two vertical lines "|" in the lane 2 direction indicate that the horizontal direction route in the vertical line range belongs to the merged overlapped section in the lane 2; the lane 1 and the lane 2 are not connected to each other, and only the lane change mark information of "1 → 2" is used for marking.

In one embodiment, the method further comprises: detecting whether a repeated track part exists in the driving track information or not; if the vehicle-mounted running track information exists, carrying out segmentation processing on the running track information to obtain a plurality of segmented running track information, wherein each segmented running track information does not have a repeated track part; the step S102 determines one or more overlapped sections of the segmented driving path information and the lane in the existing map information.

The driving track information comprises a plurality of track points, the track points are traversed according to a time sequence, and if at least one track point is repeated with the track point traversed before, a repeated track part is determined to exist in the driving track information.

And then segmenting the traffic track information according to the repeated track part and the traffic track information until a plurality of segmented traffic track information is obtained, wherein the repeated track part does not exist in each segmented traffic track information.

For example, when the trajectory information is traversed and a repeated trajectory part composed of a plurality of coincident points is found, the original trajectory information is divided into three segments, i.e., a segment before the repeated trajectory part, a segment after the repeated trajectory part, and a segment after the repeated trajectory part, starting from the start point of the repeated trajectory part. Then, the vehicle path information of the section of the repeated path part is continuously traversed, and the determination and the segmentation are continuously carried out according to the method until the whole vehicle path information is traversed.

Those skilled in the art will understand that any segmentation method that can make the trajectory information after each segment have no repeated trajectory part is applicable to the present application, in other words, the trajectory information itself can be made to contain no repeated trajectory part by the segmentation method.

Then, in step S102, the trajectory information from which the repeated trajectory part has been removed is compared with the lanes in the existing map information to determine the overlapped section.

In one embodiment, the step S102 includes a step S1021 (not shown) and a step S1022 (not shown), specifically, the step S1021, determining one or more candidate overlapping sections of the driving path information and the lane in the existing map information, wherein each candidate overlapping section overlaps with a partial path in the driving path information; step S1022 is to obtain the lane information and one or more overlapping sections of the lanes in the existing map information by cutting the candidate overlapping sections or screening the candidate overlapping sections, where a lane direction of the lane in which each overlapping section is located matches a direction of an overlapping portion of the overlapping section in the lane information.

In step S1021, by comparing the coordinate points in the driving path information with the coordinate points of the lane in the existing map information, if the difference between two or more consecutive coordinate points of the driving path information and two or more consecutive coordinate points of the lane in the existing map information is within a predetermined range after comparing the two or more corresponding coordinate points with the two or more consecutive coordinate points of the lane in the existing map information, it is indicated that the road segments corresponding to the two or more coordinate points belong to the candidate overlapping segments.

Or respectively drawing the trajectory lines of the driving trajectory information and the lanes in the existing map information by using the same drawing coordinate system and the same drawing scale so as to generate a plurality of trajectory pictures with the same resolution and the same size; determining a track overlapping part according to the two or more track pictures; and determining the candidate coincidence segment according to the track coincidence part.

Then, in step S1022, if the direction of the candidate overlapping section in the trajectory information does not match the direction of the lane of the candidate overlapping section in the existing map information, clipping processing or screening processing is performed on the unmatched part. Here, matching refers to directions being the same or substantially the same, e.g., no more than a certain range of directional deviation. For example, if the candidate overlap section covers two lane directions, one of which does not match the direction of the corresponding overlap track, and the other of which matches the direction of the corresponding overlap track, the lane portion whose direction does not match is cut, and the remaining portion is used as the corresponding overlap section.

In one embodiment, the step S1021 determines corresponding map location points of the track points in the driving track information in the existing map information, where the map location points are sorted according to the sequence of the corresponding track points in the driving track information; and determining one or more candidate superposed sections of the driving track information and the lane in the existing map information according to the lane to which the map position point belongs in the existing map information, wherein the lane to which each candidate superposed section belongs comprises a plurality of continuous map position points.

Determining the candidate superposition section based on the map position point corresponding to the track point and the corresponding relation of the map position point and the lane in the existing map; and if a plurality of continuous map position points correspond to the existing lane, the segment is considered to belong to the candidate coincident segment.

In one embodiment, the step S1021 performs image matching processing on a first image only containing the driving path information and a second image only containing a lane in existing map information, wherein the first image and the second image are based on the same map scale information; and determining one or more candidate overlapping sections of the lane in the traffic track information and the existing map information according to the overlapping part of the first image and the second image after image matching processing, wherein each candidate overlapping section is overlapped with a part of the track in the traffic track information.

Here, the image matching process includes, but is not limited to, matching using, for example, a template matching algorithm; in one embodiment, the first image and the second image may be converted into binary gray-scale maps respectively, and matching is performed according to the pixel point position common to all the trajectory lines in the binary gray-scale maps.

Then, determining the candidate overlapping section according to the positions of the overlapped pixel points in the two images; or directly superposing the pixel values of the same pixel position of the first image and the second image which are subjected to the image matching processing, and identifying candidate superposed sections by utilizing superposition of the pixel values. For example, the pixel value of the pixel point of the track line in the binary gray scale map is 0, the pixel value of the pixel point of the non-track line is not 0, and when the pixel values of the same pixel position of the first image and the second image are superposed, the pixel point with the pixel value of 0 is the superposition point.

In one embodiment, the step S102 determines target map area information covering the driving path information in existing map information; and determining one or more overlapped sections of the driving track information and the lanes in the target map area information.

Here, the target map area information covering the trajectory information may be directly determined in the existing map information based on a predetermined target map area, and for example, if only a specific area in the existing map is updated, the specific area may be set as the target map area information; or the target map area information covering the driving track information may be determined based on the position information of the track point in the driving track information.

Then, the overlapped section is determined based on the traveling track information and the determined target map area information.

Fig. 2 shows a structure diagram of an updating apparatus for updating a map according to another embodiment of the present application, wherein the updating apparatus 20 includes an obtaining module 201, a determining module 202, and an adding module 203.

The obtaining module 201 obtains one or more pieces of driving track information.

The determining module 202 determines one or more coinciding segments of the driving trajectory information with the lanes in the existing map information.

For example, the determining module 202 may compare the coordinate points in the driving track information with the coordinate points of the lane in the existing map information, and if two or more consecutive coordinate points of the driving track information are compared with two or more consecutive coordinate points of the lane in the existing map information, and the two or more consecutive coordinate points are corresponding to the same point, or a difference value between the two corresponding coordinate points is within a predetermined range, it indicates that the road segment to which the two or more coordinate points correspond belongs to the overlapped segment.

Or, the determining module 202 draws the trajectory lines of the lane in the driving trajectory information and the lane in the existing map information respectively in the same drawing coordinate system and the same drawing scale, so as to generate a plurality of trajectory pictures with the same resolution and the same size; processing the two or more track pictures, for example, converting the two or more track pictures into a binary gray-scale picture, matching according to pixel point positions shared by all track lines in the binary gray-scale picture, and finally determining a track overlapping part based on matched picture information; and then determining the track overlapping section according to the track overlapping part.

The adding module 203 adds the driving path information to the existing map information according to the overlapped section.

Here, if there is an overlapped section between the driving trajectory information and the lane in the existing map information, the adding module 203 adds the driving trajectory information to the existing map information based on the overlapped section. Here, the trajectory information includes the overlapped section, or includes a non-overlapped section in addition to the overlapped section. The adding module 203 adds part or all of the driving trajectory information to the existing map information according to the overlapped section.

Based on fig. 3, after determining the overlapped section, the adding module 203 adds the driving trace information to the existing map information, that is, adds the part of the driving trace information 2 indicated by the dotted line in fig. 3 to the map, so that the map is added with new lane information.

In an embodiment, the adding module 203 may determine a range of a non-overlapped section to be added according to a connection point and a connection distance corresponding to the overlapped section, for example, determine the length of the non-overlapped section to be added in an equal proportion according to the length of the overlapped section, so as to add the trajectory information to the existing map information.

In one embodiment, the driving track information includes a coinciding track and at least one non-coinciding track, which are in one-to-one correspondence with the coinciding segments, and each non-coinciding track and the at least one coinciding track are adjacent to a track point in the driving track information; wherein the adding module 203 adds the non-coincident track to the existing map information according to a coincident segment adjacent to the non-coincident track.

In one embodiment, the overlapping section adjacent to the non-overlapping track comprises any one of:

-a coinciding lane portion of an existing lane in the existing map information, wherein a coinciding trajectory, to which the non-coinciding trajectory borders, corresponds to a same coinciding segment.

-a newly generated lane in the existing map information, wherein the newly generated lane is generated based on a coinciding track to which the non-coinciding track adjoins or a coinciding track to which a coinciding lane portion of an existing lane in the existing map information adjoins the non-coinciding track, the coinciding lane portion and the coinciding track to which the non-coinciding track adjoins corresponding to a same coinciding segment.

Here, if the overlapping trajectory adjacent to the non-overlapping trajectory is not completely overlapped, when a new lane is generated based on the overlapped section, a new lane may be generated directly based on the overlapping trajectory adjacent to the non-overlapping trajectory; alternatively, in one embodiment, the updating apparatus 20 further includes an adjacency determining module (not shown) that generates a new lane based on a coinciding track in the existing map information, where a coinciding lane portion of the existing lane is adjacent to the non-coinciding track, such as taking a center line of the two as the new lane, or determining the new lane by performing a weighted average on coordinates of the two, or the like. Finally, a corresponding non-coincident trajectory is inserted based on the newly generated lane.

FIG. 6 illustrates a schematic diagram of updating existing map information based on a coincident segment to which a non-coincident trajectory is contiguous, according to one embodiment of the present application. In fig. 6, two solid black curves respectively represent the existing lane and/or trajectory information, and a dotted curve represents the updated existing map information generated by processing the existing lane and/or trajectory information. As can be seen from fig. 6, the newly generated lane of the overlapped section part is determined by taking the center lines of the two as a new lane.

Further, in one embodiment, the adding module 203 may also replace the overlapping lane portion in the existing lane with the newly generated lane. For example, the adding module 203 connects the newly generated lane with the front and rear lane portions of the overlapped lane, respectively, to implement the replacement process. Further, the replacement process may be optimized by smoothing the connection portion, or the like.

In one embodiment, the adding module 203 is configured to: if the non-coincident track and an adjacent coincident section meet a preset triggering condition, the non-coincident track is added to the existing map information by replacing a first section of track in the non-coincident track with a connecting section, wherein the first section of track is formed by connecting a first track point and a second track point in the non-coincident track, the connecting section is formed by connecting the second track point and an end point which is closer to the first track point in the coincident section, the first track point is a common track point of the non-coincident track and the adjacent coincident track, and the second track point is adjacent to the first track point.

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

triggering condition one: non-coincidence orbit is greater than or equal to first contained angle threshold value information rather than the first contained angle of turning of the coincidence section that borders on, wherein, first turn contained angle by the linkage segment with line between second track point and third track point encloses, third track point is in the non-coincidence orbit with second track point is adjacent.

Here, as shown in fig. 7, fig. 7 shows a schematic diagram of a process of adaptively adjusting a link segment in the schematic diagram shown in fig. 6. For convenience of description, in fig. 7, the cd side is the traffic track information, and the ab side is the existing lane, the ocd side is taken as an example: the first track point is o, namely a public track point of the non-coincident track and the adjacent coincident track; the second track point is c, namely a point in the non-coincident track adjacent to the first track point; a third track point is d, namely a point adjacent to the second track point c in the non-coincident track; the connecting section is oc, namely the overlapping section is connected with the non-overlapping section through the oc. Thus, the angle ocd is the first turning angle. If the first turning included angle is larger than or equal to the first included angle threshold information, the connection between the overlapped section and the non-overlapped section is too abrupt, and therefore subsequent processing is required.

And a second triggering condition: the second turning included angle of the non-coincident track and the adjacent coincident section is smaller than or equal to second included angle threshold value information, wherein the second turning included angle is formed by the extension line of the connecting section, the second track point and the connecting line of the third track point in a surrounding mode.

Here, as shown in fig. 7, in the example, when the cd side in fig. 7 is the traffic information and the ab side is the existing lane, the ocd side traffic information is taken as an example: and the connecting section is oc, the second track point is c, the third track point is d, and the second turning included angle is ^ beta. If the second turning included angle is smaller than or equal to the second included angle threshold information, it indicates that the connection between the overlapped section and the non-overlapped section is too abrupt, and therefore subsequent processing is required.

Here, as shown in fig. 7, in the example, if the cd side in fig. 7 is the trajectory information and the ab side is the existing lane, the existing lane on the oab side is taken as an example: the non-coincident lane is an oab section, the non-coincident track is an ocd section, and the oab section and the ocd section are positioned on the same side of the coincident section; the first track point is o, the first lane point is a, and the second connecting line is an oa section; the second lane point b is adjacent to the first lane point a, and the first connecting line is an ab segment; the third turning included angle is ≈ oab. If the third turning angle is greater than or equal to the third angle threshold information, it means that the connection between the overlapped section and the non-overlapped section is too abrupt, and therefore, the subsequent processing is required.

Here, as shown in fig. 7, in the example, if the cd side is the traffic track information and the ab side is the existing lane in fig. 7, the existing lane on the oab side is taken as an example: the first connecting line is an ab section, the second connecting line is an oa section, and the fourth turning included angle is ≈ alpha. If the fourth turning angle is smaller than or equal to the fourth angle threshold information, it indicates that the connection between the overlapped section and the non-overlapped section is too abrupt, so that the subsequent processing is required.

When the non-coincident track and the adjacent coincident section meet a predetermined trigger condition, the adding module 203 replaces a first section of track in the non-coincident track, taking fig. 7 as an example, the first section of track is an oc section, the first track point is o, the second track point is c, and when the non-coincident track is not adjusted, the first section of track is equal to the connection section, that is, the connection section is an oc section; and when the non-coincident track and the adjacent coincident section meet the preset triggering condition, determining one end point of the coincident section which is positioned on the point o as an end point for connection, connecting the point c with the end point to generate a connection section, and replacing the first section of track oc by the connection section. The existing map after its generation can be as shown in fig. 8.

Here, it should be understood by those skilled in the art that if a predetermined trigger condition is still satisfied for the new lane information formed by a certain endpoint after the endpoint is determined, the position of the endpoint is readjusted based on the method until the generated lane information meets the requirement. Thus, the present application is able to generate smoothly connected coincident and non-coincident segments.

In an embodiment, the updating apparatus 20 further includes a reduction module (not shown) and a non-coincidence addition module (not shown), wherein the reduction module is configured to reduce a coincident segment adjacent to the non-coincidence trajectory if the trigger condition is not met; the non-coincidence addition module is used for adding the non-coincidence track to the existing map information according to the reduced coincidence segment.

Here, as shown in fig. 8, if a first section of track in the non-overlapping track is replaced with a connecting section to add the non-overlapping track to the existing map information until the non-overlapping track and an adjacent overlapping section of the non-overlapping track do not satisfy the trigger condition, it indicates that a connection point between the overlapping section and the non-overlapping section has been moved forward, so that the reduction module reduces an original overlapping section according to the currently determined connecting section; and finally, the non-coincidence adding module adds the non-coincidence trajectory to the existing map information according to the reduced coincidence segment, wherein the adding process is shown as an obtaining module 201.

In an embodiment, the non-coinciding adding module is further configured to continue to reduce the coinciding segment if the non-coinciding trajectory and the reduced coinciding segment do not satisfy the trigger condition until a reduced length of the coinciding segment exceeds a predetermined length threshold or the non-coinciding trajectory is added to the existing map information.

If the non-coincident track and the reduced coincident section do not meet the triggering condition, continuing to reduce the coincident section, so that the generated fused lane is smoother; if the length of the overlapped section exceeds a certain length of the initial overlapped point, the length reduction of the overlapped section is stopped when the length reduction of the overlapped section exceeds a preset length threshold value, and the currently selected point is used as the overlapped point; and if the non-coincident track is added to the existing map information, stopping reducing the coincident section. Therefore, suitable connection points are continuously searched, and the fusion process is completed in an iterative mode.

In one embodiment, the updating apparatus 20 further includes a lane change adding module (not shown), where the lane change adding module is configured to add, for two adjacent lanes in the updated existing map information in the same direction, lane change mark information corresponding to the two lanes in the same direction if a plurality of connection tracks exist between the two lanes in the same direction, where each connection track belongs to one of the one or more pieces of driving track information.

Here, taking fig. 4 as an example, lane 1 and lane 2 in fig. 4 are two adjacent co-directional lanes in the existing map information, and three connecting tracks A, B, C exist between lane 1 and lane 2; the lane change addition module adds lane change mark information between the lane 1 and the lane 2 in the existing map information. For example, the lane identification can be directly performed between two lanes in the same direction, or can be performed by using a legend or the like.

In one embodiment, the track change mark information includes track change direction information, and the track change direction information is the same as the direction of the connection track.

In one embodiment, the updating apparatus 20 further comprises a detecting module (not shown) and a segmenting module (not shown), wherein the detecting module is used for detecting whether a repeated track part exists in the driving track information; if the vehicle running track information exists, the segmentation module carries out segmentation processing on the vehicle running track information to obtain a plurality of pieces of segmented vehicle running track information, wherein each piece of segmented vehicle running track information does not have a repeated track part; the determining module 202 determines one or more overlapped sections of the segmented driving path information and the lane in the existing map information.

The driving track information comprises a plurality of track points, the track points are traversed according to a time sequence, and if at least one track point is repeated with the track point traversed before, the detection module determines that a repeated track part exists in the driving track information.

Then, the segmentation module segments the driving track information according to the repeated track part and the driving track information until a plurality of segmented driving track information is obtained, and the repeated track part does not exist in each segmented driving track information.

For example, when the trajectory information is traversed and a repeated trajectory part composed of a plurality of overlapping points is found, the original trajectory information is divided into three segments, i.e., "before the repeated trajectory part", "after the repeated trajectory part", by starting the division from the start point of the repeated trajectory part. Then, the vehicle path information of the section of the repeated path part is continuously traversed, and the determination and the segmentation are continuously carried out according to the method until the whole vehicle path information is traversed.

It should be understood by those skilled in the art that any segmentation method that can make the trajectory information after each segmentation have no repeated trajectory part is applicable to the present application, in other words, the above segmentation method can make the trajectory information itself not include the repeated trajectory part.

Then, the determining module 202 compares the driving track information from which the repeated track part has been removed with the lane in the existing map information to determine the overlapped section.

In one embodiment, the determining module 202 includes a first unit (not shown) and a second unit (not shown), specifically, the first unit determines one or more candidate overlapping sections of the driving path information and the lane in the existing map information, wherein each candidate overlapping section is overlapped with a partial path in the driving path information; and the second unit cuts the candidate overlapping sections or screens the candidate overlapping sections to obtain the driving track information and one or more overlapping sections of the lanes in the existing map information, wherein the lane direction of the lane where each overlapping section is located is matched with the direction of the overlapping part of the overlapping section in the driving track information.

The first unit may compare the coordinate points in the driving track information with the coordinate points of the lane in the existing map information, and if two or more continuous coordinate points of the driving track information are compared with two or more continuous coordinate points of the lane in the existing map information respectively, and a difference value between the two or more corresponding coordinate points is within a predetermined range, it is indicated that the road sections corresponding to the two or more coordinate points belong to the candidate coinciding sections.

Or the first unit draws the driving track information and the lanes in the existing map information respectively in the same drawing coordinate system and the same drawing proportion to generate a plurality of track pictures with the same resolution and the same size; determining a track overlapping part according to the two or more track pictures; and determining the candidate coincidence segment according to the track coincidence part.

Then, if the direction of the candidate overlap section in the trajectory information does not match the direction of the lane of the candidate overlap section in the existing map information, the second unit performs clipping processing or screening processing on the part where the candidate overlap section does not match. Here, matching refers to directions being the same or substantially the same, e.g., no more than a certain range of directional deviation. For example, if the candidate overlap section covers two lane directions, one of which does not match the direction of the corresponding overlap trajectory and the other of which matches the direction of the corresponding overlap trajectory, the second unit cuts out a lane portion in which the directions do not match, and the remaining portion is used as the corresponding overlap section.

In one embodiment, the first unit determines corresponding map position points of track points in the driving track information in the existing map information, wherein the map position points are sorted according to the sequence of the corresponding track points in the driving track information; and determining one or more candidate superposition sections of the driving path information and the lane in the existing map information according to the lane to which the map position point belongs in the existing map information, wherein the lane in which each candidate superposition section is located comprises a plurality of continuous map position points.

Determining the candidate coincident section based on the map position point corresponding to the track point and the corresponding relation with the lane in the existing map; and if a plurality of continuous map position points correspond to the existing lane, the segment is considered to belong to the candidate coincident segment.

In one embodiment, the first unit performs image matching processing on a first image containing only the driving path information and a second image containing only a lane in existing map information, wherein the first image and the second image are based on the same map scale information; and determining one or more candidate overlapping sections of the lane in the traffic track information and the existing map information according to the overlapping part of the first image and the second image after image matching processing, wherein each candidate overlapping section is overlapped with a part of the track in the traffic track information.

Then, determining the candidate overlapping section according to the positions of the overlapped pixel points in the two images; or directly superposing the pixel values of the same pixel position of the first image and the second image after image matching processing respectively, and identifying candidate superposed segments by utilizing superposition of the pixel values. For example, the pixel value of the pixel point of the trajectory line in the binary grayscale image is 0, the pixel value of the pixel point of the non-trajectory line is not 0, and when the pixel values of the same pixel positions of the first image and the second image are superimposed, the pixel point with the pixel value of 0 is the coincident point.

In one embodiment, the determining module 202 determines target map area information covering the driving path information among existing map information; and determining one or more coincident sections of the driving track information and the lanes in the target map area information.

Here, the determining module 202 may determine the target map area information covering the driving path information directly in the existing map information based on a predetermined target map area, for example, if only a specific area in the existing map is updated, the specific area may be used as the target map area information; or the determining module 202 may determine the target map area information covering the driving track information based on the position information of the track point in the driving track information.

Then, the overlapped section is determined based on the driving track information and the determined target map area information.

There is also provided, in accordance with an embodiment of the present application, a system for updating a map, including a processor and a memory, wherein the memory stores therein computer program instructions for implementing the steps in the method for updating a map in accordance with an embodiment of the present application. The processor is configured to execute the computer program instructions stored in the memory to execute the corresponding steps of the method for updating a map according to the embodiment of the present application, and is configured to implement the obtaining module 201, the determining module 202 and the adding module 203 in the updating apparatus 20 according to the embodiment of the present application.

Furthermore, according to an embodiment of the present application, there is also provided a storage medium on which program instructions are stored, which when executed by a computer or a processor cause the computer or the processor to perform the respective steps of the method of updating a map of the embodiment of the present application and to implement the respective modules in the updating apparatus 20 according to the embodiment of the present application.

FIG. 5 illustrates an exemplary system that can be used to implement the various embodiments described in this application.

In some embodiments, the system 500 can be used as any one of the embodiments shown in fig. 1, 2, 3, 4, or other described embodiments for updating a map. In some embodiments, system 500 may include one or more computer-readable media (e.g., system memory or NVM/storage 520) having instructions and one or more processors (e.g., processor(s) 505) coupled with the one or more computer-readable media and configured to execute the instructions to implement modules to perform the actions described herein.

For one embodiment, system control module 510 may include any suitable interface controllers to provide any suitable interface to at least one of the processor(s) 505 and/or any suitable device or component in communication with system control module 510.

The system control module 510 may include a memory controller module 530 to provide an interface to the system memory 515. The memory controller module 530 may be a hardware module, a software module, and/or a firmware module.

System memory 515 may be used, for example, to load and store data and/or instructions for system 500. For one embodiment, system memory 515 may include any suitable volatile memory, such as suitable DRAM. In some embodiments, the system memory 515 may include a double data rate type four synchronous dynamic random access memory (DDR4 SDRAM).

For one embodiment, system control module 510 may include one or more input/output (I/O) controllers to provide an interface to NVM/storage 520 and communication interface(s) 525.

For example, NVM/storage 520 may be used to store data and/or instructions. NVM/storage 520 may include any suitable non-volatile memory (e.g., flash memory) and/or may include any suitable non-volatile storage device(s) (e.g., one or more hard disk drive(s) (HDD (s)), one or more Compact Disc (CD) drive(s), and/or one or more Digital Versatile Disc (DVD) drive (s)).

NVM/storage 520 may include storage resources that are physically part of a device on which system 500 is installed or may be accessed by the device and not necessarily part of the device. For example, NVM/storage 520 may be accessed over a network via communication interface(s) 525.

Communication interface(s) 525 may provide an interface for system 500 to communicate over one or more networks and/or with any other suitable device. System 500 may wirelessly communicate with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols.

For one embodiment, at least one of the processor(s) 505 may be packaged together with logic for one or more controller(s) of system control module 510, such as memory controller module 530. For one embodiment, at least one of the processor(s) 505 may be packaged together with logic for one or more controller(s) of the system control module 510 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 505 may be integrated on the same die with logic for one or more controller(s) of the system control module 510. For one embodiment, at least one of the processor(s) 505 may be integrated on the same die with logic for one or more controller(s) of the system control module 510 to form a system on a chip (SoC).

In various embodiments, system 500 may be, but is not limited to being: a server, a workstation, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.). In various embodiments, system 500 may have more or fewer components and/or different architectures. For example, in some embodiments, system 500 includes one or more cameras, a keyboard, a Liquid Crystal Display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an Application Specific Integrated Circuit (ASIC), and speakers.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In one embodiment, the software programs of the present application may be executed by a processor to implement the steps or functions described above. As such, the software programs (including associated data structures) of the present application can be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.

In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Those skilled in the art will appreciate that the form in which the computer program instructions reside on a computer-readable medium includes, but is not limited to, source files, executable files, installation package files, and the like, and that the manner in which the computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. In this regard, computer readable media can be any available computer readable storage media or communication media that can be accessed by a computer.

Communication media includes media by which communication signals, including, for example, computer readable instructions, data structures, program modules, or other data, are transmitted from one system to another. Communication media may include conductive transmission media such as cables and wires (e.g., fiber optics, coaxial, etc.) and wireless (non-conductive transmission) media capable of propagating energy waves such as acoustic, electromagnetic, RF, microwave, and infrared. Computer readable instructions, data structures, program modules or other data may be embodied in a modulated data signal, such as a carrier wave or similar mechanism that is embodied in a wireless medium, such as part of spread-spectrum techniques, for example. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. The modulation may be analog, digital, or hybrid modulation techniques.

By way of example, and not limitation, computer-readable storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. For example, computer-readable storage media include, but are not limited to, volatile memory such as random access memory (RAM, DRAM, SRAM); and non-volatile memory such as flash memory, various read-only memories (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic/ferroelectric memories (MRAM, FeRAM); and magnetic and optical storage devices (hard disk, tape, CD, DVD); or other now known media or later developed that can store computer-readable information/data for use by a computer system.

An embodiment according to the present application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or a solution according to the aforementioned embodiments of the present application.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The meaning of "a plurality" is two or more unless specifically limited otherwise. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.

Various aspects of the various embodiments are specified in the claims. These and other aspects of the various embodiments are specified in the following numbered clauses:

1. a method for updating a map, wherein the method comprises:

acquiring one or more pieces of driving track information;

and adding the driving track information to the existing map information according to the overlapping section.

2. The method according to clause 1, wherein the trajectory information includes a coincident trajectory and at least one non-coincident trajectory, which are in one-to-one correspondence with the coincident segments, and each non-coincident trajectory and the at least one coincident trajectory are adjacent to a trajectory point in the trajectory information;

wherein adding the trajectory information to the existing map information according to the overlapping segment includes:

adding the non-coincident trajectory to the existing map information according to a coincident segment adjacent to the non-coincident trajectory.

3. The method of clause 2, wherein the coincident segments that are contiguous with the non-coincident trajectory include any of:

a superposed lane part of the existing lane in the existing map information, wherein a superposed track adjacent to the non-superposed track of the superposed lane part corresponds to the same superposed section;

and a newly generated lane in the existing map information, wherein the newly generated lane is generated based on a superposed track adjacent to the non-superposed track, or is generated based on a superposed lane part of the existing lane in the existing map information and a superposed track adjacent to the non-superposed track, and the superposed lane part and the superposed track adjacent to the non-superposed track correspond to the same superposed section.

4. The method according to clause 3, wherein the overlapped section adjacent to the non-overlapped track comprises a newly generated lane in the existing map information, wherein the newly generated lane is generated based on an overlapped track adjacent to the non-overlapped track and an overlapped lane part of the existing lane in the existing map information, and the overlapped track adjacent to the non-overlapped track and the overlapped lane part correspond to the same overlapped section;

wherein the method further comprises:

and determining the newly generated lane based on the overlapped track adjacent to the non-overlapped track.

5. The method of clause 4, wherein the adding the non-coincident trajectory to the existing map information according to a coincident segment that is contiguous with the non-coincident trajectory, further comprises:

replacing the overlapping lane portion in the existing lane with the newly generated lane.

6. The method of clause 2, wherein the adding the non-coinciding trajectory to the existing map information according to the coinciding segments adjacent to the non-coinciding trajectory comprises:

if the non-coincident track and an adjacent coincident section meet a preset triggering condition, the non-coincident track is added to the existing map information by replacing a first section of track in the non-coincident track with a connecting section, wherein the first section of track is formed by connecting a first track point and a second track point in the non-coincident track, the connecting section is formed by connecting the second track point and an end point which is closer to the first track point in the coincident section, the first track point is a common track point of the non-coincident track and the adjacent coincident track, and the second track point is adjacent to the first track point.

7. The method of clause 6, wherein the trigger condition includes at least any one of:

a first turning included angle of the non-coincident track and an adjacent coincident section is larger than or equal to first included angle threshold information, wherein the first turning included angle is defined by a connecting line between the connecting section and the second track point and a third track point, and the third track point is adjacent to the second track point in the non-coincident track;

a second turning included angle between the non-coincident track and a coincident section adjacent to the non-coincident track is smaller than or equal to second included angle threshold information, wherein the second turning included angle is formed by the extension line of the connecting section and the connecting line of the second track point and the third track point;

a third turning included angle between the coincident section and a non-coincident lane adjacent to the coincident section is larger than or equal to third included angle threshold information, wherein the third turning included angle is formed by a first connecting line and a second connecting line, the first connecting line is formed by connecting a first lane point and a second lane point in the non-coincident lane, the second connecting line is formed by connecting the first lane point and an end point which is closer to the first track point in the coincident section, the second lane point is adjacent to the first lane point in the non-coincident lane, and the non-coincident lane belongs to an existing lane in the existing map information and is located on the same side of the coincident section with the non-coincident track;

and a fourth turning included angle between the coincident section and the non-coincident lane is smaller than or equal to fourth included angle threshold information, wherein the fourth turning included angle is formed by the extension line of the first connecting line and the second connecting line in a surrounding mode.

8. The method of clause 6, wherein the method further comprises:

if the non-coincident track and the adjacent coincident section of the non-coincident track do not meet the triggering condition, reducing the coincident section;

and adding the non-coincident track to the existing map information according to the reduced coincident section.

9. The method of clause 8, wherein the adding the non-coinciding trajectory to the existing map information according to the reduced coinciding segments further comprises:

if the non-coincident track and the reduced coincident section do not meet the trigger condition, continuing to reduce the coincident section until the reduction length of the coincident section exceeds a preset length threshold or the non-coincident track is added to the existing map information.

10. The method of any of clauses 1-9, wherein the method further comprises:

and for two adjacent equidirectional lanes in the updated existing map information, if a plurality of connecting tracks exist between the two equidirectional lanes, adding lane change mark information corresponding to the two equidirectional lanes in the existing map information, wherein each connecting track belongs to one of the one or more pieces of driving track information.

11. The method of clause 10, wherein the lane change marking information includes lane change direction information that is in the same direction as the connecting track.

12. The method of any of clauses 1-9, wherein the method further comprises:

detecting whether a repeated track part exists in the driving track information or not;

if the vehicle-mounted running track information exists, carrying out segmentation processing on the running track information to obtain a plurality of segmented running track information, wherein each segmented running track information does not have a repeated track part;

wherein, the determining one or more overlapped sections of the driving track information and the lane in the existing map information comprises:

and determining one or more overlapped sections of the segmented driving track information and the lane in the existing map information.

13. The method of any of clauses 1-12, wherein the determining one or more coincident segments of the trajectory information and lanes in existing map information comprises:

determining one or more candidate overlapping sections of the lane in the driving track information and the existing map information, wherein each candidate overlapping section is overlapped with a partial track in the driving track information;

and obtaining the driving track information and one or more overlapped sections of the lanes in the existing map information by cutting the candidate overlapped sections or screening the candidate overlapped sections from the one or more candidate overlapped sections, wherein the lane direction of the lane where each overlapped section is located is matched with the direction of the overlapped part of the overlapped section in the driving track information.

14. The method of clause 13, wherein the determining one or more candidate overlaps of the trajectory information with lanes in existing map information, wherein each candidate overlap overlaps with a partial trajectory in the trajectory information comprises:

determining corresponding map position points of the track points in the driving track information in the existing map information, wherein the map position points are sorted according to the sequence of the corresponding track points in the driving track information;

and determining one or more candidate superposed sections of the driving track information and the lane in the existing map information according to the lane to which the map position point belongs in the existing map information, wherein the lane to which each candidate superposed section belongs comprises a plurality of continuous map position points.

15. The method of clause 13, wherein the determining one or more candidate overlaps of the trajectory information with lanes in existing map information, wherein each candidate overlap overlaps with a partial trajectory in the trajectory information comprises:

performing image matching processing on a first image only containing the driving track information and a second image only containing a lane in the existing map information, wherein the first image and the second image are based on the same map scale information;

and determining one or more candidate overlapping sections of the traffic track information and the lane in the existing map information according to the overlapping part of the first image and the second image after image matching, wherein each candidate overlapping section is overlapped with a part of the track in the traffic track information.

16. The method of any of clauses 1-15, wherein the determining one or more coincident segments of the trajectory information and lanes in existing map information comprises:

determining target map area information covering the driving track information in the existing map information;

and determining one or more coincident sections of the driving track information and the lanes in the target map area information.

17. An updating apparatus for updating a map, wherein the updating apparatus comprises:

18. The updating apparatus according to clause 17, wherein the trajectory information includes a coincident trajectory and at least one non-coincident trajectory, which are in one-to-one correspondence with the coincident segments, and each non-coincident trajectory and the at least one coincident trajectory are adjacent to a trajectory point in the trajectory information;

wherein the adding module is configured to:

and adding the non-coincident track to the existing map information according to a coincident section adjacent to the non-coincident track.

19. The updating apparatus according to clause 18, wherein the coinciding segments adjoining the non-coinciding trajectory include any one of:

a superposed lane part of an existing lane in the existing map information, wherein a superposed track adjacent to the non-superposed track of the superposed lane part corresponds to the same superposed section;

20. The updating apparatus according to clause 19, wherein the overlapping section adjacent to the non-overlapping trajectory includes a newly generated lane in the existing map information, wherein the newly generated lane is generated based on an overlapping trajectory to which an overlapping lane portion of an existing lane in the existing map information and the non-overlapping trajectory are adjacent, the overlapping lane portion and the overlapping trajectory to which the non-overlapping trajectory is adjacent corresponding to the same overlapping section;

wherein the updating means further comprises:

and the adjacency determining module is used for determining the newly generated lane based on the overlapped track adjacent to the non-overlapped track.

21. The updating apparatus of clause 20, wherein the adding module is further configured to:

22. The update apparatus of clause 18, wherein the adding module is to:

23. The updating apparatus of clause 22, wherein the triggering condition comprises at least any one of:

24. The updating apparatus according to clause 22, wherein the updating apparatus further comprises:

the reduction module is used for reducing the overlapped section if the non-overlapped track and the adjacent overlapped section do not meet the triggering condition;

and the non-coincident adding module is used for adding the non-coincident track to the existing map information according to the reduced coincident section.

25. The updating apparatus of clause 24, wherein the non-coincident adding module is further to:

26. The update apparatus according to any one of clauses 17 to 25, wherein the update apparatus further comprises:

and the lane change increasing module is used for increasing lane change mark information corresponding to two equidirectional lanes in the updated existing map information if a plurality of connecting tracks exist between the two equidirectional lanes, wherein each connecting track belongs to one of the one or more pieces of driving track information.

27. The updating apparatus according to clause 26, wherein the lane change marking information includes lane change direction information, the lane change direction information being the same as the direction of the connecting track.

28. The update apparatus according to any one of clauses 17 to 25, wherein the update apparatus further comprises:

the detection module is used for detecting whether a repeated track part exists in the driving track information;

the segmentation module is used for segmenting the driving track information if the repeated track part exists so as to obtain a plurality of segmented driving track information, wherein the repeated track part does not exist in each segmented driving track information;

wherein the determination module is to:

29. The updating apparatus of any of clauses 17 to 28, wherein the determining means comprises:

the first unit is used for determining one or more candidate superposition sections of the traffic track information and a lane in the existing map information, wherein each candidate superposition section is superposed with a partial track in the traffic track information;

and the second unit is used for obtaining the driving track information and one or more superposed sections of the lanes in the existing map information by cutting the candidate superposed sections or screening the candidate superposed sections, wherein the lane direction of the lane in which each superposed section is positioned is matched with the direction of the superposed part of the superposed section in the driving track information.

30. The update apparatus of clause 29, wherein the first means is for:

and determining one or more candidate superposition sections of the driving path information and the lane in the existing map information according to the lane to which the map position point belongs in the existing map information, wherein the lane in which each candidate superposition section is located comprises a plurality of continuous map position points.

31. The update apparatus of clause 29, wherein the first means is for:

and determining one or more candidate overlapping sections of the lane in the traffic track information and the existing map information according to the overlapping part of the first image and the second image after image matching processing, wherein each candidate overlapping section is overlapped with a part of the track in the traffic track information.

32. The update apparatus according to any of clauses 17 to 31, wherein the determination module is configured to:

33. A system for updating a map, comprising a processor and a memory, wherein the memory has stored therein computer program instructions for performing, when executed by the processor, the method of updating a map as set forth in any one of clauses 1 to 16.

34. A storage medium having stored thereon program instructions for performing, when run, a method of updating a map as described in any of clauses 1 to 16.

Claims

1. A method for updating a map, wherein the method comprises:

acquiring one or more pieces of driving track information;

determining one or more overlapping sections of the driving track information and a lane in the existing map information, wherein the driving track information comprises overlapping tracks which are in one-to-one correspondence with the overlapping sections and at least one non-overlapping track, and each non-overlapping track and the at least one overlapping track are adjacent to track points in the driving track information;

if the non-coincident track and the adjacent coincident section meet the preset triggering condition, the non-coincident track is added to the existing map information through replacing a first section of track in the non-coincident track with a connecting section, wherein the first section of track is formed by connecting a first track point and a second track point in the non-coincident track, the connecting section is formed by connecting the second track point and an end point which is in the coincident section and is closer to the first track point, the first track point is a public track point of the non-coincident track and the adjacent coincident track, and the second track point is adjacent to the first track point.

2. The method of claim 1, wherein the coincident segments that are contiguous with the non-coincident trajectory comprise any of:

3. The method of claim 2, wherein the coinciding segments adjacent to the non-coinciding trajectory include newly generated lanes in the existing map information, wherein the newly generated lanes are generated based on coinciding lane portions of the existing lanes in the existing map information that are adjacent to the non-coinciding trajectory and coinciding trajectories to which the coinciding lane portions are adjacent to the non-coinciding trajectory correspond to a same coinciding segment;

wherein the method further comprises:

determining the newly generated lane based on the coincident track to which the coincident lane portion is adjacent to the non-coincident track.

4. The method of claim 3, wherein the adding the non-coincident trajectory to the existing map information according to a coincident segment that is contiguous with the non-coincident trajectory further comprises:

5. The method of claim 1, wherein the trigger condition comprises at least any one of:

a first turning included angle of the non-coincident track and an adjacent coincident section is larger than or equal to first included angle threshold value information, wherein the first turning included angle is defined by a connecting line between the connecting section and the second track point as well as a third track point, and the third track point is adjacent to the second track point in the non-coincident track;

6. The method of claim 1, wherein the method further comprises:

7. The method of claim 6, wherein adding the non-coincident trajectory to the existing map information according to the reduced coincident segment further comprises:

8. The method of any of claims 1 to 7, wherein the method further comprises:

9. The method of claim 8, wherein the zapping flag information includes zapping direction information, the zapping direction information being in the same direction as the connecting track.

10. The method of any of claims 1 to 7, wherein the method further comprises:

wherein the determining one or more overlapped sections of the driving track information and the lane in the existing map information comprises:

11. The method of any one of claims 1 to 7 or 9, wherein the determining one or more coincident segments of the trajectory information and lanes in existing map information comprises:

12. The method of claim 11, wherein the determining one or more candidate overlaps of the trajectory information with lanes in existing map information, wherein each candidate overlap overlaps with a partial trajectory in the trajectory information comprises:

13. The method of claim 11, wherein the determining one or more candidate overlapping sections of the driving path information and the lane in the existing map information, wherein each candidate overlapping section is overlapped with a partial path in the driving path information comprises:

performing image matching processing on a first image only containing the driving track information and a second image only containing lanes in existing map information, wherein the first image and the second image are based on the same map scale information;

14. The method of any one of claims 1 to 7, 9, 12 to 13, wherein the determining one or more coincident segments of the trajectory information and lanes in existing map information comprises:

15. An updating apparatus for updating a map, wherein the updating apparatus comprises:

the determining module is used for determining one or more overlapping sections of the traffic track information and a lane in the existing map information, the traffic track information comprises overlapping tracks which are in one-to-one correspondence with the overlapping sections and at least one non-overlapping track, and each non-overlapping track and the at least one overlapping track are adjacent to track points in the traffic track information;

and the adding module is used for replacing a first section of track in the non-coincident track into a connecting section to add the non-coincident track to the existing map information if the non-coincident track and an adjacent coincident section meet a preset triggering condition, wherein the first section of track is formed by connecting a first track point and a second track point in the non-coincident track, the connecting section is formed by connecting the second track point and an end point which is in the coincident section and is closer to the first track point, the first track point is a common track point of the non-coincident track and the adjacent coincident track, and the second track point is adjacent to the first track point.

16. The updating apparatus of claim 15, wherein the coincident segments that are contiguous with the non-coincident trajectory comprise any of:

17. The updating apparatus according to claim 16, wherein the overlapped section adjacent to the non-overlapped track includes a newly generated lane in the existing map information, wherein the newly generated lane is generated based on an overlapped track adjacent to the non-overlapped track and an overlapped lane portion of the existing lane in the existing map information, the overlapped lane portion being adjacent to the non-overlapped track and the overlapped track corresponding to a same overlapped section;

wherein the updating means further comprises:

an adjacency determination module for determining the newly generated lane based on the overlapped track adjacent to the non-overlapped track.

18. The update apparatus of claim 17, wherein the add module is further configured to:

19. The updating device of claim 15, wherein the trigger condition comprises at least any one of:

a second turning included angle between the non-coincident track and the adjacent coincident section is smaller than or equal to second included angle threshold value information, wherein the second turning included angle is defined by a connecting line of the extension line of the connecting section, the second track point and the third track point;

20. The updating apparatus of claim 15, wherein the updating apparatus further comprises:

21. The updating apparatus of claim 20, wherein the non-coincidence addition module is further configured to:

22. The updating apparatus according to any one of claims 15 to 21, wherein the updating apparatus further comprises:

23. The updating apparatus as claimed in claim 22, wherein the zapping flag information includes zapping direction information, the zapping direction information being the same as the direction of the connecting track.

24. The updating apparatus according to any one of claims 15 to 21, wherein the updating apparatus further comprises:

the detection module is used for detecting whether a repeated track part exists in the driving track information or not;

wherein the determination module is to:

25. The updating apparatus of any of claims 15 to 21, 23, wherein the determining means comprises:

26. The update apparatus of claim 25, wherein the first means is for:

27. The update apparatus of claim 25, wherein the first means is for:

28. The updating apparatus of any of claims 15 to 21, 23, 26 to 27, wherein the determining means is configured to:

29. A system for updating a map, comprising a processor and a memory, wherein the memory has stored therein computer program instructions which, when executed by the processor, are for performing the method of updating a map as claimed in any one of claims 1 to 14.

30. A storage medium having stored thereon program instructions for performing, when executed, a method of updating a map as claimed in any one of claims 1 to 14.