CN111198890A - Map updating method, roadside device, vehicle-mounted device, vehicle and system - Google Patents
Map updating method, roadside device, vehicle-mounted device, vehicle and system Download PDFInfo
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- CN111198890A CN111198890A CN201811385386.7A CN201811385386A CN111198890A CN 111198890 A CN111198890 A CN 111198890A CN 201811385386 A CN201811385386 A CN 201811385386A CN 111198890 A CN111198890 A CN 111198890A
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Abstract
The application provides a map updating method, roadside equipment, an on-board device, a vehicle and a system, wherein the map updating method comprises the following steps: the method comprises the steps that communication connection is established between roadside equipment and an on-board device of a target vehicle, wherein the target vehicle is a vehicle located within the communication range of the roadside equipment; acquiring a navigation route of the target vehicle; the road side equipment provides the vehicle-mounted device with a downloading service of a high-precision map of a coverage area of the road side equipment; and under the condition that the road side equipment has idle communication resources, providing a high-precision map downloading service of an area except the coverage area on the navigation route for the vehicle-mounted device. By the scheme, resources can be effectively utilized, the successful probability of downloading the high-precision map is improved under the condition of reducing the storage burden of the vehicle, and the accuracy and the safety of automatic driving are improved.
Description
Technical Field
The application belongs to the technical field of internet, and particularly relates to a map updating method, roadside equipment, a vehicle-mounted device, a vehicle and a system.
Background
There are two main types of automatic driving techniques: autonomous autopilot and cooperative autopilot. In the standard of SAE, the automatic driving technology is classified into 5 levels, wherein the 1-3 level automatic driving technology can be realized by means of the autonomous automatic driving technology, and the 4-5 level automatic driving needs to be realized by means of the cooperative automatic driving technology.
The autonomous automatic driving means that the perception of the automatic driving is from the sensor of the automobile, namely, the surrounding vehicles and traffic conditions are perceived only by the vehicle. The cooperative automatic driving means that the vehicle senses the world through a sensor of the vehicle, and the vehicle receives a sensing result sent by the outside and performs information fusion on the vehicle by depending on the motion parameter sent by a surrounding vehicle, the traffic parameter sent by a road side base station and early warning information sent by a traffic platform, so that information support is provided for a decision unit of the automatic driving together. The accuracy and safety of collaborative autopilot technology is relatively higher.
In the automatic driving process, a high-precision map is required to be relied on, otherwise basic driving reference information is lost, wherein the high-precision map is different from a traditional navigation map, and some information layers in the high-precision map are more accurate than a general navigation map, so that more comprehensive road surface information is embodied, for example: the method can display information such as specific lane models, obstacle components on the lanes, traffic light conditions and the like, and can guide the automatic driving of the vehicle more effectively based on the information, but the data volume of the high-precision map is many times higher than that of a common map. Therefore, it is difficult to download high-precision maps in large quantities into the in-vehicle apparatuses, and it is also necessary to ensure timely update of the map data.
Disclosure of Invention
The application aims to provide a map updating method, roadside equipment, an on-board device, a vehicle and a system, and the probability of successful downloading of a high-precision map can be improved under the condition of reducing the storage burden of the vehicle, so that the accuracy and the safety of automatic driving are improved.
The application provides a map updating method, roadside equipment, an on-board device, a vehicle and a system, which are realized as follows:
a map updating method, the method comprising:
the method comprises the steps that communication connection is established between roadside equipment and an on-board device of a target vehicle, wherein the target vehicle is a vehicle located within the communication range of the roadside equipment;
acquiring a navigation route of the target vehicle;
the road side equipment provides the vehicle-mounted device with a downloading service of a high-precision map of a coverage area of the road side equipment;
and under the condition that the road side equipment has idle communication resources, providing a high-precision map downloading service of an area except the coverage area on the navigation route for the vehicle-mounted device.
A map updating method, the method comprising:
the method comprises the steps that a vehicle-mounted device of a target vehicle establishes communication connection with first road side equipment, wherein the target vehicle is a vehicle located in a communication range of the first road side equipment;
the vehicle-mounted device uploads a navigation route to the first road side equipment;
the vehicle-mounted device downloads a high-precision map of a coverage area of the first road-side equipment from the first road-side equipment;
and the vehicle-mounted device downloads a high-precision map of an area on the navigation route except the coverage area from the first road-side device under the condition that the first road-side device has free communication resources.
A roadside apparatus comprises a processor and a memory for storing processor-executable instructions, the processor implementing the map updating method when executing the instructions.
An in-vehicle device comprises a processor and a memory for storing processor executable instructions, and the processor executes the instructions to realize the map updating method.
An automatic driving vehicle comprises the vehicle-mounted device.
An autopilot system comprising: a plurality of roadside apparatuses as described above, one or more autonomous vehicles as described above.
A computer readable storage medium having stored thereon computer instructions which, when executed, implement the map updating method described above.
A computer readable storage medium having stored thereon computer instructions which, when executed, implement the map updating method described above.
According to the map updating method, the road side equipment, the vehicle-mounted device, the vehicle and the system, the road side equipment can provide a high-precision map of a self coverage area for the vehicle-mounted device located in a self communication range, and can provide a downloading service of the high-precision map of an area except the self coverage area of the road side equipment on a vehicle navigation route for the vehicle-mounted device of the vehicle under the condition of having idle communication resources, so that the resources can be effectively utilized, the probability of successful downloading of the high-precision map is improved under the condition of reducing storage burden of the vehicle, and the accuracy and the safety of automatic driving are improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort.
FIG. 1 is a schematic diagram of an architecture of a map update system provided herein;
FIG. 2 is a method flow diagram of a map update method provided herein;
FIG. 3 is a flow chart of another method of a map update method provided herein;
FIG. 4 is a schematic diagram of another architecture of the map updating system provided in the present application;
FIG. 5 is a block diagram of the structure of the in-vehicle device provided in the present application;
FIG. 6 is an architecture diagram of a computer terminal provided herein;
fig. 7 is a block diagram illustrating a structure of a map updating apparatus according to the present application;
fig. 8 is another block diagram of the map updating apparatus according to the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
At present, for a high-precision map, in order to reduce the amount of map data existing in an On-Board device and ensure that the map data is newer, the high-precision map is generally divided according to geographical regions, each RSU (Road Side Unit) is a Road Side device installed On a Road and used for collecting Road information and transmitting the collected Road information to a vehicle) is responsible for maintaining the high-precision map of a surrounding geographical region, when an autonomous vehicle enters the region, an OBU (On Board Unit) is an On-Board device installed On the vehicle and used for collecting vehicle information and communicating with the RSU) establishes a communication connection with the RSU and downloads the high-precision map of the region from the RSU, so that the problem of overlarge occupied space of the high-precision map of the autonomous vehicle is reduced, and the problem of updating the On-Board high-precision map can be solved.
However, the above-described manner has the following problems: each RSU is only responsible for a high-precision map of the local area, and if the vehicle is driven too fast (e.g., on a highway), the vehicle does not have enough time to download and complete, and thus the automatic driving cannot be accurately completed within the range of the RSU. Further, each RSU has limited communication capabilities, and if there are many autonomous vehicles in the RSU area, the RSU cannot provide a map download service for all vehicles at the same time. In view of the above problems, no effective solution has been proposed.
The method and the device have the advantages that the problem that the existing RSU-based high-precision map updating process has limited RSU communication capacity, a map downloading function cannot be provided for all vehicle-mounted devices of automatic driving vehicles under the condition of too many vehicles, and the map downloading cannot be completed by the vehicles when the driving speed of the vehicles is too high is considered. In this example, considering that the driving route of the vehicle can be based on, if the RSU that the vehicle currently passes through is in an idle state, a high-precision map of an area covered by the vehicle-mounted device and high-precision maps of other areas along the driving route can be provided for the vehicle-mounted device, so that effective utilization of resources is reflected, and the probability that the high-precision maps cannot be completely downloaded is reduced.
Based on this, in this example, there is provided a map updating system, as shown in fig. 1, including: the traveling vehicle 101 and the RSU 102 are provided with an OBU in the traveling vehicle 101.
The high-precision map is different from a general map, and has more map information than the general map, for example: lane models, road components, road attributes, etc., wherein the lane models may include: the current driving lane is a specific lane, and the road where the current driving lane is located has a plurality of lanes, and each lane is respectively straight, left-turning and the like; the road component may include: bridges, speed limit boards, guideboards, road shoulders, etc.; the road attributes may include: urban roads, highways, etc. Based on the high-precision map, the autonomous vehicle can determine the driving route thereof more precisely.
As shown in fig. 2, a map updating method is provided, which may include the following steps based on the road side device:
step 201: the method comprises the steps that communication connection is established between the road side equipment and an on-board device of a target vehicle, wherein the target vehicle is a vehicle located within the communication range of the road side equipment.
When the communication connection is switched, a mode similar to switching between communication base stations by a mobile phone can be adopted. For example, when the vehicle a travels to the communication range of the roadside apparatus 1, the vehicle-mounted device of the vehicle a may establish a communication connection with the roadside apparatus 1, and then the vehicle a continues traveling to the communication range where the roadside apparatus 1 coincides with the roadside apparatus 2, the signal strength of the roadside apparatus 1 and the roadside apparatus 2 may be determined, and when the signal strength of the roadside apparatus 2 exceeds the signal strength of the roadside apparatus 1 by a preset threshold value, the vehicle-mounted device of the vehicle a may switch to the communication connection with the roadside apparatus 2.
Step 202: and acquiring the navigation route of the target vehicle.
The navigation route of the target vehicle may be determined based on the departure point and the target point of the target vehicle, and of course, the navigation route may be determined based on the original map and may vary with the actual traveling direction.
Step 203: and the road side equipment provides the downloading service of the high-precision map of the coverage area of the road side equipment for the vehicle-mounted device.
Specifically, the providing, by the roadside device, a download service of a high-precision map of a coverage area of the roadside device for the vehicle-mounted apparatus may include:
s1: and the road side equipment judges whether the road side equipment has the capability of storing a high-precision map for providing the road side equipment coverage area for the vehicle-mounted device.
The judgment of whether the vehicle-mounted device has the capability of downloading the service can be to judge whether the vehicle-mounted device stores a high-precision map and whether the number of the vehicle-mounted devices currently served exceeds the maximum value. For example, if the road test device interacts with the cloud platform to update the height precision map, then the high precision map cannot be downloaded to the vehicle-mounted device, or the road side device only supports the vehicle-mounted device of 5 vehicles at the same time to provide the download service, and now provides the download service to the vehicle-mounted device of 5 vehicles, then the current vehicle-mounted device cannot be provided with the download service.
However, it should be noted that the above listed examples for determining whether the download service is available are only an exemplary description, and other parameters may be used as the basis for determining whether the download service is available in practical implementation, which are not listed here.
S2: and if the coverage area is determined to be available, transmitting the version number of the high-precision map of the coverage area to the vehicle-mounted device.
S3: and under the condition that the vehicle-mounted device is determined not to acquire the high-precision map corresponding to the version number of the high-precision map of the coverage area, providing the vehicle-mounted device with a downloading service of the high-precision map of the coverage area of the road side equipment.
In order to reduce the data transmission amount, before the downloading service is carried out, whether the vehicle-mounted device of the target vehicle has the latest high-precision map of the area or not can be determined on the basis of the version number, if yes, the downloading service is not executed, and if the vehicle-mounted device of the target vehicle stores the map which is different from the map provided by the road side equipment, the road side equipment continues to provide the downloading service for the vehicle-mounted device of the target vehicle. For example, the target vehicle passes through the RSU1, RSU2, and RSU3 in this order. When the target vehicle is located in the communication range of the RSU1 and is connected with the RSU1, the update of the high-precision map covered by the RSU1 and the high-precision map covered by the RSU2 is completed through the RSU1, when the target vehicle is driven into the communication range of the RSU2, the map covered by the RSU2 is not updated newly, after the RSU2 is in communication connection with the vehicle-mounted device, the vehicle-mounted device can be determined to have the high-precision map with the latest version of the area covered by the vehicle-mounted device, the download service of the high-precision map covered by the vehicle-mounted device is not needed to be provided for the vehicle-mounted device, the load of the RSU2 is reduced, and the RSU2 can be used for the vehicle-mounted device to provide the update download service of the high-precision map covered by the RSU3 continuously.
Step 204: and under the condition that the road side equipment has idle communication resources, providing a high-precision map downloading service of an area except the coverage area on the navigation route for the vehicle-mounted device.
That is, the roadside apparatus may not only provide a high-precision map of its own coverage area for the vehicle-mounted device located within its own communication range, but also provide a download service of a high-precision map of an area other than the area covered by the roadside apparatus itself on the vehicle navigation route for the vehicle-mounted device in the case where there are free communication resources.
Through the mode, the problem that the high-precision map cannot be effectively downloaded in a certain area due to the fact that the vehicles quickly pass through the area can be reduced, or when the load of the road test equipment is large, the vehicle-mounted devices of a plurality of vehicles are simultaneously provided with downloading services, so that the vehicle-mounted devices cannot finish the downloading of the high-precision map, the downloading pressure can be reasonably distributed, the downloading efficiency is improved, and the probability that the map is not downloaded successfully is reduced.
Specifically, in step 204, the step of providing a high-precision map downloading service for an area other than the coverage area on the navigation route to the vehicle-mounted device by the drive test equipment may include:
s1: and the roadside device determines the area which the target vehicle will pass through subsequently according to the navigation route.
S2: and the roadside device sends the determined subsequent region to be passed to the cloud platform.
S3: receiving a high-precision map of one or more regions returned by the cloud platform.
S4: and the road side equipment provides the downloading service of the high-precision map of the returned one or more areas for the vehicle-mounted device.
That is, when the roadside apparatus provides the vehicle-mounted device with the download service of providing the high-precision map in the area other than the self coverage area, the roadside apparatus may obtain the high-precision map in the other area by requesting the high-precision map from the cloud platform, so as to provide the connected vehicle-mounted device with the download service of the high-precision map in the other area, and each roadside apparatus has the capability of performing data interaction with the cloud platform.
When the downloading service for providing the high-precision map for the areas except the coverage area of the vehicle-mounted device is provided, the version number can be judged first, and the downloading service is provided only after the downloading is determined to be needed based on the version number. Specifically, the providing, by the roadside device, a download service of a high-precision map of one or more returned areas for the vehicle-mounted device may include: sending the version number of the returned high-precision map of the one or more regions to the vehicle-mounted device; and under the condition that the vehicle-mounted device is determined not to acquire the high-precision map corresponding to the version number of the high-precision map of the returned one or more areas, providing the download service of the high-precision map of the returned one or more areas for the vehicle-mounted device.
For the road side equipment, communication connection can be established only with vehicles in a communication range, and high-precision map downloading service is provided for vehicle-mounted devices in the communication range. Therefore, the roadside apparatus may determine whether the target vehicle has exited the communication range of the roadside apparatus; and in the case that the vehicle is determined to have exited the communication range of the roadside device, disconnecting the vehicle from the vehicle-mounted device and stopping providing the vehicle-mounted device with the high-precision map downloading service.
For the target vehicle, in this example, a map updating method is also provided, as shown in fig. 3, which may include:
step 301: the method comprises the steps that a vehicle-mounted device of a target vehicle establishes communication connection with first road side equipment, wherein the target vehicle is a vehicle located in a communication range of the first road side equipment;
step 302: the vehicle-mounted device uploads a navigation route to the first road side equipment;
step 303: the vehicle-mounted device downloads a high-precision map of a coverage area of the first road-side equipment from the first road-side equipment;
specifically, the downloading, by the vehicle-mounted device, the high-precision map of the coverage area of the first road-side device from the first road-side device may include: the vehicle-mounted device receives the version number of the high-precision map returned by the first road side equipment; the vehicle-mounted device compares the version number of the high-precision map stored by the vehicle-mounted device with the version number of the high-precision map returned by the first road side equipment; under the condition that the version numbers are determined to be inconsistent, returning indication information of inconsistent version numbers to the first road side equipment; and the vehicle-mounted device downloads the high-precision map corresponding to the version number of the high-precision map returned by the first road side equipment from the first road side equipment.
Step 304: and the vehicle-mounted device downloads a high-precision map of an area on the navigation route except the coverage area from the first road-side device under the condition that the first road-side device has free communication resources.
In the process of performing the map update, the in-vehicle apparatus may determine whether or not the communication range of the first roadside device has been exited; under the condition that the vehicle is determined to be driven out, disconnecting the first road side equipment and establishing communication connection with second road side equipment; the vehicle-mounted device determines whether the high-precision map downloaded from the first roadside apparatus is completed; and deleting the high-precision map which is not downloaded from the first road side equipment in the case of determining that the downloading is not finished.
For the target vehicle, during the automatic driving, the automatic driving may be performed based on the high-precision map downloaded from the first roadside device.
The above system and method are described below with reference to a specific embodiment, however, it should be noted that the specific embodiment is only for better describing the present application and is not to be construed as limiting the present application.
In this example, in consideration of the problem of insufficient space in the storage of the high-precision map on board the autonomous vehicle, when the vehicle passes through the communication range of the RSU, the high-precision map on the forward route can be downloaded more flexibly, and the normal running of the autonomous vehicle can be ensured.
As shown in fig. 4, an OBU is installed on a Vehicle, and A, B, C RSUs are sequentially installed on the roadside, where the communication range of each RSU may be 1KM to 3KM, the specific communication area is different according to the device parameter setting, and may be set according to the actual situation, and each RSU is responsible for V2X (Vehicle to X, information exchange between the Vehicle and the outside) communication within the respective geographic area. The RSU stores a high-precision map of a geographic area where the RSU is located inside the RSU, and can be in two-way communication with a map platform.
The on-board unit (OBU) may include, as shown in fig. 5, the following components:
1) the antenna, the in-Vehicle device performs V2X communication by a DSRC (Dedicated Short Range Communications) or LTE-V (Long Term Evolution-Vehicle communication) system, and uses a Dedicated communication antenna.
2) The V2X transceiver unit is used by the in-vehicle device to perform V2X communication, and acquires RSU data.
3) And the arithmetic unit is used for analyzing the data of the RSU, acquiring the map version number of the RSU and comparing the map version number with the built-in version number, wherein the arithmetic unit can also store the map data of the RSU in a transferring way.
4) And the memory is used for storing the high-precision map and the version number.
5) And the power supply unit is used for supplying power to the equipment.
Specifically, the map update may be performed according to the following steps:
s1: before the vehicle starts automatic driving, the OBU firstly obtains the path track of the navigation map through the driving starting point and the driving target point.
S2: each RSU communicates V2X only with vehicles within a certain area of the perimeter (e.g., vehicles at 3 KM). In the vehicle-road cooperative application, when a vehicle enters a communication range of an RSU, an OBU can receive communication parameter configuration information broadcasted by the RSU, and then the OBU switches a radio frequency channel. And a reliable communication connection is established between the OBU and the RSU in a bidirectional authentication mode.
The RSU can be updated through the cloud platform, the latest high-precision map covering the RSU communication area is stored locally, and the RSU can apply for maps of other areas from the cloud platform.
When establishing a communication connection, the OBU may automatically establish a connection with the RSU using the V2X communication protocol. Other communication protocol standards may also be used to establish the connection, for example, the DSRC method may be used, the LTE-V method may be used to establish the connection equal to the RSU, and the specific method used to establish the connection may be selected according to actual needs, which is not limited in this application.
S3: the OBU of the autonomous vehicle transmits the traveling trajectory of the own vehicle to the RSU.
S4: the RSU receives the trajectory information of the autonomous vehicle, and considers that the autonomous vehicle requires a high-precision map of the path. The RSU determines whether it is currently capable of providing map services (e.g., whether it stores a high-precision map and whether the number of OBUs currently being serviced has exceeded a maximum value).
S5: if the RSU internally stores the high-precision map, the RSU has the capability of providing the high-precision map downloading.
S6: the RSU firstly pushes a high-precision map in the RSU communication range to the OBU, and specifically comprises the following steps: the version number of the high-precision map can be sent first, the OBU compares the version number with the preset high-precision map of the local area after receiving the version number, and if the version in the OBU is older, the RSU high-precision map is continuously downloaded. If the version is newer within the OBU, the download is aborted.
S7: after downloading the high-precision map of the local area, the RSU judges whether the capability of providing the map service still exists (for example, whether an OBU newly entering the current area provides a map updating requirement).
S8: if the RSU has the capability of continuously providing the service, the RSU continuously sends maps of other areas on the path along the path to the OBU, and the map data of the other areas can be acquired from the other RSUs through the map platform and forwarded to the RSU of the area.
S9: and the RSU sends the position number and the version number of the area map of the front path to the OBU, the OBU receives the version number, compares the version number with the built-in map of the corresponding area, and continuously downloads the high-precision map of the RSU if the version number in the OBU is older. If the version is newer within the OBU, the download is aborted.
S10: if the RSU can not provide the map downloading service of other areas after the OBU finishes updating the high-precision map of the area, the RSU abandons the map updating.
S11: if the RSU does not even have the capability of updating the map of the area, the RSU abandons the map updating.
S12: when the vehicle is driven out of the area controlled by the current RSU, the OBU of the vehicle is interrupted in communication with the V2X of the current RSU, and the map which is not updated is completely abandoned. When the vehicle enters the next RSU-controlled area, the OBU establishes a connection with the next RSU, and the process of step S2 is repeated.
In the above example, the high-precision map service of the RSU can be divided into two stages: firstly the basic service of local high-precision maps and secondly high-precision maps of other locations along the vehicle. Due to limited communication range of the RSU, if the vehicle runs fast, the RSU may not have enough time to download the map; or the RSU has already connected many OBUs and cannot complete the basic service in time, so when the RSU can provide the download service, maps of more areas along the way are sent to the OBUs more, thereby realizing that when the RSU is less loaded, the maps are updated as much as possible except the area. When the RSU load is more, the map is updated as less as possible, and the function of dynamically adjusting the map update along with the difference of the RSU load is realized. When the RSU downloads the maps of other areas, the map data are obtained through the platform and can not be stored locally due to space limitation.
During autonomous driving, the vehicle employs a more conservative driving strategy if the current map is not available (e.g., because downloading the map of the local area is not complete, or the current RSU does not support the service of updating the map, or no high-precision map of the current location is stored in the vehicle). For example, it may be: the vehicle will run along the current lane line without changing lane and overtaking. The vehicle senses the front obstacle information through a self-sensor, and if the obstacle exists, the automatic driving vehicle stops. When the high-precision map fails, the vehicle can prompt the driver to switch to the manual driving mode, but the method is not limited to this.
In the above example, the autonomous vehicle may update the autonomous map in segments according to the current road segment, without downloading a large number of useless maps at one time, and the high-precision map may change in real time, and the map may be downloaded in real time on the road segment to ensure that the map is in the latest state. When the RSU can provide more services, maps of other areas under the navigation path are downloaded as much as possible, so that the downloading function is fully exerted, when the RSU cannot provide the services, a high-precision map downloaded along the RSU or a built-in high-precision map of an older version is used, and when the high-precision map is not available, manual takeover is prompted, or a conservative automatic driving mode is used until the vehicle stops.
The method provided by the embodiment of the application can be executed in a computer terminal or a similar operation device. Taking the example of the method executed on the computer terminal, fig. 6 is a hardware structure block diagram of the computer terminal of the map updating method according to the embodiment of the present invention. As shown in fig. 6, the computer terminal 10 may include one or more (only one shown) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission module 106 for communication functions. It will be understood by those skilled in the art that the structure shown in fig. 6 is only an illustration and is not intended to limit the structure of the electronic device. For example, the computer terminal 10 may also include more or fewer components than shown in FIG. 6, or have a different configuration than shown in FIG. 6.
The memory 104 may be used to store software programs and modules of application software, such as program instructions/modules corresponding to the map updating method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implementing the map updating method of the application program. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission module 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission module 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission module 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
On the software level, the map updating apparatus may be located in a roadside device, and the structure may be as shown in fig. 7, including: an establishing module 701, an obtaining module 702, a providing module 703 and a downloading module 704, wherein:
the establishing module 701 is configured to establish a communication connection with an on-board device of a target vehicle, where the target vehicle is a vehicle located within a communication range of the roadside apparatus.
An obtaining module 702 is configured to obtain a navigation route of the target vehicle.
A providing module 703 is configured to provide the vehicle-mounted device with a downloading service of a high-precision map of the coverage area of the roadside device.
A downloading module 704, configured to provide, for the vehicle-mounted device, a downloading service of a high-precision map of an area on the navigation route except the coverage area when the roadside device has an idle communication resource.
In an embodiment, the providing module 703 may include: the judging unit is used for judging whether the vehicle-mounted device has the capability of storing a high-precision map for providing the road side equipment coverage area for the vehicle-mounted device; a transmission unit configured to transmit a version number of the high-precision map of the coverage area to the in-vehicle device if the presence is determined; and the providing unit is used for providing the downloading service of the high-precision map in the coverage area of the road side equipment for the vehicle-mounted device under the condition that the vehicle-mounted device is determined not to obtain the high-precision map corresponding to the version number of the high-precision map in the coverage area.
In one embodiment, the downloading module 704 may include: a first determination unit configured to determine an area to be subsequently passed by the target vehicle according to the navigation route; a second determining unit, configured to send the determined area to be passed through subsequently to the cloud platform; the receiving unit is used for receiving the high-precision map of one or more areas returned by the cloud platform; and the providing unit is used for providing the downloading service of the high-precision map of the returned one or more areas for the vehicle-mounted device.
In one embodiment, the providing unit may specifically send, to the in-vehicle apparatus, a version number of the high-precision map of the returned one or more areas; and under the condition that the vehicle-mounted device is determined not to acquire the high-precision map corresponding to the version number of the high-precision map of the returned one or more areas, providing the download service of the high-precision map of the returned one or more areas for the vehicle-mounted device.
In one embodiment, the map updating apparatus may further include: the judging module is used for judging whether the target vehicle drives out of the communication range of the road side equipment or not; and the disconnection module is used for disconnecting the connection with the vehicle-mounted device and stopping providing the download service of the high-precision map for the vehicle-mounted device under the condition that the vehicle-mounted device is determined to be out of the communication range of the road side equipment.
In one embodiment, the obtaining module 702 may specifically receive a navigation route uploaded by the vehicle-mounted device, where the navigation route is determined according to a starting location and a target location of the target vehicle.
On the other hand, there is also provided a map updating apparatus, which is provided in an in-vehicle apparatus, and may include, as shown in fig. 8: an establishing module 801, an uploading module 802, a first downloading module 803, and a second downloading module 804, wherein:
an establishing module 801, configured to establish a communication connection with a first roadside device, where the target vehicle is a vehicle located within a communication range of the first roadside device.
An upload module 802, configured to upload a navigation route to the first roadside device.
A first downloading module 803, configured to download a high-precision map of the coverage area of the first road side device from the first road side device.
A second downloading module 804, configured to download, from the first roadside device, a high-precision map of an area on the navigation route other than the coverage area when the first roadside device has an idle communication resource.
In an embodiment, the first downloading module 803 may specifically be configured to receive a version number of a high-precision map returned by the first roadside device; comparing the version number of the high-precision map stored in the device with the version number of the high-precision map returned by the first road side device; under the condition that the version numbers are determined to be inconsistent, returning indication information of inconsistent version numbers to the first road side equipment; and downloading the high-precision map corresponding to the version number of the high-precision map returned by the first road side equipment from the first road side equipment.
In one embodiment, the map updating apparatus may further include: a first determination module configured to determine whether the first road-side device has exited a communication range of the first road-side device; the disconnection module is used for disconnecting the connection with the first road side equipment and establishing communication connection with the second road side equipment under the condition that the vehicle is determined to be driven out; the second determining module is used for determining whether the high-precision map downloaded from the first road side equipment is finished or not; and the deleting module is used for deleting the high-precision map which is not downloaded from the first road side equipment under the condition of determining that the map is not downloaded.
Specifically, the above-described in-vehicle apparatus may be provided in a target vehicle that can be automatically driven based on a high-precision map downloaded from the first roadside device.
In the above example, the provided map updating method, roadside equipment, an on-board device, a vehicle and a system are provided, where the roadside equipment may provide a high-precision map of its own coverage area for the on-board device of the vehicle located within its own communication range, and may also provide a download service of the high-precision map of an area other than the area covered by the roadside equipment itself on a vehicle navigation route for the on-board device of the vehicle in the case of having idle communication resources, so that effective utilization of resources may be achieved, and in the case of reducing a storage load of the vehicle, a probability of successful download of the high-precision map is improved, thereby improving accuracy and safety of automatic driving.
Although the present application provides method steps as described in an embodiment or flowchart, additional or fewer steps may be included based on conventional or non-inventive efforts. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an actual apparatus or client product executes, it may execute sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing) according to the embodiments or methods shown in the figures.
The apparatuses or modules illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. The functionality of the modules may be implemented in the same one or more software and/or hardware implementations of the present application. Of course, a module that implements a certain function may be implemented by a plurality of sub-modules or sub-units in combination.
The methods, apparatus or modules described herein may be implemented in computer readable program code to a controller implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, Application Specific Integrated Circuits (ASICs), programmable logic controllers and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may therefore be considered as a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
Some of the modules in the apparatus described herein may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary hardware. Based on such understanding, the technical solutions of the present application may be embodied in the form of software products or in the implementation process of data migration, which essentially or partially contributes to the prior art. The computer software product may be stored in a storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to perform the methods described in the various embodiments or portions of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. All or portions of the present application are operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, mobile communication terminals, multiprocessor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
While the present application has been described with examples, those of ordinary skill in the art will appreciate that there are numerous variations and permutations of the present application without departing from the spirit of the application, and it is intended that the appended claims encompass such variations and permutations without departing from the spirit of the application.
Claims (16)
1. A map updating method, the method comprising:
the method comprises the steps that communication connection is established between roadside equipment and an on-board device of a target vehicle, wherein the target vehicle is a vehicle located within the communication range of the roadside equipment;
acquiring a navigation route of the target vehicle;
the road side equipment provides the vehicle-mounted device with a downloading service of a high-precision map of a coverage area of the road side equipment;
and under the condition that the road side equipment has idle communication resources, providing a high-precision map downloading service of an area except the coverage area on the navigation route for the vehicle-mounted device.
2. The method of claim 1, wherein the roadside device providing the vehicle-mounted device with a download service of a high-precision map of the roadside device coverage area comprises:
the roadside device judges whether the roadside device has the capability of storing a high-precision map for providing the roadside device coverage area for the vehicle-mounted device to download the service or not;
if the high-precision map is determined to be available, transmitting the version number of the high-precision map of the coverage area to the vehicle-mounted device;
and under the condition that the vehicle-mounted device is determined not to acquire the high-precision map corresponding to the version number of the high-precision map of the coverage area, providing the vehicle-mounted device with a downloading service of the high-precision map of the coverage area of the road side equipment.
3. The method according to claim 1, wherein the providing the in-vehicle apparatus with a download service of a high-precision map of an area on the navigation route other than the coverage area includes:
the roadside device determines a region which the target vehicle will pass through subsequently according to the navigation route;
the roadside device sends the determined areas to be passed by subsequently to the cloud platform;
receiving a high-precision map of one or more areas returned by the cloud platform;
and the roadside equipment provides the downloading service of the returned high-precision map of the one or more regions for the vehicle-mounted device.
4. The method of claim 3, wherein the roadside apparatus providing the vehicle-mounted device with a download service of the high-precision map of the returned one or more regions comprises:
sending the version number of the returned high-precision map of the one or more regions to the vehicle-mounted device;
and under the condition that the vehicle-mounted device is determined not to acquire the high-precision map corresponding to the version number of the high-precision map of the returned one or more areas, providing the download service of the high-precision map of the returned one or more areas for the vehicle-mounted device.
5. The method of claim 1, further comprising:
the roadside device judges whether the target vehicle exits the communication range of the roadside device;
and in the case that the vehicle is determined to have exited the communication range of the roadside apparatus, disconnecting the vehicle-mounted device of the target vehicle and stopping providing the vehicle-mounted device with the downloading service of the high-precision map.
6. The method according to any one of claims 1 to 5, wherein the obtaining of the navigation route of the target vehicle comprises:
the roadside equipment receives the navigation route uploaded by the vehicle-mounted device; wherein the navigation route is determined according to a start location and a target location of the target vehicle.
7. A map updating method, the method comprising:
the method comprises the steps that a vehicle-mounted device of a target vehicle establishes communication connection with first road side equipment, wherein the target vehicle is a vehicle located in a communication range of the first road side equipment;
the vehicle-mounted device uploads a navigation route to the first road side equipment;
the vehicle-mounted device downloads a high-precision map of a coverage area of the first road-side equipment from the first road-side equipment;
and the vehicle-mounted device downloads a high-precision map of an area on the navigation route except the coverage area from the first road-side device under the condition that the first road-side device has free communication resources.
8. The method of claim 7, wherein the vehicle-mounted device downloads a high-precision map of the first roadside apparatus coverage area from the first roadside apparatus, comprising:
the vehicle-mounted device receives the version number of the high-precision map returned by the first road side equipment;
the vehicle-mounted device compares the version number of the high-precision map stored by the vehicle-mounted device with the version number of the high-precision map returned by the first road side equipment;
under the condition that the version numbers are determined to be inconsistent, returning indication information of inconsistent version numbers to the first road side equipment;
and the vehicle-mounted device downloads the high-precision map corresponding to the version number of the high-precision map returned by the first road side equipment from the first road side equipment.
9. The method of claim 7, further comprising:
the vehicle-mounted device determines whether a target vehicle has exited a communication range of the first roadside apparatus;
under the condition that the vehicle is determined to be driven out, disconnecting the first road side equipment and establishing communication connection with second road side equipment;
the vehicle-mounted device determines whether the high-precision map downloaded from the first roadside apparatus is completed;
and deleting the high-precision map which is not downloaded from the first road side equipment in the case of determining that the downloading is not finished.
10. The method of any of claims 7 to 9, further comprising:
the in-vehicle apparatus controls the target vehicle to be automatically driven based on the high-precision map downloaded from the first roadside device.
11. A roadside device comprising a processor and a memory for storing processor-executable instructions which, when executed by the processor, implement the method of any one of claims 1 to 6.
12. An in-vehicle device comprising a processor and a memory for storing processor-executable instructions that when executed by the processor implement the method of any one of claims 7 to 10.
13. An autonomous vehicle characterized by comprising the in-vehicle apparatus of claim 12.
14. An autopilot system, comprising: a plurality of roadside apparatuses as claimed in claim 11, one or more vehicle-mounted devices as claimed in claim 12.
15. A computer-readable storage medium having stored thereon computer instructions which, when executed, implement the method of any one of claims 1 to 6.
16. A computer-readable storage medium having stored thereon computer instructions which, when executed, implement the method of any one of claims 7 to 10.
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| CN201811385386.7A CN111198890A (en) | 2018-11-20 | 2018-11-20 | Map updating method, roadside device, vehicle-mounted device, vehicle and system |
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| CN201811385386.7A CN111198890A (en) | 2018-11-20 | 2018-11-20 | Map updating method, roadside device, vehicle-mounted device, vehicle and system |
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