CN111339111A - High-precision map data updating method and system - Google Patents
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Abstract
One or more embodiments of the present specification provide a method and a system for updating high-precision map data, including: the map center cloud is used for transmitting the updated map data to the edge cloud corresponding to the target geographic position information according to the target geographic position information of the updated map data; the edge clouds are positioned at different geographic positions and used for receiving updated map data, and when the map data needs to be updated according to the updated map data, the updated map data are transmitted to the clusters corresponding to the target geographic position information; and each cluster comprises a cluster head and at least one cluster member, wherein the cluster head is used for receiving the updated map data, and transmitting the updated map data to each cluster member when the map data needs to be updated according to the updated map data. The updating method and the updating system of the embodiment can reduce the transmission data volume, improve the resource utilization rate and reduce the system energy consumption.
Description
Technical Field
One or more embodiments of the present description relate to the field of car networking technologies, and in particular, to a method and a system for updating high-precision map data.
Background
In the application scene of the internet of vehicles, the high-precision map can provide real-time vehicle environment data and traffic operation data for the automatic driving vehicle, can assist the automatic driving vehicle to realize centimeter-level positioning, provides guidance information for vehicle path planning, driving decision and the like, and ensures the driving safety of the automatic driving vehicle.
The high-precision map data has the characteristics of large data volume, high updating speed, correlation with geographical positions and the like, and if the high-precision map data is updated by adopting a traditional data updating mode, a large amount of communication resources are occupied, a large amount of energy is consumed, and the safe driving of a vehicle can be threatened when the data transmission delay is too long.
Disclosure of Invention
In view of the above, an object of one or more embodiments of the present disclosure is to provide a method and a system for updating high-precision map data, so as to solve the problem of updating high-precision map data.
In view of the above object, one or more embodiments of the present specification provide a high-precision map data update system including:
the map center cloud is used for transmitting the updated map data to the edge cloud corresponding to the target geographic position information according to the target geographic position information of the updated map data;
the edge clouds are positioned at different geographic positions and used for receiving the updated map data, and when the map data is judged to be updated according to the updated map data, the updated map data is transmitted to the cluster corresponding to the target geographic position information;
and each cluster comprises a cluster head and at least one cluster member, wherein the cluster head is used for receiving the updated map data, and transmitting the updated map data to each cluster member when the map data needs to be updated according to the updated map data.
Optionally, the map center cloud stores an edge cloud information table, queries the edge cloud information table according to the target geographic location information, and determines a target edge cloud corresponding to the target geographic location information; the edge cloud information table at least comprises edge cloud identification and edge cloud geographic position information.
Optionally, the new geographic location corresponding to the target geographic location is within a geographic location coverage range corresponding to the geographic location information of the target edge cloud.
Optionally, the edge cloud stores a cluster head information table, queries the cluster head information table according to the target geographical location information, and determines a target cluster head corresponding to the target geographical location information; the cluster head information table at least comprises a cluster head identifier and a driving direction.
Optionally, the geographic position corresponding to the target geographic position information is in the traveling direction along the target clusterhead.
Optionally, the edge cloud stores local map data, and the local map data includes map data within a geographic location coverage of the edge cloud and map data within a geographic location coverage of at least one edge cloud adjacent to the edge cloud.
Optionally, when a newly added cluster exists, the edge cloud at least sends the map data within the geographic position coverage range of the next edge cloud along the driving direction of the newly added cluster to the cluster head of the newly added cluster.
Optionally, the cluster head and each cluster member in the cluster at least store map data within the geographic position coverage of the edge cloud to which the cluster head and each cluster member belong, and map data within the geographic position coverage of the next edge cloud along the traveling direction of the cluster.
Optionally, the map center cloud, the edge cloud, and the cluster head determine whether the map data needs to be updated according to the timestamp of the updated map data and the timestamp of the locally stored map data.
One or more embodiments of the present specification further provide a method for updating high-precision map data, including:
the map center cloud transmits the updated map data to the edge cloud corresponding to the target geographic position information according to the target geographic position information of the updated map data;
the edge cloud receives the updated map data, and transmits the updated map data to a cluster corresponding to the target geographic position information when the map data is judged to be updated according to the updated map data; wherein the cluster comprises a cluster head and at least one cluster member;
and the cluster head receives the updated map data, and transmits the updated map data to each cluster member when the map data needs to be updated according to the updated map data.
As can be seen from the above description, one or more embodiments of the present specification provide a method and a system for updating high-precision map data, including: the map center cloud is used for transmitting the updated map data to the edge cloud corresponding to the target geographic position information according to the target geographic position information of the updated map data; the edge clouds are positioned at different geographic positions and used for receiving updated map data, and when the map data needs to be updated according to the updated map data, the updated map data are transmitted to the clusters corresponding to the target geographic position information; and each cluster comprises a cluster head and at least one cluster member, wherein the cluster head is used for receiving the updated map data, and transmitting the updated map data to each cluster member when the map data needs to be updated according to the updated map data. The updating method and the updating system of the embodiment comprehensively consider the characteristics of high-precision map data, and combine the idea of road vehicle clustering, so that the transmission data volume of the map data can be greatly reduced, the resource utilization rate is improved, and the system energy consumption is reduced.
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In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only one or more embodiments of the present specification, and that other drawings may be obtained by those skilled in the art without inventive effort from these drawings.
FIG. 1 is a block diagram of an update system in accordance with one or more embodiments of the present disclosure;
FIG. 2 is a schematic diagram of an application scenario in accordance with one or more embodiments of the present disclosure;
FIG. 3 is a flow diagram of an update method in accordance with one or more embodiments of the present disclosure;
fig. 4 is a block diagram of an electronic device according to one or more embodiments of the present disclosure.
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present specification should have the ordinary meaning as understood by those of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
In some implementations, the high-precision map data (hereinafter referred to as map data) mainly has the following characteristics: first, associated with a geographic location; each piece of map data has accurate geographical position information, the vehicles acquire corresponding map data according to the change of geographical positions and driving requirements, the map data required by vehicles with similar positions are basically the same, and the map data required by vehicles in different driving directions can be completely different. Secondly, the data volume is large; the map data at least comprises information such as road information, positions of various facilities on the road, semantic information and the like, the data category is multiple, the semantic information is rich, the data volume is huge, the map data within a mile range can reach GB level, when vehicles are more, the transmission of the map data can occupy a large amount of bandwidth resources, and the system power consumption is large. Thirdly, the data updating frequency is fast, but the updating data quantity is small; in the running process of the vehicle, the data updating frequency can reach the second level, but the data volume updated each time is small, so that if a traditional data updating method is adopted to update complete high-precision map data, a large amount of resources are occupied, only a small part of data is updated, and resources are wasted. Fourthly, in order to realize functions of accurate positioning, auxiliary driving decision, safe driving and the like of a vehicle in driving, the map data is required to have higher accuracy and smaller transmission time delay.
In order to solve the above problems, one or more embodiments of the present disclosure provide a high-precision map data updating system, which distributes updated map data from a map center cloud to a corresponding edge cloud and then to a corresponding cluster head according to geographical location information through a four-layer system architecture composed of the map center cloud, the edge clouds, the cluster heads and cluster members, and finally distributes the updated map data to each cluster member, so as to implement accurate and effective transmission of the updated data; and when the main body of each layer receives the updated map data, whether the map data needs to be updated or not is judged in advance, if yes, the map data is updated, otherwise, the map data is not updated, the data transmission quantity can be reduced, and the energy consumption of the system is reduced.
As shown in fig. 1, one or more embodiments of the present specification provide a high-precision map data update system, including:
the map center cloud is used for transmitting the updated map data to the edge cloud corresponding to the target geographic position information according to the target geographic position information of the updated map data;
the edge clouds are positioned at different geographic positions and used for receiving updated map data, and when the map data needs to be updated according to the updated map data, the updated map data are transmitted to the clusters corresponding to the target geographic position information;
and each cluster comprises a cluster head and at least one cluster member, wherein the cluster head is used for receiving the updated map data, and transmitting the updated map data to each cluster member when the map data needs to be updated according to the updated map data.
In the high-precision map data updating system of the embodiment, the map center cloud determines the map data to be updated, and then the updated map data is sent to the edge cloud corresponding to the target geographical position information according to the target geographical position information corresponding to the updated map data; the edge cloud receives updated map data, firstly judges whether the map data needs to be updated or not, and sends the updated map data to a cluster corresponding to the target geographic position information if the map data needs to be updated; the cluster head receives the updated map data, judges whether the map data needs to be updated or not, if the map data needs to be updated, the updated map data is sent to all cluster members in the cluster, and the cluster members receive the updated map data and update the local map data, so that the map data of the vehicles are updated. In the embodiment, the updated map data is only sent to the edge cloud and the cluster head corresponding to the target geographic position information, and is not required to be sent to all the edge clouds and the cluster heads, so that the accurate sending of the data can be realized, and the data transmission quantity is reduced; moreover, the updated map data is further distributed only when the need for updating is judged, so that the transmission data volume can be further reduced, and the resource utilization rate can be improved.
In some embodiments, the map data primarily includes vehicle environment data and traffic operation data. Divided by the update frequency of the data, map data includes, but is not limited to, permanent static data, quasi-static data, and quasi-dynamic data. The permanent static data is data with low updating frequency, such as road topology, toll station positions, bridge weight limits and the like, and the updating frequency is monthly (once every month or several months); quasi-static data is, for example, landmark building positions, traffic sign positions and meanings thereof, and the like, and the updating frequency is at a daily level (updated once every day or every few days) or a monthly level; the quasi-dynamic data is data with high updating frequency, such as signal lamp phase and timing, traffic accident information, road obstacle position and name, and the updating frequency is second level or minute level. In addition, during the traveling of the vehicle, it is necessary to acquire not only the above map data but also vehicle traveling data such as a vehicle position, a speed, a traveling direction, a pedestrian position, and the like during the traveling of the vehicle, which may be acquired by a relevant sensor device installed in the vehicle, and the acquisition and update of the vehicle traveling data are not described in detail in this specification.
As shown in fig. 1 and 2, the update system of high-precision map data provided in this specification is a four-layer system architecture, and includes a map center cloud, an edge cloud, a cluster head, and cluster members, where the updated map data is distributed from the map center cloud to the edge cloud, the edge cloud distributes the updated map data to the cluster head, and the cluster head distributes the updated map data to each cluster member, and the following describes the main body of each layer in detail.
The map center cloud is deployed at the cloud end, and is used for storing complete global map data and performing maintenance and management operations such as addition, update, deletion and the like on the global map data; the method comprises the steps that a map center cloud acquires relevant road traffic data of a specific area, which are sent by third-party equipment (such as a traffic data server of a traffic management department), and determines updated map data according to the relevant road traffic data of the specific area; judging whether global map data need to be updated or not when updated map data exist, if so, updating the locally stored global map data according to the updated map data, and sending the updated map data to an edge cloud corresponding to target geographic position information according to the target geographic position information of the updated map data; in a third aspect, the method is further configured to maintain an edge cloud information table including attribute information of all edge clouds.
In some implementation manners, storing complete global map data in a map cloud server, and storing and maintaining an edge cloud information table, wherein the edge cloud information table at least comprises an identifier of an edge cloud and corresponding geographic position information; when updated map data exist and the global map data need to be updated, inquiring the edge cloud information table according to target geographic position information of the updated map data, determining a target edge cloud corresponding to the target geographic position, and then sending the updated map data to the target edge cloud and an edge cloud adjacent to the target edge cloud. And the geographic position corresponding to the target geographic position information is within the geographic position coverage range corresponding to the geographic position information of the target edge cloud. Alternatively, the map cloud server may be generally provided by a service provider capable of providing map data.
In some embodiments, whether to update the global map data is determined based on a timestamp of the updated map data. Specifically, the map center cloud determines updated map data and a timestamp thereof according to relevant road traffic information of a specific area, judges whether the global map data needs to be updated or not according to the timestamp of the updated map data and the timestamp of the current global map data, if the timestamp of the updated map data is later than the timestamp of the current global map data, the global map data needs to be updated, updates the global map data according to the updated map data to obtain the updated global map data and the timestamp thereof, and then sends the updated map data to corresponding edge clouds according to target geographic position information; if the timestamp of the updated map data is earlier than the timestamp of the current global map data, the global map data does not need to be updated and the updating operation does not need to be executed.
The edge cloud is distributed and deployed at different geographic positions, and each edge cloud has attribute information comprising identification and geographic position information; in one aspect, each edge cloud is configured to store local map data, the local map data including map data within a geographic location coverage of the edge cloud and map data within a geographic location coverage of at least one edge cloud adjacent thereto; in the second aspect, when the edge cloud receives updated map data sent by the map center cloud, whether local map data needs to be updated or not is judged, if so, the local map data stored locally is updated according to the received updated map data, and meanwhile, the updated map data is sent to a cluster corresponding to target geographic position information according to the target geographic position information; if the updating is not needed, the updating operation is not carried out; and in a third aspect, the edge cloud stores and maintains a cluster head information table within the geographic position coverage range of the edge cloud, and the cluster head information table at least comprises information such as cluster head identification, cluster head driving direction and the like.
In some implementations, the edge cloud may be generally deployed in association with a base station, and the edge cloud stores local map data, including map data within a coverage area of the base station where the edge cloud is located and map data within a coverage area of an adjacent base station. When the edge cloud receives updated map data sent by the map center cloud, whether the local map data needs to be updated or not is judged, if yes, the local map data stored locally is updated according to the updated map data, then the cluster head information table is inquired according to the target geographic position information, a target cluster head corresponding to the target geographic position information is determined, and the updated map data are sent to the target cluster head. And the geographic position corresponding to the target geographic position information is in the driving direction along the target cluster head.
In some embodiments, whether to update the local map data is determined based on a timestamp of the updated map data. Specifically, the edge cloud judges whether the local map data needs to be updated according to a timestamp of the updated map data and a timestamp of the current local map data, if the timestamp of the updated map data is later than the timestamp of the current local map data, the local map data needs to be updated, the local map data is updated according to the updated map data to obtain the updated local map data and the timestamp thereof, and then the updated map data is sent to a corresponding cluster according to the target geographical position information; if the timestamp of the updated map data is earlier than the timestamp of the current local map data, the local map data does not need to be updated and the updating operation does not need to be executed.
Because the position of the vehicle on the road changes all the time, the edge cloud needs to update the cluster head information table periodically, and the real-time effectiveness of the cluster information in the coverage area is ensured. When a cluster head exits the coverage range of the edge cloud, the related information of the exiting cluster head in the cluster head information table is deleted, when the cluster head enters the coverage range of the edge cloud, the entering cluster head is used as a newly added cluster head, and the related information of the newly added cluster head is added in the cluster head information table.
The cluster is formed by at least one vehicle running on the road, the vehicle running on the road is divided into a plurality of clusters according to a specific clustering algorithm by utilizing a vehicle-mounted self-organizing network technology, a cluster head is selected from each cluster, and the rest are cluster members; the clustering algorithm applied to the vehicle-mounted ad hoc network belongs to the prior art, and the detailed description of the clustering algorithm is omitted in the present specification.
In this embodiment, vehicles having the same driving direction and being within the same area range may be divided into the same cluster according to the driving direction of the vehicle and the area range conditions, and the cluster head in the same cluster is identical to the map data required by each cluster member. In the driving process of the vehicle, more map data are acquired by the vehicle, which is more beneficial to making an accurate driving decision, however, more required storage resources are needed, the cost is higher, and under comprehensive consideration, the cluster heads and the cluster members in the clusters at least store the map data within the geographic position coverage range of the edge cloud to which the cluster heads and the cluster members belong and the map data within the geographic position coverage range of the next edge cloud along the driving direction, so that normal driving can be ensured, excessive storage resources cannot be occupied, and the cost is controllable; the map data stored by each member in the cluster is called node map data, and the node map data at least comprises the map data in the geographic position coverage range of the edge cloud where the cluster head or the cluster member is located and the map data in the geographic position coverage range of the next edge cloud along the driving direction of the cluster head or the cluster member. It is easily understood that the node map data is a subset of the local map data, and the local map data is a subset of the global map data.
When the cluster head receives updated map data sent by the edge cloud, whether the locally stored node map data needs to be updated or not is judged, if the locally stored node map data needs to be updated, the locally stored node map data is updated first, then the updated map data is sent to all cluster members in the cluster where the updated node map data is located, and if the updated node map data does not need to be updated, the updating operation is not executed.
In some embodiments, whether to update the node map data is determined based on a timestamp of the updated map data. Specifically, the cluster head judges whether the node map data needs to be updated according to the timestamp of the updated map data and the timestamp of the current node map data, if the timestamp of the updated map data is later than the timestamp of the current node map data, the node map data needs to be updated, the node map data is updated according to the updated map data to obtain the updated node map data and the timestamp thereof, and then the updated map data is sent to each cluster member in the cluster; if the timestamp of the updated map data is earlier than the timestamp of the current node map data, the node map data does not need to be updated and the updating operation does not need to be executed.
In some embodiments, for a newly added cluster head, the edge cloud sends map data within a geographic position coverage range of a next edge cloud along a driving direction of the newly added cluster head to the newly added cluster head according to the driving direction of the newly added cluster head, and further sends the received map data to all cluster members in a cluster where the newly added cluster head is located when the newly added cluster head judges that the locally stored node map data needs to be updated according to the received map data. In some modes, a newly added cluster head receives map data in the geographical position coverage range of the next edge cloud sent by the edge cloud, whether the node map data needs to be updated is judged according to a timestamp of the received map data and a timestamp of currently stored node map data, the part of map data is not stored before the newly added cluster head, so that the timestamp of the currently stored local map data corresponding to the part of map data is a preset value (e.g., set to 0), the node map data needs to be updated is judged, and then the newly added cluster head updates the locally stored node map data according to the received map data to obtain the updated node map data and the timestamp thereof.
In one or more embodiments of the present disclosure, after receiving updated map data, the map center cloud, the edge cloud, and the cluster head all need to determine in advance whether to update the locally stored map data, if not, the update operation is not executed, and only when the update is needed, the locally stored map data is updated, and then the updated map data is distributed to the update operation of the next-layer main body or member, so that the data transmission amount can be effectively reduced, the system energy consumption is reduced, and the resource utilization rate is improved.
In an application scenario, at least one edge cloud is deployed according to different geographic positions, and can be generally deployed in a base station respectively, each edge cloud has a specific geographic position coverage range, automatic driving vehicles running on a road are divided into a plurality of clusters according to a preset clustering algorithm, and at least one cluster is arranged in the geographic position coverage range of each edge cloud. When the system is initially deployed, the map center cloud divides global map data into a plurality of corresponding local map data according to the geographic position information corresponding to each edge cloud, distributes the local map data of each edge cloud and the local map data of the edge cloud adjacent to the edge cloud according to the geographic position information of each edge cloud, receives and stores the local map data by the edge cloud, distributes the node map data corresponding to the driving direction to the corresponding cluster head according to the driving direction of each cluster within the geographic position coverage range of the edge cloud, receives and stores the node map data by the cluster head, and further distributes the node map data to all cluster members in the cluster.
Subsequently, when the map center cloud determines that updated map data exist, the updated map data are distributed to corresponding edge clouds according to geographical position information, the edge clouds distribute the updated map data to corresponding cluster heads according to the driving directions of the clusters, the cluster heads further distribute the updated map data to all cluster members, the cluster heads and the cluster members fuse the updated map data with locally stored node map data according to the received updated map data to obtain latest node map data, and the latest node map data is used for assisting driving; moreover, the map center cloud, the edge cloud, and the cluster head distribute data only when the updated map data is judged to be the latest map data. Thus, the high-precision map data updating system of the embodiment sufficiently considers the characteristics of a high-precision map, combines the idea of road vehicle clustering, and distributes the latest map data to corresponding vehicles according to the geographical position information, so that the driving performance of the automatic driving vehicle can be ensured, the data transmission amount can be reduced to the maximum extent, the system resources are effectively utilized, and the bandwidth pressure and the system energy consumption are reduced.
In a specific embodiment, there are a vehicle in the first moving direction and a vehicle in the second moving direction within the geographic location coverage of the current edge cloud, and the data amount of the updated map data within the geographic location coverage of the current edge cloud is d, and the updated map data needs to be sent to all vehicles within the geographic location coverage; the number of clusters in the first movement direction is n1 (no new cluster is added, and n1 is the number of existing clusters), the data volume of the map data of the geographic position coverage area of the next edge cloud in the first movement direction is D1, and the data volume of the map data to be updated of the next edge cloud is D1; the number of clusters in the second movement direction is n2 (no new cluster is added, and n2 is the number of existing clusters), the data volume of the map data of the geographic position coverage area of the next edge cloud in the second movement direction is D2, and the data volume of the map data to be updated of the next edge cloud is D2; the data volume sent by the current edge cloud is:
D_mec＝(d+d1)×n1+(d+d2)×n2 (1)
the data volume received by the vehicles in the existing cluster in the first moving direction is d + d1, and the data volume received by the vehicles in the existing cluster in the second moving direction is d + d 2. It should be noted that: for the existing cluster, since the vehicle in the existing cluster has already received the map data of the geographic location coverage of the next edge cloud along the moving direction thereof (i.e., for the first moving direction, the map data with the data amount of D1 is received), the map data to be updated (i.e., for the first moving direction, only the map data with the data amount of D1 is received) is then updated only on the basis of the received portion of the map data. The map data that needs to be updated may be only one or a few of the map data within the geographic location coverage of the edge cloud.
If there are newly added clusters in the first moving direction, and the number of the newly added clusters is n1_ new; if the second moving direction has a newly added cluster and the number of the newly added clusters is n2_ new, the data amount sent by the current edge cloud is:
D_mec＝(D1+d)×n1_new+(D2+d)×n2_new+(d+d1)×n1+(d+d2)×n2 (2)
the data volume received by the vehicles newly added into the cluster in the first moving direction is D1+ D, and the data volume received by the vehicles in the existing cluster is D + D1; the data volume received by the vehicles newly added to the cluster in the second moving direction is D2+ D, the data volume received by the vehicles in the existing cluster is D + D2, and the data volume received by each vehicle is the data volume of the map data to be updated. Therefore, by using the updating system of the embodiment, only the map data of the updating part needs to be distributed, and the data transmission amount can be greatly reduced on the premise of realizing real-time updating of the map data.
As shown in fig. 3, in another aspect of the present specification, there is also provided a method for updating high-precision map data, including:
s301: the map center cloud transmits the updated map data to the edge cloud corresponding to the target geographic position information according to the target geographic position information of the updated map data;
s302: the edge cloud receives the updated map data, and transmits the updated map data to a cluster corresponding to the target geographic position information when the map data is judged to be updated according to the updated map data; wherein the cluster comprises a cluster head and at least one cluster member;
s303: the cluster head receives the updated map data, and transmits the updated map data to each cluster member when the need of updating the map data is judged according to the updated map data.
The updating method of the above embodiment is implemented based on the corresponding updating system in the foregoing embodiment, and has the beneficial effects of the corresponding system embodiment, which are not described herein again.
It should be noted that the method of one or more embodiments of the present disclosure may be performed by a single device, such as a computer or server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the devices may perform only one or more steps of the method of one or more embodiments of the present disclosure, and the devices may interact with each other to complete the method.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Fig. 4 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the electronic device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called to be executed by the processor 1010.
The input/output interface 1030 is used for connecting an input/output module to input and output information. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The communication interface 1040 is used for connecting a communication module (not shown in the drawings) to implement communication interaction between the present apparatus and other apparatuses. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).
It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.
Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present description as described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present description, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
It is intended that the one or more embodiments of the present specification embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (10)
1. A high-precision map data update system, comprising:
the map center cloud is used for transmitting the updated map data to the edge cloud corresponding to the target geographic position information according to the target geographic position information of the updated map data;
the edge clouds are positioned at different geographic positions and used for receiving the updated map data, and when the map data is judged to be updated according to the updated map data, the updated map data is transmitted to the cluster corresponding to the target geographic position information;
and each cluster comprises a cluster head and at least one cluster member, wherein the cluster head is used for receiving the updated map data, and transmitting the updated map data to each cluster member when the map data needs to be updated according to the updated map data.
2. The updating system of claim 1, wherein the map center cloud stores an edge cloud information table, queries the edge cloud information table according to the target geographic location information, and determines a target edge cloud corresponding to the target geographic location information; the edge cloud information table at least comprises edge cloud identification and edge cloud geographic position information.
3. The update system of claim 2, wherein the new geographic location for the target geographic location is within a geographic location coverage area corresponding to the geographic location information for the target edge cloud.
4. The updating system of claim 1, wherein the edge cloud stores a cluster head information table, queries the cluster head information table according to the target geographical location information, and determines a target cluster head corresponding to the target geographical location information; the cluster head information table at least comprises a cluster head identifier and a driving direction.
5. The update system of claim 4, wherein the geographic location corresponding to the target geographic location information is along a direction of travel of the target clusterhead.
6. The update system of claim 1, wherein the edge clouds store local map data that includes map data within a geographic location coverage of an edge cloud and map data within a geographic location coverage of at least one edge cloud adjacent to the edge cloud.
7. The update system of claim 6, wherein when there is a newly joined cluster, the edge cloud sends at least map data within a geographic location coverage of a next edge cloud in a direction of travel of the newly joined cluster to a cluster head of the newly joined cluster.
8. The update system of claim 1, wherein cluster heads and cluster members within the cluster store at least map data within a geographic location coverage of the edge cloud to which they belong and map data within a geographic location coverage of a next edge cloud along a direction of travel of the cluster.
9. The updating system of claim 1, wherein the map center cloud, the edge cloud and the cluster head determine whether the map data needs to be updated according to a timestamp of the updated map data and a timestamp of the locally stored map data.
10. A method for updating high-precision map data, comprising:
the map center cloud transmits the updated map data to the edge cloud corresponding to the target geographic position information according to the target geographic position information of the updated map data;
the edge cloud receives the updated map data, and transmits the updated map data to a cluster corresponding to the target geographic position information when the map data is judged to be updated according to the updated map data; wherein the cluster comprises a cluster head and at least one cluster member;
and the cluster head receives the updated map data, and transmits the updated map data to each cluster member when the map data needs to be updated according to the updated map data.
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