CN113498474B - High-precision map updating method, device, computer equipment and storage medium - Google Patents
High-precision map updating method, device, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a high-precision map updating method, a device, a computer device and a storage medium, wherein the method comprises the following steps: transmitting a map data update request to a server (S202); receiving a current map data block sequence returned by the server (S204); acquiring a historical map data block sequence, wherein map data blocks in the historical map data block sequence are rendered to obtain corresponding map image blocks in the process of generating a historical high-precision map (S206); determining the same sequence number and a different sequence number as the historical map data block sequence in the current map data block sequence (S208); sending the different sequence numbers to the server so that the server can find out corresponding updated map data blocks according to the different sequence numbers (S210); receiving the updated map data block returned by the server, and rendering the updated map data block to obtain a corresponding updated map image block (S212); the updated map image blocks and the map image blocks corresponding to the same sequence numbers constitute the current high-precision map (S214).
Description
Technical Field
The present application relates to the field of unmanned technologies, and in particular, to a method, an apparatus, a computer device, and a storage medium for updating a map with high accuracy.
Background
Compared with the traditional electronic map, the high-precision map is an electronic map with higher precision and more data dimensions. The high-precision map can provide map data for the unmanned aerial vehicle, helps the unmanned aerial vehicle to perceive road surface information such as gradient, curvature, heading and the like in advance, and is combined with intelligent path planning, so that the unmanned aerial vehicle can make a correct decision, and the map data is an indispensable data source for driving the unmanned aerial vehicle.
In the running process of the unmanned vehicle, the map data around the vehicle body needs to be updated in real time, so that real-time and accurate map data are provided for the unmanned vehicle, and the running safety of the unmanned vehicle is ensured. In the traditional scheme, the environment point cloud data around the vehicle body is collected in real time, rendered, and graphically displayed, so that a high-precision map is obtained. However, since the data volume of the environmental point cloud data is very large, a great amount of time is required to directly render the environmental point cloud data, which results in lower efficiency and failure to provide a real-time high-precision map for the unmanned vehicle.
Disclosure of Invention
The embodiment of the application provides a high-precision map updating method, a device, computer equipment and a storage medium, wherein the technical scheme is as follows:
A high-precision map updating method, comprising:
Sending a map data updating request to a server, wherein map data is stored in the server, the map data carries map data position information, and the map data updating request carries current position information of a vehicle;
Receiving a current map data block number set, wherein the current map data block number set is formed by carrying out block number on the current map data according to the map data position information after the server searches corresponding current map data according to the current position information of the vehicle and the map data position information;
Acquiring a historical map data block number set, wherein map data blocks corresponding to the historical map data block number set are rendered to obtain corresponding map image blocks in the process of generating a historical high-precision map;
determining the same number and different numbers as the historical map data block number set in the current map data block number set;
sending the different numbers to the server so that the server can find out corresponding updated map data blocks according to the different numbers;
receiving the updated map data block, and rendering the updated map data block to obtain a corresponding updated map image block;
And the updated map image blocks and the map image blocks corresponding to the same number form a current high-precision map, and the map image blocks corresponding to the same number are rendered map image blocks.
In one embodiment, before the sending of the map data update request to the server, the method further includes:
Acquiring current position information and historical position information of a vehicle;
Calculating the driving distance of the vehicle according to the current position information and the historical position information of the vehicle;
And when the driving distance of the vehicle is greater than the driving distance threshold value, executing the step of sending a map data update request to the server.
In one embodiment, the method further comprises:
Determining a number different from the current map data block number set in the historical map data block number set, and deleting the number different from the current map data block number set; and
And deleting the map data block and the map image block corresponding to the numbers different from the current map data block number set.
In one embodiment, the update map data block includes point cloud data, the point cloud data carries location information and color information, the receiving the update map data block, and rendering the update map data block to obtain a corresponding update map image block, includes:
Receiving the updated map data block;
carrying out point tracing according to the position information of the point cloud data to obtain a plurality of pixel points;
And filling colors for the corresponding pixel points according to the color information of the point cloud data to obtain an updated map image block corresponding to the updated map data block.
In one embodiment, the receiving the update map data block, rendering the update map data block, and obtaining a corresponding update map image block includes:
Receiving the updated map data block, and rendering the updated map data block;
counting accumulated rendering time of the updated map data block in the rendering process of the updated map data block;
When the accumulated rendering time is greater than a preset rendering time threshold, sending a map data block adjustment request to the server so that the server adjusts the number of map data blocks, re-blocking the updated map data blocks and updating the updated map data blocks;
And returning to the step of receiving the updated map data block and rendering the updated map data block until the accumulated rendering time is less than or equal to a preset rendering time threshold value, so as to obtain the updated map image block.
In one embodiment, the updating map image block and the map image block corresponding to the same number form a current high-precision map, and the updating map image block comprises:
Determining display areas of the updated map image blocks and map image blocks corresponding to the same numbers according to the map data position information;
combining the updated map image blocks with the map image blocks corresponding to the same numbers according to the display areas to obtain the current high-precision map;
And displaying the current high-precision map.
A high-precision map updating apparatus comprising:
the map data updating request sending module is used for sending a map data updating request to a server, wherein map data is stored in the server, the map data carries map data position information, and the map data updating request carries current position information of a vehicle;
The system comprises a current map data block number set receiving module, a current map data block number set processing module and a current map data block number processing module, wherein the current map data block number set is formed by the server searching corresponding current map data according to the current position information of the vehicle and the map data position information and then carrying out block number on the current map data according to the map data position information;
The system comprises a historical map data block number set acquisition module, a historical map data block number set generation module and a historical map data block number set generation module, wherein the historical map data block number set acquisition module is used for acquiring a historical map data block number set, and map data blocks corresponding to the historical map data block number set are rendered to obtain corresponding map image blocks in the process of generating a historical high-precision map;
a number determining module, configured to determine, in the current map data block number set, the same number as the historical map data block number set and a different number;
The number sending module is used for sending the different numbers to the server so that the server can find out the corresponding updated map data blocks according to the different numbers;
the map data rendering module is used for receiving the updated map data blocks and rendering the updated map data blocks to obtain corresponding updated map image blocks;
The high-precision map composition module is used for composing the current high-precision map by the updated map image blocks and the map image blocks corresponding to the same numbers, wherein the map image blocks corresponding to the same numbers are rendered map image blocks.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of:
Sending a map data updating request to a server, wherein map data is stored in the server, the map data carries map data position information, and the map data updating request carries current position information of a vehicle;
Receiving a current map data block number set, wherein the current map data block number set is formed by carrying out block number on the current map data according to the map data position information after the server searches corresponding current map data according to the current position information of the vehicle and the map data position information;
Acquiring a historical map data block number set, wherein map data blocks corresponding to the historical map data block number set are rendered to obtain corresponding map image blocks in the process of generating a historical high-precision map;
determining the same number and different numbers as the historical map data block number set in the current map data block number set;
sending the different numbers to the server so that the server can find out corresponding updated map data blocks according to the different numbers;
receiving the updated map data block, and rendering the updated map data block to obtain a corresponding updated map image block;
And the updated map image blocks and the map image blocks corresponding to the same number form a current high-precision map, and the map image blocks corresponding to the same number are rendered map image blocks.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
Sending a map data updating request to a server, wherein map data is stored in the server, the map data carries map data position information, and the map data updating request carries current position information of a vehicle;
Receiving a current map data block number set, wherein the current map data block number set is formed by carrying out block number on the current map data according to the map data position information after the server searches corresponding current map data according to the current position information of the vehicle and the map data position information;
Acquiring a historical map data block number set, wherein map data blocks corresponding to the historical map data block number set are rendered to obtain corresponding map image blocks in the process of generating a historical high-precision map;
determining the same number and different numbers as the historical map data block number set in the current map data block number set;
sending the different numbers to the server so that the server can find out corresponding updated map data blocks according to the different numbers;
receiving the updated map data block, and rendering the updated map data block to obtain a corresponding updated map image block;
And the updated map image blocks and the map image blocks corresponding to the same number form a current high-precision map, and the map image blocks corresponding to the same number are rendered map image blocks.
According to the high-precision map updating method, the high-precision map updating device, the computer equipment and the storage medium, the map data are stored in the server by sending the map data updating request to the server, the map data carry map data position information, and the map data updating request carries current position information of the vehicle; receiving a current map data block number set, wherein the current map data block number set is formed by dividing the current map data into blocks according to map data position information after the server searches corresponding current map data according to the current position information of the vehicle and map data position information; acquiring a historical map data block number set, wherein map data blocks corresponding to the historical map data block number set are rendered to obtain corresponding map image blocks in the process of generating a historical high-precision map; determining the same number and different numbers as the historical map data block number set in the current map data block number set; different numbers are sent to the server, so that the server can find out corresponding updated map data blocks according to the different numbers; receiving the updated map data block, and rendering the updated map data block to obtain a corresponding updated map image block; the updated map image blocks and the map image blocks corresponding to the same number form the current high-precision map, the map image blocks corresponding to the same number are the map image blocks which are rendered, and as the map data are segmented, the updated map data blocks which are different from the historical map data blocks can be rendered, repeated rendering of the same map data blocks is avoided, the rendering data amount is reduced, the rendering efficiency is improved, and the current high-precision map is generated in real time.
Drawings
FIG. 1 is a schematic view of an application environment of a high-precision map updating method in one embodiment;
FIG. 2 is a flow diagram of a high-precision map updating method in one embodiment;
FIG. 3 is a schematic representation of a change in map data block of a vehicle driving process in one embodiment;
FIG. 4 is a flow chart of a method for adjusting map data blocks in one embodiment;
FIG. 5 is a flowchart of a high-precision map updating method according to another embodiment;
FIG. 6 is a block diagram of a high-precision map updating apparatus in one embodiment;
FIG. 7 is a schematic diagram of an internal structure of a server in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The high-precision map updating method provided by the application can be applied to an application environment shown in figure 1. Wherein the drone 102 communicates with the server 104 over a network. The server 104 stores therein map data carrying map data location information. The drone 102 sends a map data update request to the server, the map data update request carrying current location information of the drone 102. After receiving the map data update request, the server 104 finds corresponding current map data according to the current position information of the unmanned vehicle 102 and the map data position information, and blocks and numbers the current map data according to the map data position information to obtain a current map data block number set. The server sends the current set of map data block numbers to the drone 102. The drone 102 obtains a set of historical map data block numbers after receiving the current set of map data block numbers. The map data blocks corresponding to the historical map data block number sets are rendered to obtain corresponding map image blocks in the process of generating the historical high-precision map. The drone 102 determines the same number and a different number from the set of historical map data block numbers in the set of current map data block numbers, and sends the different number to the server 104. The server 104 searches the corresponding update map data blocks according to different numbers, and sends the update map data blocks to the unmanned vehicle 102. After the unmanned vehicle 102 receives the update map data block, the update map data block is rendered to obtain an update map image block, and the update map image block and the map image block corresponding to the same number form the current high-precision map. The map image blocks corresponding to the same number are rendered map image blocks. The server 104 may be implemented as a stand-alone server or a server cluster including a plurality of servers.
In one embodiment, as shown in fig. 2, a high-precision map updating method is provided, and the method is applied to the unmanned vehicle in fig. 1 for illustration, and includes the following steps:
Step 202, a map data update request is sent to a server, map data is stored in the server, the map data carries map data position information, and the map data update request carries current position information of a vehicle.
The map data is data acquired in advance, and includes road data and fixed object information around a lane. The road data includes lane position, lane type, lane width, and the like, and the fixed object information around the lane includes information of fixed objects such as traffic signs, traffic lights, and the like. The map data is obtained by data acquisition of different positions, so that the map data carries map data position information. Since the data amount of the map data is large, the map data is generally stored in the server, and when the unmanned vehicle needs to use the map data, a request can be sent to the server to instruct the server to return the corresponding map data.
Specifically, during the running process of the unmanned vehicle, the unmanned vehicle can judge whether to send a map data update request to the server according to the current position information. When the unmanned vehicle needs to update the map data of the vehicle, the current position information of the unmanned vehicle is acquired, a map data update request carrying the current position information of the unmanned vehicle is sent to a server, the server is instructed to return the map data around the unmanned vehicle to the unmanned vehicle according to the current position information of the unmanned vehicle, and the driving safety of the unmanned vehicle is ensured.
Step 204, receiving a current map data block number set, wherein the current map data block number set is formed by the server searching corresponding current map data according to the current position information of the vehicle and the map data position information and then carrying out block numbering on the current map data according to the map data position information.
Wherein the current set of map data block numbers is a set of current map data block numbers. The current map data block is obtained by dividing the current map data block according to the map data position information by the server. The current map data is current surrounding map data of the unmanned vehicle.
Specifically, after receiving a map data update request sent by the unmanned vehicle, the server matches current position information of the unmanned vehicle carried by the map data update request with the map data position information, and searches current map data corresponding to the current position information of the unmanned vehicle. According to the position information of the map data, the server blocks the current map data to obtain current map data blocks, and then numbers each current map data block according to the position information of each current map data block to generate a current map data block number set. The unmanned aerial vehicle receives the current map data block number set returned by the server.
Step 206, acquiring a historical map data block number set, wherein map data blocks corresponding to the historical map data block number set are rendered to obtain corresponding map image blocks in the process of generating a historical high-precision map.
Wherein the set of historical map data block numbers is a set of historical map data block numbers. The historical map data block is obtained by the server after the historical map data is segmented according to the map data position information. The history map data is surrounding map data of the history of the unmanned vehicle.
Specifically, the historical map data block number set is sent to the unmanned vehicle by the server in the historical time, and the historical map data block number set is stored in the unmanned vehicle, so that the unmanned vehicle can directly acquire the locally stored historical map data block number set. And after the unmanned vehicle receives the historical map data block number set, the historical map data block is rendered through the method provided by the application, and a historical high-precision map is generated. Therefore, map data blocks corresponding to the historical map data block number set have been rendered to obtain corresponding map image blocks in the process of generating the historical high-precision map.
In step 208, the same number and a different number as the historical map data block number set are determined in the current map data block number set.
Specifically, after receiving the current map data block number set, the unmanned vehicle compares each number in the current map data block set with each number in the historical map data number set to obtain the same number and different numbers as each historical map data number in the current map data block number set. The same numbers as the historical map data numbers in the current map data block number set correspond to the same data as the historical surrounding map data in the current surrounding map data of the unmanned vehicle, and different numbers correspond to different data in the current surrounding map data of the unmanned vehicle and the historical surrounding map data.
For example, as shown in fig. 3, the server may divide the vehicle surrounding map data into 9 map data blocks according to the map data location information. The current map data block number set includes (x 1, y 3), (x 2, y 3), (x 3, y 3), (x 1, y 4), (x 2, y 4), (x 3, y 4), (x 1, y 5), (x 2, y 5), and (x 3, y 5), and the history map data block number set includes (x 1, y 1), (x 2, y 1), (x 3, y 1), (x 1, y 2), (x 2, y 2), (x 1, y 3), (x 2, y 3), and (x 3, y 3). By comparison, in the current map data block number set, (x 1, y 3), (x 2, y 3) and (x 3, y 3) are the same numbers as the respective history map data numbers, and (x 1, y 4), (x 2, y 4), (x 3, y 4), (x 1, y 5), (x 2, y 5) and (x 3, y 5) are different numbers from the respective history map data numbers. The (xn, yn) is the position information of the center position of each map data block, and may be longitude and latitude information.
Step 210, different numbers are sent to the server, so that the server can find the corresponding updated map data blocks according to the different numbers.
Specifically, the unmanned vehicle obtains the number different from the number of each historical map data block in the current map data block number set by comparing the current map data block number set with the historical map data block number set, and sends the different numbers to the server. After the server numbers the map data blocks, the numbers corresponding to the map data blocks are stored. Therefore, the server can find the corresponding update map data blocks according to different numbers.
And 212, receiving the updated map data block, and rendering the updated map data block to obtain a corresponding updated map image block.
The update map data blocks are map data blocks different from the history map data blocks, and for example, the vehicle positions shown in fig. 3 may be map data blocks corresponding to (x 1, y 4), (x 2, y 4), (x 3, y 4), (x 1, y 5), (x 2, y 5), and (x 3, y 5). Rendering refers to the process of drawing out a geometric model after a model or scene is obtained, resulting in an image.
Specifically, the unmanned vehicle receives the updated map data block returned by the server, and points cloud data in the updated map data block are depicted point by point, so that a corresponding updated map image block can be obtained. The repeated rendering of map data blocks corresponding to the same number is avoided, the data volume of rendering is reduced, and the rendering efficiency is improved.
In step 214, the updated map image blocks and map image blocks corresponding to the same number form the current high-precision map, and the map image blocks corresponding to the same number are rendered map image blocks.
Specifically, in the current map data block number set, the same number as the historical map data block number set and a different number together constitute the current map data block number set. Thus, the current high-precision map is actually composed of individual current map data blocks rendered. And each number in the current map data block number set is divided into the same number as the historical map data block number set and different numbers, so that the current map data can be divided into an updated map image block and a map image block corresponding to the same number. And the map image blocks corresponding to the same number are the constituent parts of the history high-precision map, that is, the map image blocks corresponding to the same number are the map image blocks already rendered. By combining the map image block that has been rendered and the update map image block that is currently rendered, a current high-precision map that is required for the current position information of the vehicle can be obtained.
As shown in fig. 3, the update map image blocks are map image blocks corresponding to (x 1, y 4), (x 2, y 4), (x 3, y 4), (x 1, y 5), (x 2, y 5), and (x 3, y 5), and the map image blocks corresponding to the same number are map image blocks corresponding to (x 1, y 3), (x 2, y 3), and (x 3, y 3). When the current high-precision map is generated, only map data blocks corresponding to (x 1, y 4), (x 2, y 4), (x 3, y 4), (x 1, y 5), (x 2, y 5) and (x 3, y 5) are required to be rendered, then the map image blocks corresponding to the rendered (x 1, y 4), (x 2, y 4), (x 3, y 4), (x 1, y 5), (x 2, y 5) and (x 3, y 5) and the map image blocks corresponding to the rendered (x 1, y 3), (x 2, y 3) and (x 3, y 3) are combined, so that the current high-precision map can be obtained, repeated rendering is avoided, rendering time is saved, and rendering efficiency is improved.
According to the high-precision map updating method, the map data updating request is sent to the server, the map data is stored in the server, the map data carries map data position information, and the map data updating request carries current position information of the vehicle; receiving a current map data block number set, wherein the current map data block number set is formed by dividing the current map data into blocks according to map data position information after the server searches corresponding current map data according to the current position information of the vehicle and map data position information; acquiring a historical map data block number set, wherein map data blocks corresponding to the historical map data block number set are rendered to obtain corresponding map image blocks in the process of generating a historical high-precision map; determining the same number and different numbers as the historical map data block number set in the current map data block number set; different numbers are sent to the server, so that the server can find out corresponding updated map data blocks according to the different numbers; receiving the updated map data block, and rendering the updated map data block to obtain a corresponding updated map image block; the updated map image blocks and the map image blocks corresponding to the same number form the current high-precision map, the map image blocks corresponding to the same number are the map image blocks which are rendered, and as the map data are segmented, the updated map data blocks which are different from the historical map data blocks can be rendered, repeated rendering of the same map data blocks is avoided, the rendering data amount is reduced, the rendering efficiency is improved, and the current high-precision map is generated in real time.
In one embodiment, prior to step 202, further comprising: acquiring current position information and historical position information of a vehicle; calculating the driving distance of the vehicle according to the current position information and the historical position information of the vehicle; when the travel distance of the vehicle is greater than the travel distance threshold, a step of transmitting a map data update request to the server is performed.
The current position information and the historical position information of the vehicle are used for uniquely identifying the current position and the historical position of the vehicle, and the current position and the historical position of the vehicle can be position coordinates or distance between the current position and the historical position of the vehicle and a certain reference point. The position coordinates may be longitude and latitude, or may be other self-defined coordinates.
Specifically, in the running process of the unmanned vehicle, the current position information and the historical position information of the vehicle are acquired, and the running distance of the vehicle can be calculated according to the current position information and the historical position information of the vehicle. When the driving distance of the vehicle is greater than the driving distance threshold value, the unmanned vehicle is required to acquire new map data to ensure the driving safety of the unmanned vehicle, so that the unmanned vehicle sends a map data updating request carrying current position information to the server.
In this embodiment, the driving distance of the vehicle is calculated in the driving process of the unmanned vehicle, and when the driving distance is greater than the driving distance threshold, a map data update request is sent to the server to update the map data stored in the unmanned vehicle, so that the real-time update of the map data in the driving process of the unmanned vehicle is ensured, and the driving safety of the unmanned vehicle is improved.
In one embodiment, the method further comprises: determining a number different from the current map data block number set in the historical map data block number set, and deleting the number different from the current map data block number set; and deleting the map data block and the map image block corresponding to numbers different from the current map data block number set.
Specifically, taking the history map data block number set and the current map data block number set shown in fig. 3 as an example, in the history map data block number set, numbers different from the current map data block number set include (x 1, y 1), (x 2, y 1), (x 3, y 1), (x 1, y 2), (x 2, y 2), and (x 3, y 2). As can be seen from step 214, the current high-precision map required by the unmanned vehicle is composed of updated map image blocks and map image blocks corresponding to the same numbers that have been rendered, i.e., the current high-precision map is composed of map image blocks corresponding to (x 1, y 3), (x 2, y 3), (x 3, y 3), (x 1, y 4), (x 2, y 4), (x 1, y 5), (x 2, y 5), and (x 3, y 5), that is, the unmanned vehicle does not currently require map data blocks and map image blocks corresponding to (x 1, y 1), (x 2, y 1), (x 3, y 1), (x 2, y 2), and (x 3, y 2), so that the unnecessary numbers and map data blocks and map image blocks corresponding to these numbers can be deleted from the memory of the unmanned vehicle.
In this embodiment, the unmanned aerial vehicle deletes the number different from the current map data block number set in the historical map data block number set, and the map data block and the map image block corresponding to the number, only the surrounding map data corresponding to the current position information of the unmanned aerial vehicle is reserved, so that the storage space of the unmanned aerial vehicle can be saved, the memory of the unmanned aerial vehicle is released, and the updating of the high-precision map can be more concise.
In one embodiment, the update map data block includes point cloud data, which carries location information and color information, step 212 includes: receiving an update map data block; carrying out point tracing according to the position information of the point cloud data to obtain a plurality of pixel points; and filling colors for the corresponding pixel points according to the color information of the point cloud data to obtain an updated map image block corresponding to the updated map data block.
The update map data block comprises point cloud data, wherein the point cloud data carries position information and color information. The position information of the point cloud data is used for uniquely identifying the position of the point cloud data, and the color information of the point cloud data is used for identifying the color of the point cloud data.
Specifically, the unmanned vehicle receives an update map data block sent by the server, points are traced on corresponding positions according to position information of point cloud data to obtain a plurality of pixel points, and the corresponding pixel points are filled with colors according to color information of the point cloud data to complete rendering of the update map data block, so that an update map image block corresponding to the update map data block is obtained.
In the embodiment, the point cloud data in the update map data block is subjected to point drawing and color filling, so that an update map image block corresponding to the update map data block can be obtained, the update map data block is displayed in a graphical form, the observability of the update map data block is improved, and visualization is realized.
In one embodiment, as shown in FIG. 4, step 212 includes:
step 402, receiving an update map data block, rendering the update map data block;
step 404, counting accumulated rendering time of the updated map data block in the rendering process of the updated map data block;
Step 406, when the accumulated rendering time is greater than the preset rendering time threshold, sending a map data block adjustment request to the server, so that the server adjusts the number of map data blocks, re-blocks the updated map data blocks, and updates the updated map data blocks;
step 408, the step of receiving the updated map data block and rendering the updated map data block is returned until the accumulated rendering time is less than or equal to the preset rendering time threshold value, so as to obtain the updated map image block.
Specifically, the drone renders the updated map data block after receiving the updated map data block. Because the updated map data blocks at different times are different, the accumulated rendering time of the updated map data blocks needs to be counted in the process of rendering the updated map data blocks by the unmanned vehicle. When the accumulated rendering time is greater than the preset rendering time threshold, the number of the historical map data blocks is not in accordance with the current requirement, so that the unmanned vehicle cannot obtain the current high-precision map in real time (in a shorter time interval), and at the moment, the unmanned vehicle can send a map data block adjustment request to the server. The map data block adjustment request may carry a rendering condition of updating the map data block within a preset rendering time threshold. After receiving the map data block adjustment request, the server analyzes the rendering condition of the updated map data block within the preset rendering time, re-blocks the updated map data block, and then sends the re-blocked updated map data block to the unmanned vehicle, so that the unmanned vehicle can complete rendering of the updated map data block within the preset rendering time threshold value, and an updated map image block is obtained.
Further, for example, in order to ensure the real-time of the current high-precision map, the preset rendering time threshold may be set to 0.5 seconds. The server may divide the current map data into equal numbers of current map data blocks along the number of historical map data blocks. When an unmanned vehicle travels from a lane with a simple surrounding environment to a lane with a complex surrounding environment, the number of blocks of the history map data may be too large to meet the current requirements. Assuming that the unmanned vehicle just reaches a lane with complex surrounding environment, when the accumulated rendering time reaches 0.5 seconds, the rendering progress of the updated map data blocks is 65%, and then the unmanned vehicle sends a map data block adjustment request to the server. After receiving the map data block adjustment request, the server analyzes the rendering condition of the updated map data block, and re-blocks the updated map data block, so that the accumulated rendering time of the updated map data block is within a preset rendering time threshold range. Assume that when the cumulative rendering time reaches 0.4 seconds, the unmanned vehicle completes rendering the updated map data block after the re-blocking. Although the time of 0.9 seconds is used in the rendering process, the number of blocks before direct use can finish rendering within 0.9 seconds, but a certain transition exists between lanes, the unmanned vehicle cannot travel from a lane with complex surrounding environment to a lane with simple surrounding environment after 0.9 seconds, so that the unmanned vehicle can follow the number of blocks of the current rendering in the subsequent travel process of the lane with complex surrounding environment, the rendering time of each time is controlled within 0.5 seconds, and the rendering efficiency is greatly improved.
In one embodiment, in the process of rendering the updated map data block, the rendering efficiency of the updated map data block can be further improved by a tree data structure method.
In this embodiment, in the process of rendering the updated map data block, the vehicle counts the cumulative rendering time of the updated map data block, and when the cumulative rendering time is greater than the preset rendering time threshold, a map data block adjustment request is sent to the server, so that the server re-blocks the updated map data block, updates the updated map data block, and re-renders the updated map data block, thereby realizing monitoring of the rendering process of the updated map data block, controlling the cumulative rendering time of the updated map data block, and improving the rendering efficiency of the updated map data, and further providing a real-time high-precision map for the vehicle.
In one embodiment, step 214 includes: determining display areas of the updated map image blocks and map image blocks corresponding to the same numbers according to the map data position information; combining the updated map image blocks with map image blocks corresponding to the same numbers according to the display areas to obtain a current high-precision map; displaying the current high-precision map.
The unmanned vehicle comprises a display screen, and the current high-precision map can be displayed through the display screen.
Specifically, the unmanned vehicle determines, based on the map data position information, a display area of the updated map image block and the map image block corresponding to the same number. For example, as shown in fig. 3, the display area of the map image block corresponding to (x 1, y 5) is the first row and the first column, and the display area of the map image block corresponding to (x 3, y 3) is the third row and the third column. The unmanned vehicle combines the updated map image blocks and the map image blocks corresponding to the same numbers according to the display areas, so that the current high-precision map can be obtained. The unmanned vehicle displays the current high-precision map through the display screen.
In this embodiment, the display area of each map image block is determined according to the map data position information, each map image block is combined according to the corresponding display area, the rationality of each map image block combination and the accuracy of the high-precision map are improved, and finally the high-precision map is displayed, so that the visualization of the high-precision map is realized.
In one embodiment, as shown in fig. 5, another high-precision map updating method is provided, and the method is applied to the unmanned vehicle in fig. 1 for illustration, and includes the following steps:
Step 502, obtaining current position information and historical position information of a vehicle, and calculating to obtain a running distance of the vehicle according to the current position information and the historical position information of the vehicle;
Step 504, when the driving distance of the vehicle is greater than the driving distance threshold, sending a map data update request to a server, wherein the server stores map data, the map data carries map data position information, and the map data update request carries current position information of the vehicle;
Step 506, receiving a current map data block number set, wherein the current map data block number set is formed by the server searching corresponding current map data according to the current position information of the vehicle and the map data position information and then carrying out block numbering on the current map data according to the map data position information;
Step 508, acquiring a historical map data block number set, wherein map data blocks corresponding to the historical map data block number set are rendered to obtain corresponding map image blocks in the process of generating a historical high-precision map;
Step 510, determining the same number and different number as the historical map data block number set in the current map data block number set; determining a number different from the current map data block number set in the historical map data block number set;
Step 512, the numbers different from the historical map data block number set in the current map data block number set are sent to the server, so that the server can find the corresponding updated map data block according to the different numbers;
step 514, deleting the number different from the current map data block number set, the corresponding map data block and map image block in the historical map data block number set;
Step 516, receiving an update map data block, and tracing points according to position information of point cloud data in the update map data block to obtain a plurality of pixel points; filling colors for the corresponding pixel points according to the color information of the point cloud data;
Step 518, counting accumulated rendering time of the updated map data block in the rendering process of the updated map data block;
step 520, when the accumulated rendering time is greater than the preset rendering time threshold, sending a map data block adjustment request to the server, so that the server adjusts the number of map data blocks, re-blocks the updated map data blocks, and updates the updated map data blocks;
step 522, returning to execute the receiving of the updated map data block, and tracing points according to the position information of the point cloud data in the updated map data block to obtain a plurality of pixel points; filling colors to the corresponding pixel points according to the color information of the point cloud data until the accumulated rendering time is smaller than or equal to a preset rendering time threshold value, so as to obtain an updated map image block;
Step 524, determining the updated map image block and the display area of the map image block corresponding to the same number according to the map data position information;
step 526, combining the updated map image blocks and the map image blocks corresponding to the same number according to the display area to obtain the current high-precision map;
Step 528, the current high-precision map is displayed.
In this embodiment, the unmanned vehicle calculates its own driving distance to determine whether to update the current high-precision map, and when the driving distance is greater than the driving distance threshold, sends a map data update request to the server, receives a current map data block number set returned by the server, compares the current map data block number set with a historical map data block number set, and obtains the same number and different numbers as the historical map data block number set in the current map data block number set, and the number different from the current map data block number set in the historical map data block number set; the unmanned vehicle deletes the numbers which are different from the current map data block number set in the historical map data block number set and the map data blocks and map image blocks corresponding to the numbers, then sends the numbers which are different from the historical map data block number set in the current map data block number set to the server, receives the updated map data blocks returned by the server, and renders the updated map data blocks; in the process of rendering the updated map data blocks, counting accumulated rendering time, judging whether the number of map data blocks needs to be readjusted, when the accumulated rendering time is larger than a time threshold, sending a map data block adjustment request to a server, receiving the updated map data blocks after the repartitioning, rendering the updated map data blocks after the repartitioning to obtain updated map image blocks, further, combining the updated map image blocks with the map image blocks corresponding to the same number which are rendered according to map data position information to obtain a current high-precision map, displaying the current high-precision map, avoiding repeated rendering, reducing the data amount which is rendered, saving the rendering time, improving the rendering efficiency, and realizing the instantaneity and visualization of the current high-precision map.
It should be understood that, although the steps in the flowcharts of fig. 2 and 4-5 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps of fig. 2, 4-5 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or stages are performed necessarily occur in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 6, there is provided a high-precision map updating apparatus 600 including: a map data update request sending module 602, a current map data block number set receiving module 604, a historical map data block number set obtaining module 606, a number determining module 608, a number sending module 610, a map data rendering module 612, and a high-precision map composition module 614, wherein:
A map data update request sending module 602, configured to send a map data update request to a server, where map data is stored in the server, the map data carrying map data location information, and the map data update request carrying current location information of the vehicle;
The current map data block number set receiving module 604 is configured to receive a current map data block number set, where the current map data block number set is formed by performing block numbering on current map data according to map data position information after the server finds corresponding current map data according to current position information of the vehicle and map data position information;
a historical map data block number set obtaining module 606, configured to obtain a historical map data block number set, where map data blocks corresponding to the historical map data block number set are rendered to obtain corresponding map image blocks in a process of generating a historical high-precision map;
A number determining module 608, configured to determine, in the current map data block number set, the same number as the historical map data block number set and a different number;
the number sending module 610 is configured to send different numbers to the server, so that the server searches the corresponding update map data block according to the different numbers;
The map data rendering module 612 is configured to receive the update map data block, and render the update map data block to obtain a corresponding update map image block;
The high-precision map composition module 614 is configured to update a current high-precision map with map image blocks corresponding to the same number as the rendered map image blocks.
In one embodiment, the high-precision map updating apparatus further includes a distance calculating module 616 for acquiring current position information and historical position information of the vehicle; calculating the driving distance of the vehicle according to the current position information and the historical position information of the vehicle; when the travel distance of the vehicle is greater than the travel distance threshold, a step of transmitting a map data update request to the server is performed.
In one embodiment, the high-precision map updating apparatus 600 further includes a map data deletion module 618 for determining a number different from the current map data block number set among the historical map data block number sets, and deleting a number different from the current map data block number set; and deleting the map data block and the map image block corresponding to numbers different from the current map data block number set.
In one embodiment, the map data rendering module 612 is also configured to receive updated map data blocks; carrying out point tracing according to the position information of the point cloud data to obtain a plurality of pixel points; and filling colors for the corresponding pixel points according to the color information of the point cloud data to obtain an updated map image block corresponding to the updated map data block.
In one embodiment, the map data rendering module 612 is further configured to receive an update map data block, render the update map data block, and count a cumulative rendering time of the update map data block during a rendering process of the update map data block; when the accumulated rendering time is greater than a preset rendering time threshold, sending a map data block adjustment request to a server so that the server adjusts the number of map data blocks, re-blocking updated map data blocks and updating the updated map data blocks; and returning to execute the step of receiving the updated map data block and rendering the updated map data block until the accumulated rendering time is less than or equal to the preset rendering time threshold value, so as to obtain the updated map image block.
In one embodiment, the high-precision map composition module 614 is further configured to determine, according to the map data location information, a display area of the updated map image block and the map image block corresponding to the same number; combining the updated map image blocks with map image blocks corresponding to the same numbers according to the display areas to obtain a current high-precision map; displaying the current high-precision map.
The specific definition of the high-precision map updating apparatus may be referred to as the definition of the high-precision map updating method hereinabove, and will not be described herein. The respective modules in the above-described high-precision map updating apparatus may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by a processor, implements a high-precision map updating method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 7 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A high-precision map updating method, characterized by being applied to a vehicle end, comprising:
Sending a map data updating request to a server, wherein map data is stored in the server, the map data carries map data position information, and the map data updating request carries current position information of a vehicle;
Receiving a current map data block number set, wherein the current map data block number set is formed by carrying out block number on the current map data according to the map data position information after the server searches corresponding current map data according to the current position information of the vehicle and the map data position information; the block numbering means that the server blocks the current map data to obtain current map data blocks, and then numbers each current map data block according to the position information of each current map data block;
acquiring a historical map data block number set, wherein map data blocks corresponding to the historical map data block number set are rendered to obtain corresponding map image blocks in the process of generating a historical high-precision map; the historical map data block number set is a map data block number set transmitted by the server to the vehicle at a historical time and stored by the vehicle;
determining the same number and different numbers as the historical map data block number set in the current map data block number set;
sending the different numbers to the server so that the server can find out corresponding updated map data blocks according to the different numbers;
receiving the updated map data block, and rendering the updated map data block to obtain a corresponding updated map image block;
The updated map image blocks and the map image blocks corresponding to the same number form a current high-precision map, and the map image blocks corresponding to the same number are rendered map image blocks;
The step of receiving the updated map data block and rendering the updated map data block to obtain a corresponding updated map image block comprises the following steps: receiving the updated map data block, and rendering the updated map data block; counting accumulated rendering time of the updated map data block in the rendering process of the updated map data block; when the accumulated rendering time is greater than a preset rendering time threshold, sending a map data block adjustment request to the server so that the server adjusts the number of map data blocks, re-blocking the updated map data blocks and updating the updated map data blocks; and returning to the step of receiving the updated map data block and rendering the updated map data block until the accumulated rendering time is less than or equal to a preset rendering time threshold value, so as to obtain the updated map image block.
2. The method of claim 1, wherein prior to said sending the map data update request to the server, the method further comprises:
Acquiring current position information and historical position information of a vehicle;
Calculating the driving distance of the vehicle according to the current position information and the historical position information of the vehicle;
And when the driving distance of the vehicle is greater than the driving distance threshold value, executing the step of sending a map data update request to the server.
3. The method according to claim 1, wherein the method further comprises:
Determining a number different from the current map data block number set in the historical map data block number set, and deleting the number different from the current map data block number set; and
And deleting the map data block and the map image block corresponding to the numbers different from the current map data block number set.
4. The method of claim 1, wherein the update map data block includes point cloud data, the point cloud data carrying location information and color information, the receiving the update map data block, rendering the update map data block, and obtaining a corresponding update map image block, comprises:
Receiving the updated map data block;
carrying out point tracing according to the position information of the point cloud data to obtain a plurality of pixel points;
And filling colors for the corresponding pixel points according to the color information of the point cloud data to obtain an updated map image block corresponding to the updated map data block.
5. The method of claim 4, wherein location information of the point cloud data is used to uniquely identify a location of the point cloud data, and wherein color information of the point cloud data is used to identify a color of the point cloud data.
6. The method of claim 1, wherein the updating map image blocks and the map image blocks corresponding to the same number form a current high-precision map, comprising:
Determining display areas of the updated map image blocks and map image blocks corresponding to the same numbers according to the map data position information;
combining the updated map image blocks with the map image blocks corresponding to the same numbers according to the display areas to obtain the current high-precision map;
And displaying the current high-precision map.
7. A high-precision map updating apparatus, characterized by being applied to a vehicle side, comprising:
the map data updating request sending module is used for sending a map data updating request to a server, wherein map data is stored in the server, the map data carries map data position information, and the map data updating request carries current position information of a vehicle;
the system comprises a current map data block number set receiving module, a current map data block number set processing module and a current map data block number processing module, wherein the current map data block number set is formed by the server searching corresponding current map data according to the current position information of the vehicle and the map data position information and then carrying out block number on the current map data according to the map data position information; the block numbering means that the server blocks the current map data to obtain current map data blocks, and then numbers each current map data block according to the position information of each current map data block;
The system comprises a historical map data block number set acquisition module, a historical map data block number set generation module and a historical map data block number set generation module, wherein the historical map data block number set acquisition module is used for acquiring a historical map data block number set, and map data blocks corresponding to the historical map data block number set are rendered to obtain corresponding map image blocks in the process of generating a historical high-precision map; the historical map data block number set is a map data block number set transmitted by the server to the vehicle at a historical time and stored by the vehicle;
a number determining module, configured to determine, in the current map data block number set, the same number as the historical map data block number set and a different number;
The number sending module is used for sending the different numbers to the server so that the server can find out the corresponding updated map data blocks according to the different numbers;
the map data rendering module is used for receiving the updated map data blocks and rendering the updated map data blocks to obtain corresponding updated map image blocks;
the high-precision map composition module is used for composing a current high-precision map by the updated map image blocks and the map image blocks corresponding to the same numbers, wherein the map image blocks corresponding to the same numbers are rendered map image blocks;
The map data rendering module is further configured to: receiving the updated map data block, and rendering the updated map data block; counting accumulated rendering time of the updated map data block in the rendering process of the updated map data block; when the accumulated rendering time is greater than a preset rendering time threshold, sending a map data block adjustment request to the server so that the server adjusts the number of map data blocks, re-blocking the updated map data blocks and updating the updated map data blocks; and returning to the step of receiving the updated map data block and rendering the updated map data block until the accumulated rendering time is less than or equal to a preset rendering time threshold value, so as to obtain the updated map image block.
8. The apparatus of claim 7, further comprising a travel distance calculation module for obtaining current location information and historical location information of the vehicle; calculating the driving distance of the vehicle according to the current position information and the historical position information of the vehicle; and when the driving distance of the vehicle is greater than the driving distance threshold value, executing the step of sending a map data update request to the server.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 6 when the computer program is executed by the processor.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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| CN113498474A (en) | 2021-10-12 |
| WO2021146921A1 (en) | 2021-07-29 |
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