CN114218344A

CN114218344A - Map data updating method, apparatus, device, storage medium, and program product

Info

Publication number: CN114218344A
Application number: CN202210049296.0A
Authority: CN
Inventors: 白玉; 曹婷婷; 卢振; 杨建忠
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-01-17
Filing date: 2022-01-17
Publication date: 2022-03-22

Abstract

The present disclosure provides a map data updating method, apparatus, device, storage medium, and program product, which relate to the technical field of maps, and in particular, to the technical field of high-precision maps. The specific implementation scheme is as follows: obtaining line measurement data, wherein the line measurement data comprises road data of an updated road; according to the road data, the updated road hypothesis is hung to the existing road in the map data, and the hypothesis hanging relation between the updated road and the existing road is obtained; verifying the assumed hitching relationship in a multi-mode to obtain an assumed hitching verification result; adding the updated road to the map data based on the hypothetical hitching verification result. The map data updating method and device can improve the accuracy of map data updating.

Description

Map data updating method, apparatus, device, storage medium, and program product

Technical Field

The present disclosure relates to the field of map technologies, and in particular, to a method, an apparatus, a device, a storage medium, and a program product for updating map data.

Background

Roads are frequently required to be updated in map data, and at present, the main way for updating the roads in the map data is that operators acquire updated road data by using collection vehicles, and then the updated roads are hung to the existing roads in the map data according to experience to complete the update of the map data.

Disclosure of Invention

The present disclosure provides a map data updating method, apparatus, device, storage medium, and program product.

According to an aspect of the present disclosure, there is provided a map data updating method, including:

obtaining line measurement data, wherein the line measurement data comprises road data of an updated road;

according to the road data, the updated road hypothesis is hung to the existing road in the map data, and the hypothesis hanging relation between the updated road and the existing road is obtained;

verifying the assumed hitching relationship in a multi-mode to obtain an assumed hitching verification result;

adding the updated road to the map data based on the hypothetical hitching verification result.

According to another aspect of the present disclosure, there is provided a map data updating apparatus including:

the system comprises an acquisition module, a data processing module and a data processing module, wherein the acquisition module is used for acquiring line measurement data which comprises road data of an updated road;

the hitching module is used for hitching the updated road hypothesis to the existing road in the map data according to the road data to obtain a hypothesis hitching relation between the updated road and the existing road;

the verification module is used for verifying the assumed hitching relation in a multi-mode to obtain an assumed hitching verification result;

and the updating module is used for adding the updated road into the map data based on the hypothesis hitching verification result.

According to another aspect of the present disclosure, there is provided an electronic device including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a map data update method provided by the present disclosure.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform a map data update method provided by the present disclosure.

According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the map data updating method provided by the present disclosure.

In the method, the assumed hitching relation between the updated road and the existing road is verified in a multi-mode, and the updated road is added into the map data based on the assumed hitching verification result, so that the updating accuracy of the map data can be improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a flow chart of a map data update method provided by the present disclosure;

FIG. 2 is a schematic view of a hypothetical hitch provided by the present disclosure;

FIG. 3 is a schematic illustration of a vehicle trajectory verification provided by the present disclosure;

FIG. 4 is a schematic illustration of another vehicle trajectory verification provided by the present disclosure;

FIG. 5 is a schematic illustration of another vehicle trajectory verification provided by the present disclosure;

FIG. 6 is a schematic illustration of an image data validation provided by the present disclosure;

FIG. 7 is a schematic view of a traversable path provided by the present disclosure;

fig. 8a to 8c are structural diagrams of a map data updating apparatus provided by the present disclosure;

fig. 9 is a block diagram of an electronic device for implementing a video generation method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Referring to fig. 1, fig. 1 is a flowchart of a map data updating method provided by the present disclosure, as shown in fig. 1, including the following steps:

step S101, line measurement data are obtained, and the line measurement data comprise road data of an updated road.

The line measurement data may be data collected by a collection vehicle, or may be data collected by a satellite positioning system.

The line measurement data may include road data of one or more updated roads, and the road data may indicate information such as a position, a size, and a shape of the updated data.

In the present disclosure, the map data may be high-precision map data.

And S102, according to the road data, the updated road is supposed to be connected to the existing road in the map data, and the supposed connection relation between the updated road and the existing road is obtained.

The existing road is one or more roads matched with the position of the updated road in the map data, or one or more roads logically communicated with the updated road.

The assumed hitching relationship between the updated road and the existing road in the map data may be established first, and specifically, all hitching relationships between the updated road and the existing road in logical communication may be established, for example, full connectivity hitching may be performed according to the geometry (geometry) of the updated road. For example: and for the condition that the updated road is at the existing intersection, the updated road is directly articulated with all logical passing points of the intersection, and for the condition that the updated road is at the non-intersection position, the existing road can be firstly broken to be articulated in a full-communication way.

And S103, verifying the assumed hitching relationship in a multi-mode to obtain an assumed hitching verification result.

The verification of the assumed hitching relationship in the multi-modal manner may be that the assumed hitching relationship is verified in a variety of manners, for example: and verifying the assumed hitching relation through vehicle track data and image roads.

The hypothetical hitching verification result may represent a passable path and a non-passable path included in the hypothetical hitching relationship.

And step S104, adding the updated road to the map data based on the hypothesis hitching verification result.

The update road may be added to the map data based on the assumed hitching verification result, the impassable path may be deleted, and another passable path may be reserved and updated to the map data when the assumed hitching verification result indicates that the impassable path exists, or the update road may be directly updated to the map data based on the assumed hitching relationship when the assumed hitching verification result indicates that all passable paths exist.

In the method, the assumed hanging relation between the updated road and the existing road can be verified in a multi-mode, the updated road is added into the map data based on the assumed hanging verification result, and therefore the accuracy of map data updating can be improved.

It should be noted that the map data updating method provided by the present disclosure may be executed by an electronic device, for example: electronic equipment such as servers, computers, mobile phones and the like.

As an optional implementation, the assumed hitching relationship includes: at least one logical communication path;

verifying the assumed hitching relationship in a multi-modal manner to obtain an assumed hitching verification result, comprising:

verifying each logic communication path in a multi-mode to obtain a hypothetical hitching verification result, wherein the hypothetical hitching verification result is used for indicating at least one of the following items:

a passable path and a non-passable path.

The above-mentioned logical communication path may be a path in which a communication relationship logically exists, for example: as shown in fig. 2, the thick black line in fig. 2 indicates the updated road, the broken line indicates the logical connection relationship, and the solid black line indicates the road network. As for the updated road at intersection 1, assume that the hitching relationship may include a logical communication path as shown by the 3 dashed lines shown in fig. 2; for the updated road at intersection 2, it is assumed that the hitching relationship may include updating the logical communication path between the road and the intersection opposite road and updating the logical communication path between the road and the intersection local side road as shown by 1 dotted line in fig. 2; for the updated road at intersection 3, it is assumed that the hitching relationship may include updating the logical communication path of the road and the intersection opposite road as shown by 1 dotted line in fig. 3, and updating the logical communication path of the road and the intersection own-side road.

It should be noted that fig. 2 is only an example, and in the present disclosure, when the assumed hitching relationship is set, assumed hitching that meets various requirements may be performed according to actual situations. In addition, when assuming hitching, different assumed hitching modes can be adopted for different types of roads, for example: under the condition that the existing road comprises a separated road and an unseparated road, the breaking rules of the separated road and the unseparated road are different when the road is supposed to be hung, for example, the separated road needs to consider whether to break a separation line for supposing the hanging, but the unseparated road does not need to consider.

The above assumption is that the hitching verification result is used to indicate whether each logical communication path is a passable path or a non-passable path.

In the embodiment, whether each logic communication path is a passable path or a non-passable path can be verified in a multi-mode, so that the verification accuracy is improved, and the map data updating accuracy is further improved.

It should be noted that, in the present disclosure, it is not limited to verify each logical communication path in a multi-modal manner, for example: in some scenarios or embodiments, it is also possible to perform multi-modal verification on a part of logical communication paths, and perform non-modal verification, i.e. single-modal verification, on another part of logical communication paths.

Optionally, the verifying each logical communication path in a multi-modal manner to obtain an assumed hitching verification result includes:

respectively carrying out vehicle track verification on each logic communication path by using the acquired vehicle track data to obtain a first verification result, wherein the first verification result is used for representing at least one of a candidate passable path and a non-passable path, the vehicle track data comprises track data matched with the candidate passable path, and the vehicle track data does not comprise track data matched with the non-passable path;

and performing road image verification on the candidate passable path by using the acquired road image data corresponding to the candidate passable path to obtain a second verification result, wherein the second verification result is used for indicating that the candidate passable path is a passable path or a non-passable path.

The vehicle trajectory data may be trajectory data of a vehicle traveling on the updated road acquired in advance.

The candidate traversable path may be understood as that there is track data matching the vehicle track data. The above-mentioned impassable path can be understood that there is no trajectory data matching the vehicle trajectory data. For example: as shown in fig. 3, there is trajectory data turning right and left from the updated road entering the intersection, then the logical communication path between the updated road and the straight road at the intersection is a candidate passable path, but there is no trajectory data straight from the updated road entering the intersection, and therefore the logical communication path between the updated road and the road opposite the intersection is a non-passable path; as shown in fig. 4, there is trajectory data from the straight road entering the intersection to the updated road, and then the logical communication path between the updated road and the straight road at the intersection is a candidate passable path; as also shown in fig. 5, there is trajectory data for turning from the updated road entry intersection to the straight road, and then the logical communication path between the updated road and the straight road at the intersection is a candidate passable path.

The road image data corresponding to the candidate passable path may be image data acquired at a position corresponding to the candidate passable path.

The above-mentioned performing the road image verification on the candidate passable path by using the acquired road image data corresponding to the candidate passable path may be to determine whether the candidate passable path is passable according to the road image data, for example: and when the road image data indicate that the candidate passable path is not under construction, has no barrier or the pavement paving state meets the requirements of the conventional road, determining the candidate passable path as the passable path, and otherwise, determining the impassable path.

In this embodiment, since the road image verification is performed on the candidate passable route, the accuracy of the map data update can be further improved.

Optionally, the performing, by using the acquired road image data corresponding to the candidate passable path, road image verification on the candidate passable path to obtain a second verification result includes:

performing semantic segmentation on the road image data corresponding to the acquired candidate passable path to obtain a semantic segmentation result;

determining whether the road image data includes an obstacle based on the semantic segmentation result;

under the condition that the road image data comprises obstacles, classifying the obstacles, and obtaining a second verification result based on the classification;

in a case where the road image data does not include an obstacle, a second authentication result is acquired, the second authentication result indicating that the candidate passable path is a passable path.

The semantic segmentation of the road image data corresponding to the acquired candidate passable path may be performed by performing semantic segmentation on the road image data by using a pre-acquired image semantic segmentation model, for example: a Residual Network (ResNet) split Network model, or a Pyramid split Network (PSPNet), or a ResNet50+ PSP split Network model, etc.

The semantic segmentation result can indicate whether the road image data includes semantic information of road states such as baffles, fences, road surface states and the like.

In the embodiment, whether the logical communication path is passable or not can be more accurately verified through the semantic segmentation result.

Optionally, in a case that the obstacle includes a preset target classification obstacle, the candidate passable path is a non-passable path; in the case that the obstacle does not include the preset target classification obstacle, the candidate passable path is a passable path; or

If the obstacle comprises a preset target classification obstacle and the obstacle obstructs passage, the candidate passable path is a non-passable path; if the obstacle comprises a preset target classification obstacle and the obstacle does not obstruct the passing, the candidate passable path is a passable path; in the case where the obstacle does not include the preset target classification obstacle, the candidate passable path is a passable path.

The preset target classification obstacle may include: barriers such as a baffle, a surrounding barrier, an isolation column, a water injection isolator, a sand injection isolator, a cone-shaped ice cream cone and the like.

When the obstacle is a preset target classification obstacle, it indicates that the vehicle trajectory data corresponding to the candidate passable path may be a special vehicle trajectory, and if the construction vehicle is constructing a construction site, the logical communication path is actually impassable. When the obstacle is not the preset target classification obstacle, the candidate passable path is indicated to be passable, or in the case that the road image data does not include the obstacle, the candidate passable path is indicated to be passable.

The above-mentioned obstructing traffic may be an obstacle indicating a preset target classification obstacle obstructing traffic in the candidate passable path.

According to the embodiment, when the obstacles comprise the preset target classification obstacles, the passable or impassable obstacles can be directly determined, so that the calculation expense can be saved, and the passable or impassable obstacles can be further determined according to the condition of whether the passage is obstructed or not when the obstacles comprise the preset target classification obstacles, so that the accuracy is improved. For example: as shown in fig. 6, the method comprises the following steps:

acquiring road image data of candidate passable paths;

performing semantic segmentation on the road image data through a semantic segmentation model;

classifying the obstacles based on the semantic segmentation result;

when the obstacle is not the preset target classification obstacle, the verification logic communication path passes through, and the user can pass through;

when the barrier is a preset target classification barrier, further analyzing whether the passing is blocked;

if the passage is not blocked, the logical communication path is verified to pass, and the passage can be realized;

if the passage is blocked, the logic communication path is deleted, namely the passage is not allowed.

Optionally, the vehicle trajectory verification is performed on each logical communication path by using the obtained vehicle trajectory data, so as to obtain a first verification result, where the method includes:

respectively carrying out vehicle track verification on each logic communication path by using the acquired vehicle track data and vehicle track attribute information to obtain a first verification result, wherein the first verification result is used for representing at least one of candidate passable paths and impassable paths and is also used for representing the confidence coefficient of each candidate passable path, and the confidence coefficient is determined based on the vehicle track attribute information;

the road image verification is performed on the candidate passable path by using the acquired road image data corresponding to the candidate passable path to obtain a second verification result, and the method comprises the following steps:

under the condition that a first candidate passable path with the confidence coefficient lower than a preset threshold exists, performing road image verification on the first candidate passable path by using the acquired road image data corresponding to the first candidate passable path to obtain a second verification result, wherein the second verification result is used for indicating that the first candidate passable path is a passable path or a non-passable path;

wherein, in the case that there exists a second candidate passable path whose confidence is higher than or equal to the preset threshold, the second candidate passable path is a passable path.

The vehicle track attribute information may be attribute information of the vehicle, for example: the category, model, etc. of the vehicle.

The confidence level may be determined based on the vehicle track attribute information, where different weights are configured for different vehicle track attribute information in advance, for example: the cars are weighted more heavily than the large special vehicles, so that the greater the proportion of cars passing in a logical communication path, the greater the confidence that a candidate passable path is, and vice versa.

In the embodiment, the road image verification can be performed again on the candidate passable path with low confidence coefficient, and the candidate passable path with high confidence coefficient can be directly determined as passable, so that the calculation cost is saved.

As an optional implementation, the adding the updated road to the map data based on the assumed hitch verification result includes:

and deleting the impassable path in the assumed hitching relation under the condition that the assumed hitching verification result indicates that the impassable path exists, and adding the updated road to the map data according to the deleted assumed hitching relation.

For example: for the hypothetical hitching relationship shown in fig. 2, the hypothetical hitching verification result indicates the following:

for the updated road at the intersection 1, 2 logic communication paths shown by dotted lines are impassable paths;

for the updated road at the intersection 2, the logic communication path of the updated road and the road opposite to the intersection shown by the dotted line is an impassable path;

for the update road at the intersection 3, the logical communication path of the update road and the intersection opposite road shown by the dotted line is the impassable path.

In this embodiment, the logical communication path is deleted, and the hitching relationship shown in fig. 7 is obtained, specifically including the following passable paths:

for the updated road at the intersection 1, a logic communication path shown by 1 dotted line is an impassable path;

for the updated road of the intersection 2, updating the logic communication path between the road and the road on the side of the intersection;

and for the updated road of the intersection 3, the logic communication path between the updated road and the road on the side of the intersection is updated.

In the embodiment, the impassable path in the assumed hitching relationship is deleted, so that the updated road can be directly added to the map data according to the deleted assumed hitching relationship, and the calculation cost is saved.

determining the communication relation between the updated road and the existing road based on the hypothesis hitching verification result;

identifying a target road sub-network to which the existing road belongs;

adding the communication relation between the updated road and the existing road in the target road sub-network to obtain the updated target road sub-network;

compiling the updated target road sub-network to obtain a new compiling result of the target road sub-network;

and replacing the original compiling result of the target road subnet in the map data with the new compiling result.

The determining of the communication relationship between the updated road and the existing road may be deleting the communication relationship corresponding to the passable path left after the impassable path in the assumed hitching relationship.

The identifying of the target road subnet to which the existing road belongs may be identifying a subnet including a road topological relation of the existing road, and specifically may be calculating the target road subnet to which the existing road belongs in units of roads.

In the present disclosure, the subnets in the map data are connected with each other through the logical attribute, that is, the subnet data is logically cut, and the subnet data can be extracted independently without geometrically interfering with each other.

The compiling of the updated target road sub-network may be that the target road sub-network is compiled by a navigation end road data compiling module.

The replacing of the new compilation result with the original compilation result of the target road subnet in the map data may be replacing all logical attribute connections of the original compilation result of the map data with the new compilation result.

In the embodiment, the incremental compiling mode based on the sub-network can be realized, the map data updating efficiency is improved, and the compiled data can be directly released.

In the method, the assumed hitching relationship between the updated road and the existing road is verified in a multi-mode, and the updated road is added to the map data based on the assumed hitching verification result, so that the accuracy of the map data updating can be improved.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.

Referring to fig. 8a, fig. 8a is a map data updating apparatus provided by the present disclosure, and as shown in fig. 8a, the map data updating apparatus 800 includes:

an obtaining module 801, configured to obtain line measurement data, where the line measurement data includes road data of an updated road;

a hitching module 802, configured to hitch the updated road hypothesis to an existing road in map data according to the road data, so as to obtain a hypothetical hitching relationship between the updated road and the existing road;

the verification module 803 is configured to verify the assumed hooking relationship in a multi-modal manner to obtain an assumed hooking verification result;

an updating module 804, configured to add the updated road to the map data based on the assumed hitching verification result.

Optionally, the assumed hitching relationship includes: at least one logical communication path;

the verification module 803 is configured to: verifying each logic communication path in a multi-mode to obtain a hypothetical hitching verification result, wherein the hypothetical hitching verification result is used for indicating at least one of the following items:

a passable path and a non-passable path.

Optionally, as shown in fig. 8b, the verification module 803 includes:

a first verification unit 8031, configured to perform vehicle trajectory verification on each logical communication path respectively by using the acquired vehicle trajectory data, so as to obtain a first verification result, where the first verification result is used to represent at least one of a candidate passable path and a non-passable path, where trajectory data matched with the candidate passable path exists in the vehicle trajectory data, and trajectory data matched with the non-passable path does not exist in the vehicle trajectory data;

a second verification unit 8032, configured to perform road image verification on the candidate passable path by using the acquired road image data corresponding to the candidate passable path, so as to obtain a second verification result, where the second verification result is used to indicate that the candidate passable path is a passable path or a non-passable path.

Optionally, the second verification unit 8032 is configured to:

Optionally, the first verification unit 8031 is configured to: respectively carrying out vehicle track verification on each logic communication path by using the acquired vehicle track data and vehicle track attribute information to obtain a first verification result, wherein the first verification result is used for representing at least one of candidate passable paths and impassable paths and is also used for representing the confidence coefficient of each candidate passable path, and the confidence coefficient is determined based on the vehicle track attribute information;

the second verification unit 8031 is configured to: under the condition that a first candidate passable path with the confidence coefficient lower than a preset threshold exists, performing road image verification on the first candidate passable path by using the acquired road image data corresponding to the first candidate passable path to obtain a second verification result, wherein the second verification result is used for indicating that the first candidate passable path is a passable path or a non-passable path;

Optionally, as shown in fig. 8c, the update module 804 includes:

a determining unit 8041, configured to determine, based on the assumed hitching verification result, a communication relationship between the updated road and the existing road;

an identifying unit 8041, configured to identify a target road sub-network to which the existing road belongs;

an adding unit 8042, configured to add, to the target road subnet, the communication relationship between the updated road and the existing road, so as to obtain an updated target road subnet;

a compiling unit 8043, configured to compile the updated target road subnet to obtain a new compiling result of the target road subnet;

an updating unit 8044, configured to replace the original compiling result of the target road subnet in the map data with the new compiling result.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

Wherein, above-mentioned electronic equipment includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the map data update methods provided by the present disclosure.

The readable storage medium stores computer instructions for causing the computer to execute the map data updating method provided by the present disclosure.

The above computer program product includes a computer program which, when executed by a processor, implements the map data updating method provided by the present disclosure.

FIG. 9 illustrates a schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 9, the apparatus 900 includes a computing unit 901, which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The calculation unit 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.

A number of components in the device 900 are connected to the I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, and the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, optical disk, or the like; and a communication unit 909 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 901 performs the respective methods and processes described above, such as the map data update method. For example, in some embodiments, the map data update method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 900 via ROM 902 and/or communications unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the map data updating method described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the map data update method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A map data update method, comprising:

2. The method of claim 1, wherein the hypothetical hitching relationship comprises: at least one logical communication path;

a passable path and a non-passable path.

3. The method according to claim 2, wherein said verifying each logical communication path separately in a multimodal manner to obtain a hypothetical hitching verification result comprises:

4. The method of claim 3, wherein the performing road image verification on the candidate passable path by using the acquired road image data corresponding to the candidate passable path to obtain a second verification result comprises:

5. The method of claim 4, wherein, in the event that the obstacle comprises a preset target classification obstacle, the candidate traversable path is a non-traversable path; in the case that the obstacle does not include the preset target classification obstacle, the candidate passable path is a passable path; or

6. The method according to claim 3, wherein the vehicle trajectory verification for each logical communication path separately using the acquired vehicle trajectory data, obtaining a first verification result, comprises:

7. The method of any of claims 1-6, wherein the adding the updated road to the map data based on the hypothetical hitch verification result comprises:

identifying a target road sub-network to which the existing road belongs;

8. A map data update apparatus comprising:

9. The apparatus of claim 8, wherein the hypothetical hitching relationship comprises: at least one logical communication path;

the verification module is to: verifying each logic communication path in a multi-mode to obtain a hypothetical hitching verification result, wherein the hypothetical hitching verification result is used for indicating at least one of the following items:

a passable path and a non-passable path.

10. The apparatus of claim 9, wherein the verification module comprises:

the first verification unit is used for respectively verifying the vehicle track of each logic communication path by using the acquired vehicle track data to obtain a first verification result, wherein the first verification result is used for representing at least one of a candidate passable path and a candidate impassable path, the vehicle track data contains track data matched with the candidate passable path, and the vehicle track data does not contain track data matched with the impassable path;

and the second verification unit is used for performing road image verification on the candidate passable path by using the acquired road image data corresponding to the candidate passable path to obtain a second verification result, and the second verification result is used for indicating that the candidate passable path is a passable path or a non-passable path.

11. The apparatus of claim 10, wherein the second authentication unit is to:

12. The apparatus of claim 11, wherein the candidate traversable path is a non-traversable path if the obstacle comprises a preset target classification obstacle; in the case that the obstacle does not include the preset target classification obstacle, the candidate passable path is a passable path; or

13. The apparatus of claim 10, wherein the first authentication unit is to: respectively carrying out vehicle track verification on each logic communication path by using the acquired vehicle track data and vehicle track attribute information to obtain a first verification result, wherein the first verification result is used for representing at least one of candidate passable paths and impassable paths and is also used for representing the confidence coefficient of each candidate passable path, and the confidence coefficient is determined based on the vehicle track attribute information;

the second verification unit is to: under the condition that a first candidate passable path with the confidence coefficient lower than a preset threshold exists, performing road image verification on the first candidate passable path by using the acquired road image data corresponding to the first candidate passable path to obtain a second verification result, wherein the second verification result is used for indicating that the first candidate passable path is a passable path or a non-passable path;

14. The apparatus of any of claims 8 to 12, wherein the update module comprises:

a determination unit, configured to determine a connectivity relationship between the updated road and the existing road based on the assumed hitching verification result;

the identification unit is used for identifying a target road subnet to which the existing road belongs;

the adding unit is used for adding the communication relation between the updated road and the existing road in the target road subnet to obtain the updated target road subnet;

the compiling unit is used for compiling the updated target road sub-network to obtain a new compiling result of the target road sub-network;

and the updating unit is used for replacing the original compiling result of the target road subnet in the map data with the new compiling result.

15. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.

17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-7.