CN114238354A - Map data updating method, device and computer storage medium - Google Patents
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Abstract
The embodiment of the application provides a map data updating method and device and a computer storage medium, and relates to the technical field of data processing. Acquiring newly added map data obtained by an update task and area range information of the update task, wherein the update task is updated aiming at a map database, and the area range information represents an operation range of the update task aiming at the map database; and selecting the map data positioned in the area range from the newly added map data to replace the map data in the corresponding area range in the map database. According to the embodiment of the application, the problem of repeated conflict of the map data can be avoided, and meanwhile, the accuracy of map data updating can be improved.
Description
Technical Field
The embodiment of the application relates to the technical field of data processing, in particular to a map data updating method and device and a computer storage medium.
Background
The map data is data generated based on collected road data information (such as pictures, point cloud data, and the like), such as high-precision map data including vector lane lines, which can be used as important reference data for automatic driving.
Since the road condition may change with time, the map data needs to be continuously updated. To improve the efficiency of the update, new acquisitions are typically madeThe data information is divided into different data information segments according to the set dividing points, and different operators respectively operate to obtain newly added map data, so that the original map data is updated. The above updating process may have conflicts, eventually resulting in duplicate map data at the same location, such as: in a vector lane line L to be updated with the length of 500m for the original stored database1When updating, dividing the newly collected data information corresponding to the vector lane line into two data information segments: the first 200 m is P1Fragment, P at last 300 m2Fragment, P1The segments being worked on by operator A, P2The segments are worked on by worker B. During operation, A divides L according to the division point1Is broken into L2And L3Then A to P1The fragment operation obtains L2^When the operation result of A is put in storage, L in the database is put in storage1Delete, and add L2^And L3Then, when the operation result of B is put in storage, B will increase L2And L3^Due to L2^And L2Is a vector lane line at the same position, L3And L3^Are vector lane lines at the same position, and therefore, repeated lane line data is finally obtained, resulting in update conflicts.
Therefore, a method for updating map data is needed to avoid the update conflict during the update process.
Disclosure of Invention
In view of the above, embodiments of the present application provide a map data updating method to at least partially solve the above problems.
According to a first aspect of embodiments of the present application, there is provided a map data updating method, including:
acquiring newly added map data obtained by an update task and area range information of the update task, wherein the update task is updated aiming at a map database, and the area range information represents an operation range of the update task aiming at the map database;
and selecting the map data positioned in the area range from the newly added map data to replace the map data in the corresponding area range in the map database.
According to a second aspect of embodiments of the present application, there is provided a map data updating apparatus, including:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring newly added map data obtained by an update task and area range information of the update task, the update task updates a map database, and the area range information represents an operation range of the update task for the map database;
and the first updating module is used for selecting the map data positioned in the area range from the newly added map data to replace the map data in the corresponding area range in the map database.
According to a third aspect of embodiments of the present application, there is provided an electronic apparatus, including: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus; the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the corresponding operation of the map data updating method according to the first aspect.
According to a fourth aspect of embodiments of the present application, there is provided a computer storage medium having stored thereon a computer program which, when executed by a processor, implements the map data updating method according to the first aspect.
According to the map data updating method provided by the embodiment of the application, after newly added map data obtained by an updating task and area range information of the updating task are obtained, map data in a corresponding area range in a map database are replaced into map data in the newly added map data and located in the area range. Because the newly added map data in the area range of the update task can accurately represent the update condition of the map data, the newly added map data in the area range is adopted to replace the map data in the area range in the map database, so that the problem of repeated conflict of the map data can be avoided, and meanwhile, the update accuracy of the map data can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1A is a flowchart illustrating steps of a map data updating method according to a first embodiment of the present application;
FIG. 1B is a diagram illustrating an example of a scenario in the embodiment shown in FIG. 1A;
FIG. 2 is a flowchart illustrating steps of a map data updating method according to a second embodiment of the present application;
FIG. 3 is a block diagram of a map data update apparatus according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application shall fall within the scope of the protection of the embodiments in the present application.
The following further describes specific implementations of embodiments of the present application with reference to the drawings of the embodiments of the present application.
The first embodiment,
Referring to fig. 1A, fig. 1A is a flowchart illustrating steps of a map data updating method according to a first embodiment of the present application.
Specifically, the map data updating method provided by the embodiment includes the following steps:
and 102, acquiring newly added map data obtained by the update task and area range information of the update task.
The update task may be an operation of updating the map database, and the area range information indicates an operation range of the update task for the map database.
The map data in the embodiment of the present application may be any map data, for example: the method can be used for obtaining conventional map data after digital processing is carried out on the basis of the collected road picture information; the method can also be used for carrying out digitization and vectorization processing on the basis of data information such as track point information, acquired lane picture information, road surface point cloud data and the like acquired in the driving process of a vehicle to obtain high-precision map data with high accuracy and dimensionality, and the like.
The map database in the embodiment of the present application may be a database for storing map data in various different area ranges, and the area range information of the update task indicates an operation range of the update task for the map database, that is, an area range to which the road data information collected by the update task belongs, for example: aiming at a specified road with the length of 1km and planned with lanes from west to east, collecting data information of a vehicle in an area range of 500 meters in front of the specified road, and if an updating task A is as follows: digitizing and vectorizing the data information to obtain a vectorized lane line, and then updating the area range of the task A as follows: the area 500 meters ahead of the specified road.
And 104, selecting the map data in the area range from the newly added map data to replace the map data in the corresponding area range in the map database.
When a map data updating task is performed, in order to improve the updating efficiency, data information on a complete road is generally divided to obtain a plurality of data information segments; then, a plurality of updating tasks are simultaneously carried out, and each updating task processes one data information fragment. For a single update task, the newly added map data finally obtained is complete map data corresponding to the complete road, and the complete map data includes map data within the area of the update task and map data outside the area of the update task.
For example: for a vector lane line L with the length of 500m to be updated1When updating, dividing the complete data information newly collected on the road corresponding to the vector lane line into two data information segments: the first 200 m is P1Fragment, P at last 300 m2And (3) fragment. Wherein, P1Segment corresponding updating task A, and in the updating process of A, according to the division points, L is updated1Is broken into L2And L3Then to P1The fragments are processed to give L2^Finally, the newly added vector lane line obtained by updating the task a is: l is2^And L3Wherein L is2^Then for the map data located within the area of update task A, L3Is map data that is outside the area of update task a.
In the step, the map data in the corresponding area range in the map database is replaced by the map data in the area range of the update task in the newly added map data.
Because the map data in the newly added map data within the range of the update task area is obtained by digitally processing the latest data information in the area range, the map data in the newly added map data within the area range has higher real-time performance and accuracy compared with the map data in the map database within the area range, and the map data in the map database within the corresponding area range is replaced (updated) by the map data in the newly added map data within the area range, so that the problem of repeated conflict of the map data can be avoided, and the real-time performance and accuracy of the update of the map data can be improved.
Referring to fig. 1B, fig. 1B is a schematic view of a corresponding scenario in the embodiment of the present application, and the following describes the embodiment of the present application with a specific scenario example by referring to the schematic view shown in fig. 1B:
for simplicity, the map database is assumed to be storedA database with vector lane lines (lane line library), before the start of the update task, the map database includes two parallel finished lane lines on the same road: l is1And L4(ii) a When the two lane lines are updated, the complete data information newly collected on the road corresponding to the vector lane line is divided into two data information segments according to the dividing line (see (a) diagram in fig. 1B): p1Fragment and P2Fragment of which P1Segment corresponds to update task A (update by A), P2The segments are delivered to a corresponding updating task B (updated through B); in the updating process of A, L is divided according to the division points1Is broken into L2(L1Upper half of) and L3(L1The lower half of) and L4Is broken into L5(L4Upper half of) and L6(L4The lower half of) and then P1The fragments are processed to obtain L2^And L5^Finally, the newly added vector lane line obtained by updating the task a is: l is2^And L3And, L5^And L6(see (B) in FIG. 1B); in B updating process, for P2The fragments are processed to obtain L3^And L6^And finally, updating the newly added vector lane line obtained by the task B as follows: l is2And L3^And, L5And L6^(see (C) in FIG. 1B); assuming that the lane line library is updated according to the newly added vector lane line obtained by the update task A, the updating process is as follows: deleting L in lane marking library1And L4And increasing L2^And L3And, L5^And L6The obtained lane line library after the first update is shown as (B) in fig. 1B; then, according to the newly added vector lane line obtained by the update task B, updating the lane line library after the first update to obtain an updated final lane line library, wherein the specific update process is according to the above steps 102 to 104, specifically: the new lane line obtained by updating task B is as shown in (C) of fig. 1B, and includes: l is2And L3^And, L5And L6^Updating the region of task BThe range information is: the area below the dividing line; in the lane line library after the first update as shown in (B) of fig. 1B, newly added lane lines L are determined respectively2And L3^And, L5And L6^The corresponding lane line: l is2^Is equal to L2Corresponding lane line, L5^Is equal to L5Corresponding lane line, L3Is equal to L3^Corresponding lane line, L6Is equal to L6^A corresponding lane line; newly added lane line L2And L3^And, L5And L6^In due to L3^And L6^Is located in the region of B (part below the dividing line), and therefore, L is selected3^And L6^Replacing L in the lane marking library after the first update3And L6Thereby obtaining a final lane line library (as shown in (d) of fig. 1B), including: l is2^And L5^And, L3^And L6^。
In the embodiment of the application, after the newly added map data obtained by the update task and the area range information of the update task are obtained, the map data in the corresponding area range in the map database is replaced into the map data in the area range in the newly added map data. Because the newly added map data in the area range of the update task can accurately represent the update condition of the map data, the newly added map data in the area range is adopted to replace the map data in the area range in the map database, so that the problem of repeated conflict of the map data can be avoided, and meanwhile, the update accuracy of the map data can be improved.
The map data updating method of the present embodiment may be performed by any suitable electronic device having data processing capabilities, including but not limited to: servers, PCs, etc.
Example II,
Referring to fig. 2, fig. 2 is a flowchart illustrating steps of a map data updating method according to a second embodiment of the present application, specifically, the map data updating method provided in the present embodiment includes the following steps:
The updating task is updated according to the map database, and the area range information represents the operation range of the updating task according to the map database.
The collision detection process of this step may include two substeps: the first substep, judge whether there is map data to be updated that the task aims at in the map database first; if the map data to be updated exist, the data conflict does not exist, the detection is finished, and the map database is directly updated (in the map database, the map data to be updated are deleted, newly-added map data are added, an updated ground database is obtained, and the updating process is finished); if the map data to be updated does not exist, executing a second substep: judging whether repeated map data matched with the newly added map data exists in the map database or not, if the repeated map data does not exist, indicating that no data conflict exists, finishing the detection, and directly updating the map database (directly adding the newly added map data in the map database to obtain an updated ground database, and finishing the updating process); if there is duplicate map data, indicating that there is a data conflict, the following step 206 is performed.
Specifically, the map data to be updated for the update task in the first substep refers to the map to be updated corresponding to the update task when the update task starts to execute. For example, in a lane line L to be updated with a length of 500m1When updating, dividing the complete data information newly collected on the road corresponding to the lane line into two data information segments: the first 200 m is P1Fragment, P at last 300 m2And (3) fragment. Wherein, P1Segment exchange corresponding updating tasks A and P2The segments correspond to the update task B, and the lane lines to be updated, which are aimed at by the update tasks A and B, are both lane lines L1。
If the map database has the map data to be updated which is aimed at by a certain update task after the update task is completed and the new map data is obtained, it indicates that the map data to be updated has not been updated according to the new map data obtained by other update tasks before, and at this time, the map database has the map data which is completely repeated with the new map data obtained by the update task: therefore, the map data to be updated is deleted and the new map data is added in the map database, and the updating process is finished, and is simple.
If the map database does not have the map data to be updated, which is aimed at by the update task, the map database indicates that a certain operation is performed on the map data to be updated, which originally exists in the map database, before the current update operation, the operation may be deleting the map data to be updated and adding new data, and under the condition, repeated map data (with data conflict) matched with the newly added map data exists in the map database; the above operation may be to delete only the map data to be updated without adding data, in which case there is no duplicate map data in the map database that matches the added map data (there is no data conflict). Therefore, when it is determined that there is no map data to be updated for which the update task is directed, it may be determined whether there is a data conflict again by determining whether there is duplicate map data that matches the newly added map data in the second sub-step.
Specifically, when determining whether there is duplicate map data that matches the newly added map data, the following method may be used: the newly added map data and the map data in the map database can be subjected to data matching, and whether repeated map data matched with the newly added map data exists in the map database or not can be judged. Further: the matching degree between the newly added lane line represented by the newly added map data and the lane line represented by the map data in the map database can be calculated, and the repeated map data matched with the newly added map data in the map database can be determined according to the matching degree. For example: the matching degree can be the distance between a newly added lane line represented by the newly added map data and a lane line represented by the map data in the map database, and when the distance between the newly added lane line and the lane line in the map database is smaller than a preset threshold value, the map data corresponding to the lane line in the map database is determined, and the map data are determined to be repeated map data matched with the newly added map data; and otherwise, if the map database does not have the lane line with the distance between the lane line and the newly added lane line smaller than the preset threshold value, judging that no repeated map data exists.
The preset threshold may be set according to factors such as the accuracy of the map data obtained by the update task, for example, the preset threshold may be set to 20cm, and the map data corresponding to the lane line having a distance less than 20cm from the newly added lane line may be determined as the repeated map data matching the newly added map data. In the embodiment of the present application, specific values of the preset threshold are not limited.
And step 206, if the data conflict exists, processing the conflict data and finishing the updating of the map database.
Specifically, the manner of processing the conflict data may be: and selecting the map data positioned in the area range from the newly added map data to replace the map data in the corresponding area range in the map database.
Since the duplicate map data in the map database matching the new map data is already obtained in step 204 when there is a data conflict, in this step, the map data located in the area range may be selected in the new map data to replace the map data located in the corresponding area range in the duplicate map data.
Further, since the current update task may not be executed by the same operator as the other update tasks, after the map data within the area range in the newly added map data obtained by the current update task is replaced with the map data within the area range in the repeated map data in the map database, a data breakpoint may exist at the replacement connection point, so that data fusion may be performed at the replacement connection point between the replacement map data and the map data in the map database to obtain the updated map database.
The specific fusion mode can be as follows: if the newly added lane line represented by the map data in the area range in the newly added map data and the original lane line represented by the map data in the map database are positioned on the same straight line at the replacement connection part of the map data, extending the newly added lane line or the original lane line along the straight line so as to connect the newly added lane line with the original lane line; and if the newly added lane line represented by the map data located in the area range in the newly added map data is located on a different straight line from the original lane line, generating a fitted lane line at the replacement connection part of the map data by adopting a preset fitting algorithm, and respectively connecting the newly added lane line and the original lane line at two ends of the fitted lane line.
For example: assuming that the map data within the area range in the newly added map data is the newly added lane line L7By using L7After replacing the lane line located in the working area range in the repeated lane lines in the map database, the lane line L is compared with the lane line L7Adjacent original lane line is L8And a lane line L7Neutral and L8The coordinate of the end point M on the adjacent side is (X1, Y1, Z1), and the lane line L8Neutral and L7The coordinates of the endpoint N on the adjacent side are (X2, Y2, Z2), and usually the endpoint M does not coincide with the endpoint N, and data fusion is required. Specifically, the method comprises the following steps: if L is7And L8On the same straight line, then can be paired with L7Or L8Carrying out extension, namely: move either end point of M or N (move end point M to end point N, or move end point N to end point M) so that the two end points coincide, L7And L8Connecting to complete the updating operation; if the lane line L7And L8If the points are located on different straight lines, a lane line can be fitted between the end point M and the end point N by adopting a corresponding fitting algorithm to connect the lane line L7And L8And finishing the updating operation.
In the embodiment of the application, after newly-added map data is obtained, whether data conflict exists is determined by judging whether the map data to be updated, which is aimed at by an update task, exists in the map database, if the map data to be updated exists, it is indicated that the map data to be updated is not updated according to the newly-added map data obtained by other update tasks, at the moment, the map data to be updated can be directly deleted in the map database, and the newly-added map data is added to the map database, so that the updating process is completed, the subsequent determination operation of repeated map data is not needed, the updating process is simplified, and the updating efficiency is improved.
When it is determined that there is a data collision, the map data in the corresponding area range in the duplicate map data is replaced with the map data located in the area range in the new map data. Because the newly added map data in the range of the updating area can accurately represent the updating condition of the map data, the newly added map data in the range of the updating area is adopted to replace the map data in the range of the updating area in the repeated map data, so that the problem of repeated conflict of the map data can be avoided, and meanwhile, the updating accuracy of the map data can be improved.
In the prior art, when a collision problem of data repetition occurs, manual processing is required, for example: assume that there are two update tasks: a and B, wherein a map database is updated according to a task result (newly added map data) obtained by A to obtain an updated map database, and then data updating is performed based on the task result obtained by B, wherein the problem of data repetition conflict occurs, and the existing processing method comprises the following steps: and discarding the task result obtained by the step B, taking the updated map database as a latest map database, and re-executing the updating task B so as to update the latest map database again. The embodiment of the application can automatically avoid the problem of repeated conflict of the map data, and the updating task does not need to be repeatedly executed, so that the execution efficiency of the updating task is improved.
The map data updating method of the present embodiment may be performed by any suitable electronic device having data processing capabilities, including but not limited to: servers, PCs, etc.
Example III,
Referring to fig. 3, fig. 3 is a block diagram of a map data updating apparatus according to a third embodiment of the present application. The map data updating device provided by the embodiment of the application comprises:
an obtaining module 302, configured to obtain new map data obtained by an update task and area range information of the update task, where the update task updates the map database, and the area range information indicates an operation range of the update task for the map database;
the first updating module 304 is configured to select, from the newly added map data, map data located in an area range to replace the map data in the corresponding area range in the map database.
Optionally, in some embodiments, the map data updating apparatus further includes: the device comprises a judgment module and a second updating module;
the judging module is used for judging whether the map database has the map data to be updated for the updating task; if not, the processing module 304 is triggered; if yes, triggering the second updating module;
and the second updating module is used for deleting the map data to be updated and adding the newly added map data in the map database.
Optionally, in some embodiments, when the step of selecting, from the newly added map data, map data located in an area range to replace the map data in a corresponding area range in the map database is executed by the first updating module 304, the first updating module is specifically configured to:
performing data matching on the newly added map data and the map data in the map database to obtain repeated map data matched with the newly added map data in the map database;
in the newly added map data, map data located within the area range is selected to replace map data located within the corresponding area range in the repeated map data.
Optionally, in some embodiments, the first updating module 304 is specifically configured to, when performing the step of performing data matching on the new map data and the map data in the map database to obtain repeated map data in the map database that matches the new map data, perform:
and calculating the matching degree between the newly added lane line represented by the newly added map data and the lane line represented by the map data in the map database, and determining repeated map data matched with the newly added map data in the map database according to the matching degree.
Optionally, in some embodiments, the first updating module 304 is specifically configured to, when performing the steps of calculating a matching degree between a new lane line represented by the new map data and a lane line represented by the map data in the map database, and determining repeated map data in the map database that matches the new map data according to the matching degree:
and calculating the distance between the newly added lane line represented by the newly added map data and the lane line represented by the map data in the map database, and determining repeated map data matched with the newly added map data in the map database according to the distance.
Optionally, in some embodiments, when the step of determining, according to the distance, the repeated map data in the map database that matches the newly added map data is executed, the first updating module 304 is specifically configured to:
and determining the map data corresponding to the lane line with the distance between the lane lines less than the preset threshold value in the map database as the repeated map data matched with the newly added map data.
Optionally, in some embodiments, the map data updating apparatus further includes:
and the third updating module is used for adding the newly added map data into the map database if the map database does not have the lane line with the distance between the newly added lane lines smaller than the preset threshold value.
Optionally, in some embodiments, the map data updating apparatus further includes:
and the data fusion module is used for selecting the map data in the area range from the newly added map data to replace the map data in the corresponding area range from the repeated map data, and then performing data fusion on the replacement connection part of the map data to obtain the updated map database.
The map data updating device of the embodiment of the present application is used to implement any map data updating method in the first embodiment or the second embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again. In addition, the function of each module in the map data updating apparatus of this embodiment can be realized by referring to the description of the corresponding part in the first or second embodiment of the foregoing method, and is not repeated herein.
Example four,
Referring to fig. 4, a schematic structural diagram of an electronic device according to a fourth embodiment of the present application is shown, and the specific embodiment of the present application does not limit a specific implementation of the electronic device.
As shown in fig. 4, the electronic device may include: a processor (processor)402, a communication interface (Commun ics I interface) 404, a memory 406, and a communication bus 408.
Wherein:
the processor 402, communication interface 404, and memory 406 communicate with each other via a communication bus 408.
A communication interface 404 for communicating with other electronic devices or servers.
The processor 402 is configured to execute the program 410, and may specifically perform relevant steps in the above-described map data updating method embodiment.
In particular, program 410 may include program code comprising computer operating instructions.
The processor 402 may be a processor CPU, or a specific integrated circuit AS ic (application on Spec I C I integrated Ci I t), or one or more integrated circuits configured to implement embodiments of the present application. The intelligent device comprises one or more processors which can be the same type of processor, such as one or more CPUs; or may be different types of processors, such AS one or more CPUs and one or more AS ics.
And a memory 406 for storing a program 410. The memory 406 may comprise high-speed RAM memory, and may also include non-volatile memory (non-vo at i e memory), such as at least one disk memory.
The program 410 may specifically be configured to cause the processor 402 to perform the following operations: acquiring newly added map data obtained by the job task and job area range information of the job task; acquiring newly added map data obtained by an update task and area range information of the update task, wherein the update task is updated aiming at a map database, and the area range information represents an operation range of the update task aiming at the map database; and selecting the map data positioned in the area range from the newly added map data to replace the map data in the corresponding area range in the map database. .
For specific implementation of each step in the program 410, reference may be made to corresponding steps and corresponding descriptions in units in the above map data updating method embodiment, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.
In the electronic device of this embodiment, after acquiring the new map data obtained by the update task and the area range information of the update task, the map data in the corresponding area range in the map database is replaced with the map data located in the area range in the new map data. Because the newly added map data in the area range of the update task can accurately represent the update condition of the map data, the newly added map data in the area range is adopted to replace the map data in the area range in the map database, so that the problem of repeated conflict of the map data can be avoided, and meanwhile, the update accuracy of the map data can be improved.
It should be noted that, according to the implementation requirement, each component/step described in the embodiment of the present application may be divided into more components/steps, and two or more components/steps or partial operations of the components/steps may also be combined into a new component/step to achieve the purpose of the embodiment of the present application.
The above-described methods according to embodiments of the present application may be implemented in hardware, firmware, or AS software or computer code storable in a recording medium such AS a CD ROM, a RAM, a floppy disk, a hard disk, or a magneto-optical disk, or AS computer code originally stored in a remote recording medium or a non-transitory machine-readable medium and to be stored in a local recording medium downloaded through a network, so that the methods described herein may be stored in such software processes on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware such AS an asic or FPGA. It will be appreciated that the computer, processor, microprocessor controller or programmable hardware includes memory components (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the map data update methods described herein. Further, when a general-purpose computer accesses code for implementing the map data update method shown herein, execution of the code converts the general-purpose computer into a special-purpose computer for executing the map data update method shown herein.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the present application.
The above embodiments are only used for illustrating the embodiments of the present application, and not for limiting the embodiments of the present application, and those skilled in the relevant art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application, so that all equivalent technical solutions also belong to the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.
Claims (11)
1. A map data update method, comprising:
acquiring newly added map data obtained by an update task and area range information of the update task, wherein the update task is updated aiming at a map database, and the area range information represents an operation range of the update task aiming at the map database;
and selecting the map data positioned in the area range from the newly added map data to replace the map data in the corresponding area range in the map database.
2. The method of claim 1, wherein after the obtaining of the new map data for the update task and the area range information for the update task, the method further comprises:
judging whether the map database has map data to be updated for the updating task;
if not, executing the step of selecting the map data positioned in the area range from the newly added map data to replace the map data in the corresponding area range in the map database;
and if so, deleting the map data to be updated and adding the newly added map data in the map database.
3. The method of claim 1, wherein the selecting, among the new map data, map data located within the area range to replace map data within a corresponding area range in the map database comprises:
performing data matching on the newly added map data and map data in a map database to obtain repeated map data matched with the newly added map data in the map database;
and selecting the map data positioned in the area range from the newly added map data to replace the map data positioned in the corresponding area range from the repeated map data.
4. The method of claim 3, wherein the data matching the new map data with the map data in the map database to obtain repeated map data in the map database that matches the new map data comprises:
and calculating the matching degree between the newly added lane line represented by the newly added map data and the lane line represented by the map data in the map database, and determining repeated map data matched with the newly added map data in the map database according to the matching degree.
5. The method of claim 4, wherein the calculating a degree of matching between a newly added lane line represented by the newly added map data and a lane line represented by map data in the map database, and determining duplicate map data in the map database that matches the newly added map data based on the degree of matching comprises:
and calculating the distance between the newly added lane line represented by the newly added map data and the lane line represented by the map data in the map database, and determining repeated map data matched with the newly added map data in the map database according to the distance.
6. The method of claim 5, wherein the determining duplicate map data in the map database that matches the new added map data based on the distance comprises:
and determining the map data corresponding to the lane line with the distance between the lane lines less than the preset threshold value in the map database as the repeated map data matched with the newly added map data.
7. The method of claim 6, wherein the method further comprises:
and if the map database does not have a lane line with the distance between the lane line and the newly added lane line being smaller than the preset threshold value, adding the newly added map data into the map database.
8. The method according to claim 3, wherein, after selecting, in the newly added map data, map data located within the area range to replace map data located within a corresponding area range in the repeated map data, the method further comprises:
and performing data fusion on the replacement connection part of the map data to obtain the updated map database.
9. The method of claim 8, wherein the data fusing the alternative junctions of the map data to obtain the updated map database comprises:
if the newly added lane line represented by the map data in the newly added map data and the original lane line represented by the map data in the map database are positioned on the same straight line at the replacement connection part of the map data, extending the newly added lane line or the original lane line along the straight line so that the newly added lane line is connected with the original lane line;
and if the new lane line represented by the map data located in the area range in the new map data is located on a different straight line from the original lane line, generating a fitting lane line at the replacement connection position of the map data by adopting a preset fitting algorithm, wherein two ends of the fitting lane line are respectively connected with the new lane line and the original lane line.
10. A map data update apparatus comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring newly added map data obtained by an update task and area range information of the update task, the update task updates a map database, and the area range information represents an operation range of the update task for the map database;
and the first updating module is used for selecting the map data positioned in the area range from the newly added map data to replace the map data in the corresponding area range in the map database.
11. A computer storage medium having stored thereon a computer program which, when executed by a processor, implements a map data updating method as claimed in any one of claims 1 to 9.
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