CN114490675A

CN114490675A - Map updating method, related device, readable storage medium and system

Info

Publication number: CN114490675A
Application number: CN202011154993.XA
Authority: CN
Inventors: 杨晓龙; 刘建琴; 伍勇
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2020-10-26
Filing date: 2020-10-26
Publication date: 2022-05-13
Also published as: WO2022089173A1

Abstract

A map updating method, a related device, a readable storage medium and a system are used for improving the accuracy of an updated map. According to the method and the device, first error information of a first vehicle and first position information of map elements acquired by the first vehicle are acquired, and a map is updated according to the first error information and the first position information. The first error information includes error information for a positioning system of the first vehicle to position the first vehicle. Since the map can be updated in conjunction with the first error information, the accuracy of the updated map can be improved.

Description

Map updating method, related device, readable storage medium and system

Technical Field

The present application relates to the field of intelligent transportation technologies, and in particular, to a map updating method, a related apparatus, a readable storage medium, and a system.

Background

A High-precision electronic Map (HD Map) is a Map having High positioning precision and capable of updating data in real time. Unlike the conventional navigation map, the high-precision map can provide navigation information at a Lane (Lane) level in addition to navigation information at a Road (Road) level. The high-precision electronic map is mainly used for automatically driving vehicles and provides lane level planning and vehicle positioning assistance in road sections for the automatically driving vehicles. In addition to high accuracy, high activity is required for the high-accuracy map, that is, a change in traffic scene can be updated to the high-accuracy map in time and distributed to vehicles using the high-accuracy map.

In one solution, a professional map collection vehicle collects data and updates a map according to the data collected by the professional map collection vehicle. However, the professional map collecting vehicle is high in cost and small in quantity, and the collected data quantity is difficult to meet the requirement of the automatic driving vehicle on the data updating degree of small-scale and even minute-scale maps. Based on the method, the high-precision map can be updated in a crowdsourcing mode at high frequency.

With the continuous development of the intellectualization of the whole vehicle industry, more and more vehicles are provided with various sensors, and although the sensors are not complete and professional as the sensors of a professional map acquisition vehicle, the high-frequency updating of a high-precision map can be realized by depending on the advantages of quantity and cost. When the map is updated in a crowdsourcing mode, the terminal equipment end can transmit the image acquired by the sensor to the cloud server through the network, the cloud server makes and updates the high-precision map according to the data acquired by the terminal equipment end, and the updated high-precision map is issued to the vehicle. Therefore, how to improve the accuracy of the updated map becomes an urgent problem to be solved.

Disclosure of Invention

The application provides a map updating method, a related device, a readable storage medium and a system, which are used for improving the accuracy of an updated map.

In a first aspect, the present invention provides a map updating method, which is applicable to a server side, and the method can be executed by a map updating apparatus on the server side. The second map updating device may be implemented by a server, a computing platform, or a virtual machine in the cloud. In the method, a second map updating device acquires first error information of a first vehicle and first position information of a map element acquired by the first vehicle, wherein the first error information comprises error information of positioning of the first vehicle by a positioning system of the first vehicle; and updating the map according to the first error information and the first position information. Since the map can be updated in conjunction with the first error information, the accuracy of the updated map can be improved.

In one possible embodiment, the second map updating means updates the current position information of the map element on the map based on the first error information and the first position information.

In one possible embodiment, the second map updating means updates the map based on the first error information and the first position information, including: determining a first weight according to the first error information, wherein the first weight is used for representing the correction degree of the first position information on the current position information of the map element; and updating the current position information of the map element on the map according to the first position information and the first weight.

In one possible embodiment, when the error value corresponding to the first error information is greater than the first error threshold, the first weight may be determined to be 0, and the second map updating means does not update the current position information of the map element on the map using the first position information of the map element. In another possible embodiment, when the error value corresponding to the first error information is not greater than the first error threshold, the first weight may be determined to be 1, in which case, since the first weight is 1, which indicates that the current position information of the map element is corrected by the first position information to 100%, the second map updating apparatus updates the current position information of the map element on the map using the first position information of the map element.

In a possible embodiment, before the second map updating means updates the map according to the first error information and the first position information, the second map updating means further includes: the second map updating device acquires second error information of the second vehicle and second position information of map elements acquired by the second vehicle, wherein the second error information comprises error information of positioning of the second vehicle by a positioning system of the second vehicle. The second map updating means determines a second weight indicating a degree of correction of the current position information of the map element by the second position information, based on the first error information and the second error information. Determining a first weight from the first error information, comprising: the second map updating means determines the first weight based on the first error information and the second error information. Updating the current position information of the map element on the map according to the first position information and the first weight, comprising: the second map updating means updates the current position information of the map element on the map based on the first position information, the second position information, the first weight, and the second weight. Therefore, when the second map updating device acquires the plurality of pieces of position information of the map elements, the reliability of the position information reported by each vehicle can be determined according to the error information of the plurality of vehicles, so that the updated map can be more accurate.

In one possible embodiment, the second map updating means updates the current position information of the map element on the map based on the first position information, the second position information, the first weight, and the second weight, including: and carrying out weighted addition on the first position information and the second position information according to the first weight and the second weight to obtain updated position information. The position information of the map element on the map is updated to the updated position information.

In a possible embodiment, the first weight may also be used to indicate a weight of the first error information in the first error information and the second error information. The second weight may also be used to represent a weight of the second error information in the first error information and the second error information. Therefore, the error information of each vehicle can be influenced mutually, and the second map updating device can also comprehensively consider the error information of each vehicle to further determine the weight of each vehicle, so that the determined weight can reflect the reliability of the position information reported by the vehicle.

In one possible embodiment, if the first error information is less than the second error information, the first weight is greater than the second weight; if the first error information is greater than the second error information, the first weight is less than the first weight; the first weight is equal to the second weight if the first error information is equal to the second error information.

In one possible embodiment, the first error information corresponds to an error value not greater than the first error threshold, and the second error information corresponds to an error value not greater than the first error threshold. Through the setting of the first error threshold value, the position information reported by the vehicle with larger error information can be screened out, and the map is not updated according to the position information, so that the accuracy of the map can be further improved.

In one possible embodiment, the difference between the reciprocal of the first proportional relationship and the reciprocal of the second proportional relationship is less than a first deficit threshold. Alternatively, the inverse of the first proportional relationship may be approximately equal to a second proportional relationship of the first weight and the second weight. The first proportional relation is a ratio of an error value corresponding to the first error information to an error value corresponding to the second error information. The second proportional relationship is a ratio of the error values corresponding to the first weight and the second weight.

In a possible embodiment, when the second map updating apparatus receives only two pieces of location information reported by the first vehicle and the second vehicle within a preset time period, the sum of the first weight and the second weight may be 100%. Therefore, the first position information and the second position information can be weighted and fused, and more accurate position information can be obtained.

In a possible embodiment, the first error information further comprises a measurement error of a first sensor of the first vehicle for acquiring the first position information. In yet another possible embodiment, the first error information further includes a calibration error of the first sensor. In yet another possible embodiment, the first error information further includes a measurement error of a first sensor of the first vehicle and a calibration error of the first sensor for acquiring the first position information. Therefore, the accuracy of the first position information can be reflected more accurately by the first error information.

In one possible embodiment, the error information of the first vehicle positioning system comprises: a covariance corresponding to the measurement of the positioning system of the first vehicle. The measurement error of the first sensor of the first vehicle for acquiring the first position information includes: the covariance of the measurements of the first sensor. The calibration error of the first sensor comprises: a relative calibrated covariance between the first sensor and the inertial sensor of the first vehicle. Therefore, the accuracy of the first position information can be reflected more accurately by the first error information.

In a second aspect, the present application provides a map updating method, which is applicable to a server side. In the method, the second map updating means acquires third error information of each of the N third vehicles, and third position information of the map element acquired by each of the N third vehicles. The second map updating device determines a third weight corresponding to each of the N third vehicles based on the N third error information of the N third vehicles. And the second map updating device carries out weighted addition on the N third position information of the map element according to the N third weights corresponding to the N third vehicles to obtain updated position information. The second map updating means updates the position information of the map element on the map to the updated position information. When the value of N is 1, the N third vehicles may be the first vehicle described above. When the value of N is multiple, the scheme in this application scenario may refer to the application scenario of the second map updating apparatus for the first vehicle and the second vehicle, for example, when the value of N is 2, the N third vehicles may be the first vehicle and the second vehicle. The processing scheme of the second map updating apparatus for the N third vehicles may also refer to the processing scheme of the first vehicle and the second vehicle in the above-described first aspect.

In one possible embodiment, the sum of the N third weights is 100%. Therefore, the N pieces of third position information can be subjected to weighted fusion, and more accurate position information can be obtained.

In a possible embodiment, a third weight may be used to indicate a degree of correction of the current position information of the map element by the third position information corresponding to the third weight. In a possible embodiment, a third weight may also be used to indicate a weight of the third error information corresponding to the third weight in the N third error information. Alternatively, it can be said that one third weight may also be used to indicate a proportion of the third error information corresponding to the third weight in the M pieces of third error information. The first error information is a positive integer not greater than N, the M third error information is M of the N third error information, and an error value corresponding to each of the M third error information is smaller than a first error threshold. Through the setting of the first error threshold value, the position information reported by the vehicle with larger error information can be screened out, and the map is not updated according to the position information, so that the accuracy of the map can be further improved.

In one possible embodiment, for one of the N third vehicles, the third error information of the third vehicle comprises one or more of: error information for the third vehicle to be positioned by the positioning system of the third vehicle; a measurement error of a third sensor of the third vehicle for acquiring third position information corresponding to the third vehicle; calibration error of the third sensor. Therefore, the third error information can reflect the accuracy of the third position information more accurately.

In a third aspect, an embodiment of the present application provides a map updating method, which is applicable to a terminal device side and can be executed by a map updating apparatus of the terminal device side. The map updating device at the terminal equipment end can be a component in the vehicle, the vehicle or a mobile phone. For convenience of reference, in the embodiment of the present application, a map updating apparatus of a first terminal device side is referred to as a first map updating apparatus, a map updating apparatus of a second terminal device side is referred to as a third map updating apparatus, and a map updating apparatus of a third terminal device side is referred to as a fourth map updating apparatus. Taking the terminal device as an example of a vehicle, the method can be applied to a first terminal device side, can also be applied to a second terminal device side, and can also be applied to any one third vehicle in the N third vehicles. In the method, a scheme of a terminal device side is explained by taking a first vehicle as an example. In the scheme, a first map updating device acquires first position information of a map element, and the first map updating device is arranged on a first vehicle. The method comprises the steps that a first map updating device obtains first error information, wherein the first error information comprises error information of positioning of a first vehicle by a positioning system of the first vehicle; the first map updating apparatus transmits first position information and first error information of the map element to the second map updating apparatus. In this way, the second map updating device can update the map in conjunction with the first error information, and therefore, the accuracy of the updated map can be improved.

In one possible embodiment, a first sensor of a first vehicle captures a first image, the first image including map elements; the first map updating device reports the first image to the second map updating device and the global pose of the first vehicle when the first image is collected, and the first vehicle reports the first error information to the second map updating device. In this way, the second map updating apparatus can calculate the global poses of the respective map elements in the first image from the global pose of the first vehicle at the time of capturing the first image.

In a possible embodiment, the first error information further comprises a measurement error of a first sensor of the first vehicle for acquiring the first position information. In a possible embodiment, the first error information further comprises a calibration error of the first sensor. In a possible embodiment, the first error information further comprises a measurement error of a first sensor of the first vehicle and a calibration error of the first sensor for acquiring the first position information. Therefore, the accuracy of the first position information can be reflected more accurately by the first error information.

In one possible embodiment, the first map updating apparatus transmits first position information of a map element, including: the first map updating means transmits the first position information of the map element when one of the following is satisfied:

the first preset area of the map does not comprise map elements; the first preset area is an area which takes the first position information as the center of a circle and takes a preset first distance threshold value as the radius on the map;

the distance between the position information of the map element on the map and the first position information is larger than a preset second distance threshold value.

In this way, the amount of data reported by the first map updating apparatus to the second map updating apparatus can be reduced, and the network load can be reduced.

The present application also provides a communication apparatus corresponding to any one of the first to third aspects. The communication device may be any transmitting device or receiving device that performs data transmission in a wireless manner. For example, the communication chip, the terminal-side map updating device (the terminal-side map updating device is, for example, a first map updating device provided on the first vehicle described above), or the second map updating device. During communication, the device on the transmitting side and the device on the receiving side are opposite. In some communication processes, the communication device can be used as the second map updating device or a communication chip for the second map updating device; in some communication processes, the communication device may be used as the map updating device of the terminal device or may be used as a communication chip of the map updating device of the terminal device.

In a fifteenth aspect, a communication device is provided, which includes a communication unit and a processing unit to execute any implementation manner of any one of the communication methods of the first to third aspects. The communication unit is used to perform functions related to transmission and reception. Optionally, the communication unit comprises a receiving unit and a transmitting unit. In one design, the communication device is a communication chip and the communication unit may be an input-output circuit or port of the communication chip.

In another design, the communication unit may be a transmitter and a receiver, or the communication unit may be a transmitter and a receiver.

Optionally, the communication device further includes various modules operable to perform any one of the embodiments of the communication methods of the first aspect to the third aspect.

In a fourth aspect, a communication device is provided, where the communication device is a map updating device on the terminal device side (such as a first map updating device on the first terminal device side) or a map updating device on the server side (such as a second map updating device). Including a processor and memory. Optionally, the communication device further comprises a transceiver, wherein the memory is used for storing a computer program or instructions, and the processor is used for calling and running the computer program or instructions from the memory, and when the processor executes the computer program or instructions in the memory, the communication device is enabled to execute any implementation mode of any communication method of the first aspect to the third aspect.

Optionally, the number of the processors is one or more, and the number of the memories is one or more.

Alternatively, the memory may be integrated with the processor, or may be provided separately from the processor.

Optionally, the transceiver may include a transmitter (transmitter) and a receiver (receiver).

In a fifth aspect, a communications apparatus is provided that includes a processor. The processor is coupled to the memory and is operable to perform the method of any one of the first to third aspects and any one of the possible implementations of the first to third aspects. Optionally, the communication device further comprises a memory. Optionally, the communication device further comprises a communication interface, the processor being coupled to the communication interface.

In one implementation, the communication device is a terminal device-side map updating device (e.g., a first map updating device of a first terminal device). When the communication device is a map updating device on the terminal device side, the communication interface may be a transceiver, or an input/output interface. Alternatively, the transceiver may be a transmit-receive circuit. Alternatively, the input/output interface may be an input/output circuit.

In another implementation, the communication device is a server-side map updating device (such as a second map updating device). When the communication device is a server-side map updating device, the communication interface may be a transceiver, or an input/output interface. Alternatively, the transceiver may be a transceiver circuit. Alternatively, the input/output interface may be an input/output circuit.

In yet another implementation, the communication device is a chip or a system of chips. When the communication device is a chip or a system of chips, the communication interface may be an input/output interface, an interface circuit, an output circuit, an input circuit, a pin or related circuit, etc. on the chip or the system of chips. A processor may also be embodied as a processing circuit or a logic circuit.

In a sixth aspect, a system is provided, which includes the terminal device-side map updating apparatus (e.g., the first map updating apparatus of the first terminal device side) and the server-side map updating apparatus (e.g., the second map updating apparatus).

In a seventh aspect, a vehicle is provided, which includes the terminal device-side map updating apparatus, such as the first terminal device-side first map updating apparatus.

In an eighth aspect, there is provided a computer program product comprising: a computer program (also referred to as code, or instructions), which when executed, causes a computer to perform the method of any of the possible implementations of the first aspect described above, or causes a computer to perform the method of any of the implementations of the first to third aspects described above.

In a ninth aspect, a computer-readable storage medium is provided, which stores a computer program (which may also be referred to as code or instructions) that, when executed on a computer, causes the computer to perform the method of any of the possible implementations of the first aspect described above, or causes the computer to perform the method of any of the implementations of the first to third aspects described above.

In a tenth aspect, a chip system is provided, which may include a processor. The processor is coupled to the memory and is operable to perform the method of any one of the first to third aspects and any one of the possible implementations of the first to third aspects. Optionally, the chip system further comprises a memory. A memory for storing a computer program (also referred to as code, or instructions). A processor configured to call and run a computer program from a memory, so that a device with a system-on-chip installed thereon executes the method of any one of the first to third aspects and any one of the possible implementation manners of the first to third aspects.

The eleventh aspect receives a signal through the input circuit and transmits a signal through the output circuit, such that the method of any one of the first to third aspects and any one of the possible implementations of the first to third aspects is implemented.

In a specific implementation process, the processing device may be a chip, the input circuit may be an input pin, the output circuit may be an output pin, and the processing circuit may be a transistor, a gate circuit, a flip-flop, various logic circuits, and the like. The input signal received by the input circuit may be received and input by, for example and without limitation, a receiver, the signal output by the output circuit may be output to and transmitted by a transmitter, for example and without limitation, and the input circuit and the output circuit may be the same circuit that functions as the input circuit and the output circuit, respectively, at different times. The embodiment of the present application does not limit the specific implementation manner of the processor and various circuits.

Drawings

FIG. 1a is a schematic diagram of a scenario in which an embodiment of the present application is applicable;

FIG. 1b is a schematic diagram of the structure of the vehicle 201 in FIG. 1 a;

FIG. 2a is a schematic flow chart of a map updating method provided by an embodiment of the present application;

fig. 2b is a schematic flowchart of another map updating method according to an embodiment of the present application;

fig. 2c is a schematic flowchart of another map updating method according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a communication device according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of another communication device according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of another communication device according to an embodiment of the present application.

Detailed Description

The vehicle positioning method provided by the embodiment of the application is further described below with reference to the accompanying drawings. Fig. 1a schematically illustrates a scenario in which the embodiment of the present application is applied, as shown in fig. 1a, the application scenario may include one or more terminal devices, the terminal device is taken as an example in fig. 1a to illustrate, as shown in fig. 1a, three vehicles, which are a vehicle 201, a vehicle 202, and a vehicle 203, are schematically illustrated in fig. 1 a. Optionally, the application scenario shown in fig. 1a may further include a cloud computing platform, where the computing platform may be implemented by the cloud server 204 or a virtual machine, and in this embodiment, the computing platform is implemented by the cloud server 204. In the embodiment of the present application, a device that executes a cloud scheme is referred to as a server-side map updating device, and for convenience of reference, the server-side map updating device is referred to as a second map updating device. As shown in fig. 1a, a storage device 205 may also be included in the application scenario. The vehicle can be used for acquiring the image and reporting information to the second map updating device. The second map updating device may be configured to perform operations of receiving information, updating a map according to the received information, and issuing the updated map. The storage 205 may be configured to store data, for example, may be configured to store an updated map sent by the cloud second map updating apparatus.

In the embodiment of the application, a terminal device is taken as an example for illustration. Any one vehicle in the embodiment of the application can be an intelligent vehicle or a non-intelligent vehicle, and the embodiment of the application is not limited in comparison. Each vehicle is provided with a sensor for acquiring images near the vehicle, wherein the sensor comprises a laser radar, a millimeter wave radar and a camera. In addition, one or more sensors can be arranged on each vehicle, and the number of each sensor can be one or more. The sensor may be mounted on the roof of the vehicle (for example, may be disposed at a middle position of the roof of the vehicle), the front end of the vehicle, and the like, and the embodiment of the present application does not limit the mounting position and the number of the sensor in each vehicle.

The vehicle in the embodiment of the present application may include a map updating device, and the map updating device at the terminal device in the embodiment of the present application may be a component in the vehicle, the vehicle itself, or a mobile phone. The map updating means may comprise map updating means of a positioning system in the vehicle, map updating means of intelligent driving or any other implementation with computing capabilities. For convenience of reference, in the embodiment of the present application, a map updating apparatus of a first terminal device side is referred to as a first map updating apparatus, a map updating apparatus of a second terminal device side is referred to as a third map updating apparatus, and a map updating apparatus of a third terminal device side is referred to as a fourth map updating apparatus.

In the embodiment of the application, the vehicle can communicate with other objects based on the vehicle and external wireless communication technology (for example, vehicle to aircraft (V2X)). For example, communication between the vehicle and the second map updating apparatus may be realized based on an inter-vehicle wireless communication technology (e.g., vehicle to vehicle (V2V)). The communication between the vehicle and other objects may be based on wireless fidelity (Wi-Fi), 5th generation (5G) mobile communication technology, and the like. For example, communication between the vehicle and the second map updating apparatus may be realized based on 5G.

For the sake of understanding, the embodiments of the present application will be explained below with reference to the specific concepts and terms.

(1) And (4) global pose.

The global pose may also be referred to as an absolute pose, and refers to the position and attitude of an object in a reference coordinate system. In the embodiment of the present application, the position in the global pose may also be understood as position information in one reference coordinate system, and the pose in the global pose may also be understood as pose information in one reference coordinate system. The reference coordinate system may be a multidimensional coordinate system, and the multidimensional coordinate system includes a coordinate system with multiple dimensions, such as a two-dimensional coordinate system, a three-dimensional coordinate system, and the like, and specifically may be a geodetic coordinate system, a universal transverse ink truck (UTM) grid system (grid system), and the like.

The position of the object (or may be referred to as position information) may be represented by coordinate values of coordinate axes in a coordinate system. The coordinate values of the same object in different coordinate systems may be different. The position of the vehicle in the embodiment of the present application may be represented by coordinate values of coordinate axes in a coordinate system of the vehicle, and for convenience of calculation, may also be represented by coordinate values of coordinate axes in a reference coordinate system. When the plurality of objects respectively identify positions by using the plurality of coordinate systems, the positions of all the objects can be determined by taking one coordinate system as a reference, and then the positions of other objects in the reference coordinate system can be further determined. The reference coordinate system is also referred to as a reference coordinate system, and may be a coordinate system in which any object is located, or may be a coordinate system common to a third party, which is not limited in this embodiment of the present application.

The attitude of an object (alternatively referred to as attitude information) may be understood for a vehicle as the orientation of the head of the vehicle, or as the orientation of any position of the body of the vehicle. The angle between the vector corresponding to the vehicle and the horizontal coordinate axis in the multi-dimensional coordinate system can be determined. The vector is a quantity with both magnitude and direction, and the direction of the head of the vehicle can be determined through the posture of the vehicle, and the advancing direction of the vehicle can also be determined.

(2) A vehicle positioning system.

The vehicle positioning system is arranged on the vehicle and used for determining the current global pose of the vehicle according to the measured data. The Vehicle Positioning System (Vehicle Positioning System) may be composed of a Global Positioning System (GPS) and a Geographic Information System (GIS), and may be used to track and position a Vehicle.

The vehicle positioning system in the embodiment of the application can position the vehicle based on the GPS to obtain the positioning information of the vehicle. In another possible embodiment, because there is also an error in the vehicle positioning based on GPS, the positioning information obtained based on GPS and the information obtained based on other technologies (e.g., Inertial Measurement Unit (IMU)) may be fused, and the fused result may be used as the global pose of the vehicle at the current time. This way of fusing GPS-based information with information based on other technologies (e.g., IMU) to achieve position location may be referred to as combined position location.

The technical scheme of combining the combined positioning with the GPS positioning technology can calculate the relative pose of a vehicle in a time period, and can be calculated based on a wheel type odometer, a visual odometer, an IMU and the like. The relative pose occurring within a time period can be generally calculated by a data pre-integration method. For convenience of description, the IMU method is exemplified below.

(3) A map element.

Map elements refer to some elements in a map, including without limitation: roads, lane lines, signs, ground marks, signal lights, drivable area marks, and the like. Wherein, the road can comprise a guardrail, a road edge and the like; the sign includes: road sign, indicative tablet, limit for height tablet etc. various types, ground sign includes: a shunting mark, an entrance and exit mark, a speed limit mark, a time limit mark and the like.

In a possible implementation manner, the embodiment of the application can be applied to high-precision maps, which are popular electronic maps with higher precision and more data dimensions, and more map elements. The higher precision is reflected in that the element information contained in the map is accurate to the centimeter level.

(4) And calculating the position information of the map elements in the reference coordinate system.

Fig. 1b schematically illustrates a structural diagram of a vehicle, and as shown in fig. 1b, taking the vehicle 201 in fig. 1a as an example, a sensor 2011 may be disposed on the vehicle 201, for example, the sensor 2011 may be disposed on the top of the vehicle 201. The first coordinate system 2012 can be a multidimensional coordinate system where the sensor 2011 of the vehicle 201 is located, for example, the first coordinate system 2012 can be a coordinate system that is established by taking a central position where the sensor 2011 of the vehicle 201 is located as an origin.

On the other hand, the second coordinate system 2013 of a vehicle mentioned in the embodiment of the present application may specifically refer to a coordinate system established with a positioning system deployed on the vehicle as an origin. In a possible embodiment, since the vehicle positioning system can generally position the global pose of the vehicle in combination with the IMU, in this embodiment, it can also be said that the second coordinate system of the vehicle 201 is a coordinate system established with the central position of the IMU as the origin.

In a third aspect, generally, the vehicle 201 is located by a locating system, and a global pose of the vehicle 201 in a reference coordinate system is obtained. The position information in the global pose of the vehicle 201 may refer to position information of a center position where a positioning system in the vehicle 201 is located in a reference coordinate system.

Based on the above description of the three aspects, in a possible embodiment, the position information of the map element in the image acquired by the sensor 2011 is the position information under the first coordinate system 2012, and the position information of the map element may be further converted from the first coordinate system 2012 to the second coordinate system 2013, and then further converted to the reference coordinate system, so that the position information of the map element under the reference coordinate system may be acquired. The position information of a map element in the reference coordinate system may also be referred to as global position information of the map element. The position information of the map element in the map refers to the position information of the map element in the reference coordinate system.

The image acquired by the sensor may include one or more map elements, and the following formula (1) is provided in this embodiment of the present application, and is used to calculate position information of an ith map element in the image acquired by the sensor in a reference coordinate system, where a value of i is a positive integer:

in the formula (1), the first and second groups,

(x represents a type of sensor 2011) is a rotational external reference between the sensor 2011 and the vehicle positioning system, which can also be said to be the first coordinate system 2012 and 2012Rotational external parameters between the second coordinate systems 2013;

P_{x_i}position information in a first coordinate system 2012 for an ith map element in a first image acquired by a sensor 2011;

P_ix(x represents a sensor type) is a translational external reference between the sensor 2011 and the vehicle positioning system, namely a translational external reference between the first coordinate system 2012 and the second coordinate system 2013;

attitude information of the vehicle 201 in the reference coordinate system;

P_vposition information of the vehicle 201 in the reference coordinate system;

P_{o_i}and the position information of the ith map element in the reference coordinate system.

The above formula (1) is only one possible implementation manner of calculating the position information of the ith map element in the reference coordinate system, and a person skilled in the art may also calculate the position information of the ith map element in the reference coordinate system by other calculation manners, which is not limited in the embodiment of the present application.

Based on the above, in the map updating method, the second map updating device may receive N pieces of location information of one map element reported by N vehicles within a preset time period, where N may be a positive integer. Further, the second map updating device may update the map by combining the N position information reported by the N vehicles and the error information of the N vehicles. Because the error information of the vehicle can reflect the accuracy of the position information of the map element acquired by the vehicle, the map is updated according to the error information of the vehicle, and the accuracy of the updated map can be improved.

In this embodiment of the application, the second map updating device may update the map by combining the position information acquired by the N vehicles, where a value of N may be 1 or a positive integer greater than 1, and subsequent contents will be described in detail with respect to different values of N. The following describes a scheme of the terminal device side by taking the first vehicle as an example, and the scheme executed by any one terminal device side in the implementation of the present application is similar to the content of the terminal device side of the first vehicle mentioned in the following.

Based on the above, fig. 2a schematically illustrates a flow chart of a map updating method provided by an embodiment of the present application, and as shown in fig. 2a, the method includes:

step 201, a first sensor arranged on a first vehicle acquires a first image.

Specifically, one or more sensors for capturing images may be disposed on the first vehicle, such as a laser radar, a millimeter wave radar, a camera, and the like, and the first sensor may be one of the sensors disposed on the first vehicle for capturing images. In one possible embodiment, when the first vehicle is in the starting state, the sensor on the first vehicle may periodically acquire images in the vicinity of the first vehicle for a preset period of time. Alternatively, when the first vehicle is in the starting state, a sensor on the first vehicle may acquire an image near the first vehicle in real time. In the embodiment of the present application, there is no limitation on the frequency of the sensor of the first vehicle acquiring the image. For more clearly describing the embodiment of the present application, one image is taken as an example in the embodiment of the present application for description, and for convenience of reference, the image is referred to as a first image, and the processing manner of other images is similar to that, and is not described again.

When the first sensor acquires the first image, the first map updating device can preprocess the first image so as to identify each map element in the first image. The first image may include one or more map elements, for clarity of description, a map element in the first image is taken as an example for description, and the implementation schemes for other map elements are similar and will not be described again.

In step 202, the first map updating device obtains first position information of a map element in the first image according to the first image, and the first map updating device is arranged on the first vehicle.

In step 203, the first map updating apparatus transmits first position information of the map element to the second map updating apparatus.

In step 203, the first position information may be position information of the map element in the first coordinate system, or may be position information of the map element in the reference coordinate system. The first coordinate system may be a coordinate system established with a central position of the first sensor of the first vehicle as an origin, and the second coordinate system of the first vehicle may be a coordinate system established with a positioning system deployed on the first vehicle as an origin. Referring to fig. 1b, if the vehicle 201 is a first vehicle in this embodiment, the first coordinate system corresponding to the first vehicle may be the first coordinate system 2012 in fig. 1b, and the second coordinate system corresponding to the first vehicle may be the first coordinate system 2013 in fig. 1 b. The following is a detailed description of possible embodiment a1, possible embodiment a2 and possible embodiment a 3.

Possibly embodiment a1, the first location information may refer to location information of a map element in a first coordinate system of the first vehicle.

In this possible embodiment a1, in step 203, the sending, by the first map updating apparatus, the first location information of the map element to the second map updating apparatus specifically includes: the first map updating device reports a first image acquired by the first sensor to the second map updating device, and the first image comprises position information of a map element in a first coordinate system.

Further, in the possible embodiment a1, the first map updating apparatus needs to report the global position of the first vehicle in the reference coordinate system when the first sensor acquires the first image to the second map updating apparatus. Therefore, the second map updating device can calculate the position information of the map elements in the first image under the reference coordinate system by combining the global pose of the first vehicle and the first image acquired by the first sensor of the first vehicle.

In the possible embodiment a1, the first map updating apparatus may report the rotation argument and the translation argument between the second coordinate system of the first vehicle and the first coordinate system of the first vehicle to the second map updating apparatus, so that the second map updating apparatus can calculate the position information of the map element in the reference coordinate system according to the above equation (1). In another possible embodiment, the rotational external parameters and the translational external parameters between the second coordinate system of the first vehicle and the first coordinate system of the first vehicle may not be reported to the second map updating apparatus, and may be preset as preset parameters on the side of the second map updating apparatus.

Possibly embodiment a2, the first position information may refer to position information of the map element in a reference coordinate system.

In this possible embodiment a2, in step 203, the sending, by the first map updating apparatus, the first location information of the map element to the second map updating apparatus specifically includes: the first map updating device reports a first image acquired by a first sensor to a second map updating device, wherein the first image comprises position information of a map element in a first coordinate system; the first map updating device reports the global pose of the first vehicle when the first sensor collects the first image to the second map updating device. The first map updating device also reports the position information of each map element in the first image under the reference coordinate system to the second map updating device. In this way, on the one hand, the second map updating means can update the map based on the first image, and on the other hand, the second map updating means can directly use the position information of each map element in the reference coordinate system reported by the first map updating means without recalculation, so that the amount of calculation can be reduced.

In the possible embodiment a1, the first map updating apparatus may report the rotation argument and the translation argument between the second coordinate system of the first vehicle and the first coordinate system of the first vehicle to the second map updating apparatus, so that the second map updating apparatus can calculate the position information of the map element in the reference coordinate system according to the above equation (1). In another possible embodiment, the rotational and translational external parameters between the second coordinate system of the first vehicle and the first coordinate system of the first vehicle may not be reported to the second map updating device.

Possibly embodiment a3, the first position information may refer to position information of the map element in a reference coordinate system.

In this possible embodiment a3, the first map updating apparatus may calculate and report position information of each map element in the first image in the reference coordinate system according to the first image and the above formula (1). Optionally, the first map updating device may not report the global pose of the first vehicle when the first sensor acquires the first image to the second map updating device. The amount of data that needs to be transmitted between the first vehicle and the second map updating apparatus can thereby be further reduced.

In this application embodiment, the first map updating device may not filter the acquired images, that is, upload data for each image acquired by the first sensor. Or the first map updating device can screen the image acquired by the first map updating device and upload data to the second map updating device according to the screened image. This embodiment is described below with the possible embodiment b1 and the possible embodiment b 2.

In a possible embodiment b1, the first map updating means does not filter the captured images.

In a possible embodiment b1, for example, the first map updating device may upload each image acquired by the first sensor to the second map updating device. In this implementation, the second map updating apparatus can acquire a large number of images, so that high-precision map drawing can be performed in combination with the large number of images, and the map precision can be improved. And on the other hand, the first terminal equipment end is only responsible for collecting and uploading images, the requirement on the computing capacity of the hardware of the first vehicle is low, so that the number of usable vehicles can be increased, and the scheme for updating the map through crowdsourcing can be more favorably applied.

In a possible embodiment b2, the image collected by the first map updating device is screened, and the data is uploaded to the second map updating device according to the screened image.

In a possible embodiment b2, the first vehicle may screen the captured image and upload the data to the second map updating device based on the screened image. This can reduce the amount of data that needs to be transmitted between the first vehicle and the second map updating apparatus.

In one possible implementation manner of step 203, the sending, by the first map updating apparatus, the first position information of the map element to the second map updating apparatus specifically includes: the first map updating apparatus determines to transmit first position information of a map element (which may be one of at least one map element in the first image satisfying a first condition) to the second map updating apparatus when it is determined that the at least one map element in the first image satisfies the first condition.

The first condition may be implemented in various ways, and for example, the first condition may be any one of the following conditions 1 and 2.

Condition 1: the first preset area of the map does not comprise map elements; the first preset area is an area on the map, which takes the first position information as a circle center and a preset first distance threshold value as a radius.

Condition 2: the distance between the position information of the map element on the map and the first position information is larger than a preset second distance threshold, and the fourth position information is that the first preset area comprises the position information of the map element on the map.

For one map element in the first image, the following is used to describe, by way of several examples, cases where the map element satisfies condition 1, does not satisfy condition 1, satisfies condition 2, and does not satisfy condition 2.

Example one, the map element satisfies condition 1.

The map element is a beacon light, in condition 1, the first map updating apparatus may obtain the map from the second map updating apparatus, and search for whether there is a beacon light in the first preset area, and the first distance threshold may be a preset value, for example, the first distance threshold may be set to 1 meter according to an empirical value. When the beacon light is not found in the first preset area, it indicates that the beacon light may be a newly added map element, and in this case, it is determined that the map element satisfies the condition 1.

Example two, the map element satisfies condition 2.

In condition 2, the first map updating apparatus may obtain the map from the second map updating apparatus, and search for whether there is a beacon in the first preset area, if so, compare current position information of the beacon on the map with the first position information, and if a distance between the position information of the map element on the map and the first position information is greater than a preset second distance threshold, indicate that the position information of the beacon may have a large change, in which case, it is determined that the map element satisfies condition 2.

Example three, the map element does not satisfy condition 2.

If the distance between the position information of the map element on the map and the first position information is not greater than the preset second distance threshold, it indicates that the position information of the signal lamp may not be changed (it may be that an error in the calculation process or an error in hardware equipment causes a change in the calculated position information of the signal lamp), or a small change occurs, and in this case, it is determined that the map element does not satisfy the condition 2.

In the above example, the first distance threshold may be greater than the second distance threshold. The setting of the second distance threshold may be set in conjunction with an amount of error that may occur with the vehicle in calculating the location information of the map element. For example, if the map element is a beacon light, and the error between the calculated position information of the beacon light and the actual position information of the first vehicle may be 5 centimeters, the second distance threshold may be set to 5 centimeters, so that when the position information of the map element on the map is different from the first position information and the distance between the two is not greater than 5 centimeters, there is a possibility that the error in the calculation process or the error in the hardware device causes a change in the calculated position information of the beacon light, but the actual position information of the beacon light does not change, and in this example, the map element does not satisfy the condition 2.

In step 204, the first map updating apparatus obtains first error information.

In step 205, the first map updating apparatus transmits the first error information to the second map updating apparatus.

There is no necessary precedence relationship between the step 204 and the step 201, and the step 204 may be executed first and then the step 201 is executed. There is no necessary precedence relationship between the step 204 and the step 202, and the step 204 may be executed first and then the step 202 is executed. There is no necessary precedence relationship between step 204 and step 203, and step 204 may be executed first, and then step 203 is executed.

The first error information in the embodiment of the present application may include any one or any plurality of the following error information c1, error information c2, and error information c 3:

error information c 1: error information for a positioning system of the first vehicle to position the first vehicle.

Error information c 2: a measurement error of a first sensor of a first vehicle for acquiring first position information;

error information c 3: calibration error of the first sensor.

According to the formula (1), taking the first vehicle as an example, the following formula (2) can be obtained by scrambling the dynamic error in the formula (1), and the following formula (2) can also be described as an error model of the ith map element:

in the formula (2), P_{o_i}Position information of the ith map element in the reference coordinate system;

δP_{o_i}the error of the position information of the ith map element in the reference coordinate system is obtained;

P_vposition information of the first vehicle under a reference coordinate system;

δP_vposition information error of the first vehicle under a reference coordinate system;

i is an identity matrix of 3 x 3;

phi is the error of the attitude information of the first vehicle under the reference coordinate system;

attitude information of the first vehicle under a reference coordinate system;

theta is a rotation error in the calibration error of the first sensor;

(x represents a first sensor type) is a rotational external reference between the first sensor and the vehicle positioning system, also referred to as a rotational external reference between a first coordinate system and a second coordinate system of the first vehicle;

P_{x_i}position information of an ith map element in a first image acquired for a first sensor in a first coordinate system;

δP_{x_i}an error of position information of an ith map element in a first image acquired for the first sensor in a first coordinate system;

P_ix(x represents the sensor type) is a translational external reference between the first sensor and the vehicle positioning system, also referred to as a translational external reference between a first coordinate system and a second coordinate system of the first vehicle;

δP_ix(x represents the sensor type) is the translational external reference between the first sensor and the vehicle positioning system, also referred to as the error of the translational external reference between the first coordinate system and the second coordinate system of the first vehicle;

"x" in the formula (2) is an antisymmetric matrix of a matrix, for example:

phix is an antisymmetric matrix of errors of the attitude information of the first vehicle in the reference coordinate system;

θ × is the antisymmetric matrix of the rotation error in the calibration error of the first sensor.

By simplifying the above equation (2), the following equation (3) can be obtained:

the definition of each parameter in equation (3) can be seen in equation (2) above. From equation (3), a total covariance formula can be calculated, which is shown in equation (4):

the definition of each parameter in formula (4) can be referred to the aforementioned formula (2) and formula (3), and besides, in formula (4), the following is included:

"T" is the transpose of a matrix;

R_{p_o}is the total covariance of the first vehicle;

R_pis a covariance of position information in measurements of a positioning system of the first vehicle, wherein,

R_rcovariance of attitude information in measured values for a positioning system of a first vehicle, wherein R_r＝φφ^T；

R_prCovariance of position and attitude information (which can also be described as position and attitude information) in measured values of a positioning system for a first vehicle, where R_pr＝δP_vφ^T；

R_{bx_p}The covariance information of the translation part in the calibration error of the first sensor, namely the covariance information of the translation part in the relative calibration covariance between the first sensor and the inertial sensor of the first vehicle;

R_{bx_r}the covariance information of the rotating part in the calibration error of the first sensor, namely the covariance information of the rotating part in the relative calibration covariance between the first sensor and the inertial sensor of the first vehicle;

R_{p_i}co-party for the measured value of the first sensorThe difference, such as when the first sensor is a camera, may be the covariance of the measurement noise of the camera.

In one possible embodiment, in the error information b1, the error information that the positioning system of the first vehicle positions the first vehicle includes: at least one of a covariance or a variance corresponding to the measurement of the positioning system of the first vehicle. For example, the error information of the first vehicle positioning system includes: a covariance corresponding to the measurement of the positioning system of the first vehicle. For another example, the error information of the first vehicle positioning system includes: a variance corresponding to the measurement of the positioning system of the first vehicle. For another example, the error information of the first vehicle positioning system includes: the covariance and variance of the measurements of the positioning system of the first vehicle. The error information of the first vehicle positioning system may also be referred to as the vehicle position error information. The parameter R in the above formula (4) may be included_p、R_rAnd R_prOne or more of (a). The error information of the first vehicle positioning by the positioning system of the first vehicle can be calculated in real time and reported frequently. In a possible embodiment, when reporting the content of the error information b1, the content of the error information b1 may be reported along with the image acquired by the first sensor.

In a possible embodiment, in the above error information b2, the measurement error of the first sensor of the first vehicle for acquiring the first position information includes: the measured value of the first sensor corresponds to at least one of a covariance or a variance. For example, the measurement error of the first sensor of the first vehicle for collecting the first position information includes: the covariance of the measurements of the first sensor. For another example, the measurement error of the first sensor of the first vehicle for acquiring the first position information includes: the variance corresponding to the measurement of the first sensor. For another example, the measurement error of the first sensor of the first vehicle for acquiring the first position information includes: the measured values of the first sensor correspond to the covariance and variance. The covariance of the measurements of the first sensor may includeParameter R in the above equation (4)_{p_i}And the like. The measurement error of the first sensor is mainly related to the measurement accuracy of the sensor, and can be obtained by a sensing manual or off-line measurement data statistics. The measurement error of the first sensor can be reported to the second map updating apparatus by a separate piece of signaling.

In a possible embodiment, in the above error information b3, the calibration error of the first sensor includes: at least one of a relative calibrated covariance or variance between the first sensor and an inertial sensor of the first vehicle. For example, the calibration error of the first sensor includes: a relative calibrated covariance between the first sensor and the inertial sensor of the first vehicle. As another example, the calibration error of the first sensor includes: a relative calibrated variance between the first sensor and the inertial sensor of the first vehicle. As another example, the calibration error of the first sensor includes: a relative calibrated covariance and variance between the first sensor and the inertial sensor of the first vehicle. The calibration error of the first sensor may include the parameter R in the above equation (4)_{bx_r}And R_{bx_p}And the like. The calibration error of the first sensor may be periodically reported to the second map updating apparatus over a longer period of time. The calibration error of the first sensor is mainly related to the calibration accuracy. The calibration error of the first sensor can be obtained by an off-line statistical method. The calibration error of the first sensor can be reported to the second map updating device through an independent signaling.

In step 205, the first map updating apparatus can report at least one of the first location information or the first error information in step 203 to the second map updating apparatus in a signaling. In another possible embodiment, no further any of the first error information is carried in the signaling carrying the first location information. In a possible embodiment, the error information b1, the error information b2, and the error information b3 may be reported through multiple pieces of signaling respectively, or may be reported through one piece of signaling.

Based on the above, the contents of the second map updating apparatus side are described below. The scheme executed by the second map updating apparatus can be divided into two scenarios according to the amount of the received position information of the map elements:

in the first scenario, the value of N is 1, that is, for one map element, the second map updating apparatus only receives the first location information of the map element reported by the first vehicle within a preset time period.

In a second scenario, the value of N is an integer greater than 1, that is, for one map element, the second map updating apparatus receives a plurality of location information of the map element reported by a plurality of vehicles (for example, the first vehicle and the second vehicle) within a preset time period.

The following description is made separately for the above two scenarios.

In a first scenario, the second map updating device receives first position information of the map element reported by the first vehicle within a preset time period. Scenario one is described with reference to fig. 2 a. As shown in fig. 2a, the second map updating apparatus may perform

steps

221 and 222.

In step 221, the second map updating device obtains the first error information and the first position information of the map element collected by the first vehicle.

In the embodiment of the present application, in step 204, the second map updating apparatus may obtain the first error information in various ways, for example, the first error information sent by the first map updating apparatus may be received in step 205.

In another possible embodiment, the correspondence between the identifier of the vehicle positioning system and the error information of the vehicle positioning system for positioning the vehicle may be pre-stored on the second map updating apparatus side, so that the second map updating apparatus may determine the error information of the vehicle positioning system installed on the first vehicle for positioning the vehicle after acquiring the identifier of the vehicle positioning system installed on the first vehicle. In this embodiment, the second map updating apparatus may acquire the identifier of the vehicle positioning system installed on the first vehicle in various ways, for example, the identifier of the positioning system of the first vehicle reported by the first map updating apparatus to the second map updating apparatus may be received. Or, the identifier of the first vehicle reported by the first map updating device to the second map updating device may be received, and the identifier of the vehicle positioning system installed in the first vehicle may be determined according to the correspondence between the identifier of the vehicle preset at the second map updating device side and the identifier of the positioning system installed in the vehicle.

In step 222, the second map updating means updates the map based on the first error information and the first position information.

In step 222, the second map updating apparatus may perform an updating process of the map in conjunction with the first error information. In a possible embodiment, a first error threshold may be set. If the error value corresponding to the first error information is greater than the first error threshold, it indicates that the error of the vehicle positioning system of the first vehicle in positioning the first vehicle is relatively large, and in this case, the difference between the first position information of the map element, which is acquired by the first map updating device on the first vehicle, and the actual position information of the map element may be relatively large. In this case, the current position information of the map element on the map may not be updated with the first position information of the map element. That is, when the error value corresponding to the first error information is greater than the first error threshold, the second map updating apparatus stops executing the map updating process, that is, the current position information of the map element on the map is not updated by using the first position information.

In another possible embodiment, if the error value corresponding to the first error information is not greater than the first error threshold, it indicates that the error of the vehicle positioning system of the first vehicle in positioning the first vehicle is small, in this case, the difference between the first position information of the map element acquired by the first map updating device on the first vehicle and the actual position information of the map element may also be small. In this case, if the second map updating means can update the current position information of the map element on the map using the first position information of the map element.

In one possible implementation of step 222, the second map updating apparatus may determine a first weight according to the first error information, the first weight being used to indicate a degree of correction of the current position information of the map element by the first position information, and update the current position information of the map element on the map according to the first position information and the first weight.

In one possible embodiment, when the error value corresponding to the first error information is greater than the first error threshold, the first weight may be determined to be 0, in this case, since the first weight is 0, which indicates that the degree of correction of the current position information of the map element by the first position information is 0%, the second map updating apparatus updates the current position information of the map element on the map according to the first position information and the first weight, and the specific implementation procedure includes: the second map updating means does not update the current position information of the map element on the map with the first position information of the map element.

In another possible embodiment, when the error value corresponding to the first error information is not greater than the first error threshold, the first weight may be determined to be 1, in which case, since the first weight is 1, which indicates that the degree of correction of the current position information of the map element by the first position information is 100%, the second map updating apparatus updates the current position information of the map element on the map according to the first position information and the first weight, and the specific implementation procedure includes: the second map updating means updates the current position information of the map element on the map using the first position information of the map element.

In an embodiment of the present application, in a possible implementation manner, the second map updating apparatus obtains a first image reported by a first vehicle, performs preprocessing on the first image, and determines position information of each map element included in the first image. Further, the second map updating device compares the first image after the preprocessing with the map. For one map element in the first image, if the map element is newly added or the map element is a map element whose position has been moved, the second map updating device may update the current position information of the map element on the map according to the first position information of the map element in the first image. In another case, the second map updating apparatus compares the first image with the map, and if there is a map element located on the map but the map element does not appear in the corresponding area of the first image, that is, the area on the first image that includes the location information of the map element but the map element is absent in the location information of the map element on the first image, it may be determined that the map element is a removed map element, and the second map updating apparatus needs to remove the map element in the map.

In a second scenario, the value of N is an integer greater than 1, that is, for a map element, the second map updating apparatus receives, within a preset time period, a plurality of pieces of location information of the map element, which are reported by a plurality of vehicles, for example, a first vehicle reports first location information of the map element, and a second vehicle reports second location information of the map element. Fig. 2b schematically illustrates a flowchart of a map updating method in an embodiment of the present application, and a second scenario is described below with reference to fig. 2 b.

In the second scenario, there are multiple vehicles reporting the location information of the map element, the terminal device end schemes are all similar to the first terminal device end schemes described in the above steps 201 to 205, and taking the second vehicle as an example in the second scenario, as shown in fig. 2b, steps 211 to 215 executed by the second terminal device end are briefly introduced. Steps 211 to 215 are similar to steps 201 to 205, and are not described in detail.

In step 211, a second sensor disposed on the second vehicle captures a second image.

In step 212, the third map updating device obtains second position information of the map element in the second image according to the second image, and the third map updating device is arranged on the second vehicle. The map element is the same map element as the map element in step 202. The third map updating device may obtain the second position information of the map element in the second image by referring to the scheme of obtaining the first position information by the first map updating device, which is not described herein too much.

The third map updating apparatus transmits the second position information of the map element to the second map updating apparatus, step 213.

In step 214, the third map updating apparatus obtains second error information, where the second error information includes error information for positioning the second vehicle by the positioning system of the second vehicle. The related description of the second error information can be referred to the related description of the first error information, and is not elaborated herein.

The third map updating apparatus transmits the second error information to the second map updating apparatus in step 215.

In step 231, the second map updating apparatus determines a first weight indicating a degree of correction of the current position information of the map element by the first position information, based on the first error information and the second error information. The second map updating means determines a second weight indicating a degree of correction of the current position information of the map element by the second position information, based on the first error information and the second error information.

In step 231, in a possible embodiment, the larger the error value corresponding to the error information of a vehicle, the smaller the weight corresponding to the vehicle, and the smaller the error value corresponding to the error information of a vehicle, the larger the weight corresponding to the vehicle.

In one possible embodiment, the second map updating apparatus may compare the first error information and the second error information, for example, may compare a first proportional relationship between an error value corresponding to the first error information and an error value corresponding to the second error information, and a reciprocal of the first proportional relationship may be approximately equal to a second proportional relationship between the first weight and the second weight. It can also be said that the difference between the inverses of the first proportional relationship and the second proportional relationship is less than the first margin threshold. In a possible embodiment, if the second map updating apparatus receives only the first location information and the second location information of the map element for a preset time period, it may be set that the sum of the first weight and the second weight may be equal to 100%.

In one possible embodiment, if the first error information is less than the second error information, the first weight is greater than the second weight; if the first error information is greater than the second error information, the first weight is less than the first weight; the first weight is equal to the second weight if the first error information is equal to the second error information. Therefore, it can be seen that weights of the error information reported by the vehicles are influenced, and the weight of the position information reported by the vehicle with a smaller error value corresponding to the error information is always larger, that is, the second map updating device always trusts the position information of the map element reported by the vehicle with a smaller error value more, and the position information of the map element reported by the vehicle with a larger error value is less, so that the map updating precision can be further improved.

For example, if the ratio of the error value corresponding to the first error information to the error value corresponding to the second error information is 2:8, which means that the error value corresponding to the second error information is 4 times the error value corresponding to the first error information, the first weight may be set to 80% and the second weight may be set to 20%. The sum of the first weight and the second weight equals 100%. It can be seen that the first weight may indicate that the first error information is a heavy part of the first error information and the second error information; the second weight may indicate that the second error information accounts for a majority of the first error information and the second error information.

The setting of the weight can find that the error value corresponding to the first error information is smaller, so that the first weight is larger, and thus, the correction degree of the first position information on the map element is larger. The error value corresponding to the second error information is larger, so that the second weight is smaller, and thus, the correction degree of the second position information on the map element is smaller. Thus, it can be seen that, in practical applications, error information of some vehicles may be larger due to various reasons, such as weak GNSS signals, and the like, in this case, the position information of the map element acquired by the vehicle may be less accurate, and if map updating is performed in combination with the position information of the map element acquired by other vehicles with strong GNSS signals, accuracy of map updating may be improved.

In step 231, in another possible embodiment, a first error threshold may be set. If the error value corresponding to the error information (the first error information or the second error information) of one vehicle is greater than the first error threshold, the weight corresponding to the vehicle may be determined to be 0. That is to say, in this possible embodiment, the position information of the map elements reported by the multiple vehicles may be filtered by the first error threshold, and the position information reported by the vehicle whose error value of the error information is greater than the first error threshold is directly discarded. Further, the weight corresponding to each position information may be determined according to the position information of the map elements remaining after the filtering and the error information corresponding to the position information remaining after the filtering.

In step 232, the second map updating means updates the current position information of the map element on the map based on the first position information, the second position information, the first weight, and the second weight.

In step 232, in one possible implementation, the second map updating apparatus may perform weighted addition on the first location information and the second location information according to the first weight and the second weight to obtain updated location information; and updating the position information of the map element on the map into the updated position information.

In the above steps 231 and 232, the behavior of the second map updating apparatus side with the first vehicle and the second vehicle is described. When the second map updating apparatus receives N pieces of location information reported by N vehicles (for convenience of reference, N third vehicles are used for description), where N is a positive integer greater than 1, and the N third vehicles may include the first vehicle and the second vehicle.

For a third vehicle, when the third vehicle is the first vehicle, a fourth map updating device provided on the third vehicle is a first map updating device, a third sensor provided on the third vehicle is the first sensor, a third image acquired by the third sensor on the third vehicle is the first image, third error information of the third vehicle is the first error information, and third position information of the map element determined by the fourth map updating device is the first position information.

Regarding a third vehicle, when the third vehicle is the second vehicle, a fourth map updating device provided in the third vehicle is a third map updating device, a third sensor provided in the third vehicle is the second sensor, a third image acquired by the third sensor in the third vehicle is the second image, third error information of the third vehicle is the second error information, and third position information of the map element determined by the fourth map updating device is the second position information.

In this embodiment, reference may be made to a flow diagram of the map updating method shown in fig. 2c, as shown in fig. 2 c:

for each of the N third vehicles, the third vehicle may perform steps 241 to 245:

and 241, acquiring a third image by a third sensor arranged on the third vehicle.

In step 242, the fourth map updating device obtains the third position information of the map element in the third image according to the third image, and the fourth map updating device is disposed on the third vehicle. The map element is the same map element as the map element in step 202.

The fourth map updating apparatus transmits the third position information of the map element to the second map updating apparatus, step 243.

In step 244, the fourth map updating apparatus obtains third error information including error information of the third vehicle being positioned by the positioning system of the third vehicle.

In step 245, the fourth map updating apparatus transmits the third error information to the second map updating apparatus.

In step 246, the second map updating apparatus acquires the third error information of each of the N third vehicles, and the third position information of the map element acquired by the fourth map updating apparatus of each of the N third vehicles.

In step 247, the second map updating apparatus determines a third weight corresponding to each of the N third vehicles based on the N third error information of the N third vehicles.

Wherein, in one possible embodiment, the sum of the N third weights is 1.

In one possible embodiment, when the error value corresponding to the third error information of the third vehicle is smaller than the first error threshold:

the larger the error value corresponding to the third error information is, the smaller the third weight corresponding to the third error information is; the smaller the error value corresponding to the third error information is, the larger the third weight corresponding to the third error information is.

Wherein, a third weight may be used to indicate a degree of correction of the current position information of the map element by the third position information corresponding to the third weight. A third weight may also be used to indicate a weight of the third error information corresponding to the third weight in the N third error information. Alternatively, it can be said that one third weight may also be used to indicate a proportion of the third error information corresponding to the third weight in the M pieces of third error information. The first error information is a positive integer not greater than N, the M third error information is M of the N third error information, and an error value corresponding to each of the M third error information is smaller than a first error threshold.

In step 248, the second map updating device performs weighted addition on the N third location information of the map element according to the N third weights corresponding to the N third vehicles to obtain updated location information.

In step 249, the second map updating means updates the position information of the map element on the map to the updated position information.

The terms "system" and "network" in the embodiments of the present application may be used interchangeably. "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.

And, unless specifically stated otherwise, the embodiments of the present application refer to the ordinal numbers "first", "second", etc., for distinguishing between a plurality of objects, and do not limit the order, sequence, priority, or importance of the plurality of objects. For example, the first vehicle and the second vehicle are not different in priority, importance, or the like of the two vehicles, but are merely different in order to distinguish the different vehicles.

It should be noted that the names of the above messages are only used as examples, and any message may change its name as the communication technology evolves, but it falls within the scope of the present application as long as its meaning is the same as that of the above message of the present application, regardless of the change in the name.

The above-mentioned scheme provided by the present application is mainly introduced from the perspective of interaction between network elements. It is to be understood that the above-described implementation of each network element includes, in order to implement the above-described functions, a corresponding hardware structure and/or software module for performing each function. Those of skill in the art will readily appreciate that the present invention can be implemented in hardware or a combination of hardware and computer software, with the exemplary elements and algorithm steps described in connection with the embodiments disclosed herein. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. 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 present invention.

According to the foregoing method, fig. 3 is a schematic structural diagram of a communication device according to an embodiment of the present disclosure, and as shown in fig. 3, the communication device may be a terminal-side map updating device (for example, a first map updating device of the first vehicle, a third map updating device of the second vehicle, or a fourth map updating device of the third vehicle) or a server-side map updating device (for example, a second map updating device). It may be a chip or a circuit, such as a chip or a circuit of a map updating apparatus that can be provided at a terminal device side, and further such as a chip or a circuit that can be provided in a second map updating apparatus.

Further, the communication device 1301 may further include a bus system, wherein the processor 1302, the memory 1304, and the transceiver 1303 may be connected via the bus system.

It should be understood that the processor 1302 may be a chip. For example, the processor 1302 may be a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), a system on chip (SoC), a Central Processing Unit (CPU), a Network Processor (NP), a digital signal processing circuit (DSP), a Microcontroller (MCU), a Programmable Logic Device (PLD), or other integrated chips.

In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 1302. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in a hardware processor, or in a combination of the hardware and software modules in the processor 1302. The software modules may be located in ram, flash, rom, prom, or eprom, registers, etc. as is well known in the art. The storage medium is located in the memory 1304, and the processor 1302 reads the information in the memory 1304 and performs the steps of the above method in combination with hardware thereof.

It should be noted that the processor 1302 in the embodiment of the present application may be an integrated circuit chip having signal processing capability. In implementation, the steps of the above method embodiments may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The processor described above may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

It will be appreciated that the memory 1304 in the subject embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), double data rate SDRAM, enhanced SDRAM, SLDRAM, Synchronous Link DRAM (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

The communication device 1301 may include a processor 1302, a transceiver 1303, and a memory 1304, in case that the communication device corresponds to the second map updating device in the above method. The memory 1304 is configured to store instructions, and the processor 1302 is configured to execute the instructions stored in the memory 1304 to implement any one or more of the methods described above with reference to fig. 1 a-2 c.

When the communication device 1301 is the second map updating device, the transceiver 1303 is configured to obtain first location information of a map element acquired by a first vehicle; a processor 1302, configured to obtain first error information of a first vehicle, where the first error information includes error information of a positioning system of the first vehicle positioning the first vehicle; and updating the map according to the first error information and the first position information.

In one possible implementation, the processor 1302 is specifically configured to: determining a first weight according to the first error information, wherein the first weight is used for representing the correction degree of the first position information on the current position information of the map element; and updating the current position information of the map element on the map according to the first position information and the first weight.

In a possible embodiment, the processor 1302, before updating the map according to the first error information and the first position information, is further configured to: acquiring second error information of a second vehicle and second position information of a map element acquired by the second vehicle, wherein the second error information comprises error information of positioning of the second vehicle by a positioning system of the second vehicle; determining a second weight according to the first error information and the second error information, wherein the second weight is used for representing the correction degree of the second position information on the current position information of the map element;

determining a first weight based on the first error information and the second error information; and updating the current position information of the map element on the map according to the first position information, the second position information, the first weight and the second weight.

In the case that the communication device 1301 corresponds to the map updating device on the terminal device side in the method, the communication device may include a processor 1302, a transceiver 1303, and a memory 1304. The memory 1304 is configured to store instructions, and the processor 1302 is configured to execute the instructions stored in the memory 1304 to implement any one or more of the methods shown in fig. 1a to fig. 2c above, which are related to the map updating apparatus on the terminal device side. The configuration of the map updating apparatus on the terminal device side may be described by taking the first map updating apparatus of the first vehicle as an example, but the configuration is also applicable to a map updating apparatus of another vehicle, for example, a third map updating apparatus of the second vehicle or a fourth map updating apparatus of the third vehicle.

When the communication device 1301 is a first map updating device of the first terminal device, the processor 1302 is configured to obtain first location information of a map element; acquiring first error information, wherein the first error information comprises error information of positioning of a first vehicle by a positioning system of the first vehicle; and a transceiver 1303 for transmitting the first position information and the first error information of the map element to the second map updating apparatus.

In a possible embodiment, the transceiver 1303 is specifically configured to: transmitting the first position information and the first error information of the map element to the second map updating apparatus when one of the following is satisfied: the first preset area of the map does not comprise map elements; the first preset area is an area which takes the first position information as the center of a circle and takes a preset first distance threshold value as the radius on the map; the distance between the position information of the map element on the map and the first position information is larger than a preset second distance threshold value.

For the concepts, explanations, details and other steps related to the technical solutions provided in the embodiments of the present application related to the communication device, please refer to the descriptions of the foregoing methods or other embodiments, which are not repeated herein.

Fig. 4 is a schematic structural diagram of a communication apparatus provided in an embodiment of the present application according to the foregoing method, and as shown in fig. 4, the communication apparatus 1401 may include a communication interface 1403, a processor 1402, and a memory 1404. A communication interface 1403 for inputting and/or outputting information; a processor 1402 for executing a computer program or an instruction to cause the communication apparatus 1401 to implement the method on the map updating apparatus side of the terminal device side in the related solution of fig. 1a to 2c described above, or to cause the communication apparatus 1401 to implement the method on the second map updating apparatus side in the related solution of fig. 1a to 2c described above. In this embodiment of the application, the communication interface 1403 may implement the scheme implemented by the transceiver 1303 in fig. 3, the processor 1402 may implement the scheme implemented by the processor 1302 in fig. 3, and the memory 1404 may implement the scheme implemented by the memory 1304 in fig. 3, which is not described herein again.

Based on the foregoing embodiments and the same concept, fig. 5 is a schematic diagram of a communication device according to an embodiment of the present application, and as shown in fig. 5, the communication device 1501 may be a map updating device or a second map updating device at a terminal device end, or may be a chip or a circuit, such as a chip or a circuit that may be disposed on the map updating device or the second map updating device at the terminal device end.

The communication device may correspond to the map updating device of the terminal device side in the above method. The communication device may implement the steps performed by the map updating device on the terminal device side in any one or any plurality of corresponding methods shown in fig. 1a to 2c above. The communication device may include a processing unit 1502, a communication unit 1503, and a storage unit 1504.

In the case where the communication device 1501 corresponds to the server-side map updating device in the above method, the communication unit 1503 is configured to obtain first position information of a map element acquired by a first vehicle; the processing unit 1502 is configured to obtain first error information of the first vehicle, where the first error information includes error information of a positioning system of the first vehicle for positioning the first vehicle; and updating the map according to the first error information and the first position information.

In the case where the communication apparatus 1501 corresponds to the above-described first map updating apparatus, the processing unit 1502 is configured to acquire first position information of a map element; acquiring first error information, wherein the first error information comprises error information of positioning of a first vehicle by a positioning system of the first vehicle; a communication unit 1503 for transmitting the first position information and the first error information of the map element.

It is to be understood that the functions of the units in the communication apparatus 1501 can refer to the implementation of the corresponding method embodiments, and are not described herein again.

It should be understood that the above division of the units of the communication device is only a division of logical functions, and the actual implementation may be wholly or partially integrated into one physical entity or may be physically separated. In this embodiment of the application, the communication unit 1503 may be implemented by the transceiver 1303 in fig. 3, and the processing unit 1502 may be implemented by the processor 1302 in fig. 3.

According to the method provided by the embodiment of the present application, the present application further provides a computer program product, which includes: computer program code or instructions which, when run on a computer, cause the computer to perform the method of any one of the embodiments shown in figures 1a to 2 c.

According to the method provided by the embodiment of the present application, the present application further provides a computer-readable storage medium, which stores program code, and when the program code runs on a computer, the computer is caused to execute the method of any one of the embodiments shown in fig. 1a to 2 c.

According to the method provided by the embodiment of the present application, a chip system is also provided, and the chip system may include a processor. The processor is coupled to the memory and is operable to perform the method of any one of the embodiments shown in fig. 1a to 2 c. Optionally, the chip system further comprises a memory. A memory for storing a computer program (also referred to as code, or instructions). A processor for calling and running the computer program from the memory so that the device with the system on chip mounted thereon executes the method of any one of the embodiments shown in fig. 1a to 2 c.

According to the method provided by the embodiment of the application, the application also provides a system which comprises one or more vehicles and the server-side map updating device, wherein the vehicle is provided with the map updating device.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The processes or functions according to the embodiments of the present application are generated in whole or in part when the computer instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a Digital Video Disk (DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), among others.

It is noted that a portion of this patent application contains material which is subject to copyright protection. The copyright owner reserves the copyright rights whatsoever, except for making copies of the patent files or recorded patent document contents of the patent office.

The second map updating device in the above-mentioned respective device embodiments corresponds to the map updating device at the terminal device side or the map updating device at the terminal device side in the method embodiments, and the corresponding steps are executed by corresponding modules or units, for example, the communication unit (transceiver) executes the steps of receiving or transmitting in the method embodiments, and other steps except for transmitting and receiving may be executed by the processing unit (processor). The functions of the specific elements may be referred to in the respective method embodiments. The number of the processors may be one or more.

As used in this specification, the terms "component," "module," "system," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being, a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of illustration, both an application running on a computing device and the computing device can be a component. One or more components can reside within a process and/or thread of execution and a component may be localized on one computer and/or distributed between two or more computers. In addition, these components can execute from various computer readable media having various data structures stored thereon. The components may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., data from two components interacting with another component in a local system, distributed system, and/or across a network such as the internet with other systems by way of the signal).

Those of ordinary skill in the art will appreciate that the various illustrative logical blocks and steps (step) 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 technical solution. 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 present application.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, etc.) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A map updating method, comprising:

the method comprises the steps that a first map updating device obtains first position information and first error information of a map element and sends the first position information and the first error information of the map element to a second map updating device, wherein the first error information comprises error information of positioning of a first vehicle by a positioning system of the first vehicle;

and the second map updating device receives the first error information and the first position information and updates the map according to the first error information and the first position information.

2. A map updating method, comprising:

acquiring first error information of a first vehicle and first position information of a map element acquired by the first vehicle, wherein the first error information comprises error information of positioning of the first vehicle by a positioning system of the first vehicle;

and updating the map according to the first error information and the first position information.

3. The method of claim 2, wherein updating the map based on the first error information and the first location information comprises:

determining a first weight according to the first error information, wherein the first weight is used for representing the correction degree of the first position information on the current position information of the map element;

updating current position information of the map element on the map according to the first position information and the first weight.

4. The method of claim 3, wherein prior to updating the map based on the first error information and the first location information, further comprising:

acquiring second error information of a second vehicle and second position information of the map element acquired by the second vehicle, wherein the second error information comprises error information of positioning of the second vehicle by a positioning system of the second vehicle;

determining a second weight according to the first error information and the second error information, wherein the second weight is used for representing the correction degree of the second position information on the current position information of the map element;

the determining a first weight from the first error information includes:

determining the first weight according to the first error information and the second error information;

the updating the current position information of the map element on the map according to the first position information and the first weight comprises:

updating the current location information of the map element on the map according to the first location information, the second location information, the first weight, and the second weight.

5. The method of any of claims 2-4, wherein the first error information further comprises:

at least one of a measurement error of a first sensor of the first vehicle or a calibration error of the first sensor for acquiring the first position information.

6. The method of claim 5, wherein the error information for the first vehicle's positioning system to position the first vehicle comprises: a covariance corresponding to a measurement of a positioning system of the first vehicle;

the measurement error of the first sensor of the first vehicle for acquiring the first position information includes: the covariance corresponding to the measured value of the first sensor;

the calibration error of the first sensor comprises: a relative calibrated covariance between the first sensor and an inertial sensor of the first vehicle.

7. A map updating method, comprising:

acquiring first position information of a map element;

acquiring first error information, wherein the first error information comprises error information of positioning of a first vehicle by a positioning system of the first vehicle;

transmitting the first position information and the first error information of the map element to a second map updating apparatus.

8. The method of claim 7, wherein the first error information further comprises:

at least one of a measurement error of a first sensor of the first vehicle or a calibration error of the first sensor for acquiring the first location information.

9. The method of claim 8, wherein the error information for the first vehicle's positioning system to position the first vehicle comprises: a covariance corresponding to a measurement of a positioning system of the first vehicle;

10. The method of any of claims 7-9, wherein the sending the first location information and the first error information for the map element to a second map updating device comprises:

transmitting the first position information and the first error information of the map element to the second map updating apparatus when at least one of the following is satisfied:

the map element is not included in a first preset area of the map, wherein the first preset area is an area which takes the first position information as a circle center and a preset first distance threshold value as a radius on the map; or;

11. A map updating apparatus, comprising:

the communication unit is used for acquiring first position information of the map element acquired by the first vehicle;

the processing unit is used for acquiring first error information of a first vehicle, wherein the first error information comprises error information of positioning of the first vehicle by a positioning system of the first vehicle; and updating the map according to the first error information and the first position information.

12. The map updating apparatus according to claim 11, wherein the processing unit is specifically configured to:

determining a first weight according to the first error information, wherein the first weight is used for representing the correction degree of the first position information on the current position information of the map element; updating current position information of the map element on the map according to the first position information and the first weight.

13. The map updating apparatus according to claim 12, wherein the processing unit, before the updating of the map based on the first error information and the first position information, is further configured to:

14. The map updating apparatus according to any one of claims 11 to 13, wherein the first error information further includes:

15. The map updating apparatus of claim 14, wherein the error information for the first vehicle's positioning system to position the first vehicle comprises: a covariance corresponding to a measurement of a positioning system of the first vehicle;

the calibration error of the first sensor comprises: a relative calibration covariance between the first sensor and an inertial sensor of the first vehicle.

16. A map updating apparatus, comprising:

the processing unit is used for acquiring first position information of the map element; acquiring first error information, wherein the first error information comprises error information of positioning of a first vehicle by a positioning system of the first vehicle;

a communication unit for transmitting the first position information and the first error information of the map element.

17. The map updating apparatus according to claim 16, wherein the first error information further includes:

18. The map updating apparatus of claim 17, wherein the error information that the first vehicle's positioning system locates the first vehicle comprises: a covariance corresponding to a measurement of a positioning system of the first vehicle;

19. The map updating apparatus according to any one of claims 16 to 18, wherein the communication unit is specifically configured to:

transmitting the first position information and the first error information of the map element when at least one of the following is satisfied:

the map element is not included in a first preset area of the map, wherein the first preset area is an area which takes the first position information as a circle center and a preset first distance threshold value as a radius on the map; alternatively, the first and second electrodes may be,

20. A map updating apparatus comprising a processor and a memory, wherein the memory is used for storing computer executable instructions, and when the map updating apparatus is running, the processor executes the computer executable instructions in the memory to utilize hardware resources in the map updating apparatus to execute the operation steps of the method of any one of claims 2 to 6.

21. A map updating apparatus, comprising a processor and a communication interface,

the communication interface is used for inputting and/or outputting information;

the processor configured to execute a computer program such that the method of any of claims 2-6 is performed.

22. A map updating apparatus, comprising a processor and a memory, wherein the memory is used for storing computer executable instructions, and when the map updating apparatus is running, the processor executes the computer executable instructions in the memory to perform the operation steps of the method according to any one of claims 7 to 10 by using hardware resources in the map updating apparatus.

23. A map updating device, comprising a processor and a communication interface,

the processor configured to execute a computer program such that the method of any of claims 7-10 is performed.

24. A map updating system, characterized by comprising a map updating apparatus that performs the method of any one of claims 2 to 6, and a map updating apparatus that performs the method of any one of claims 7 to 10.

25. A computer-readable storage medium, characterized in that it stores a computer-executable program which, when invoked by a computer, causes the computer to perform the method according to any one of claims 2 to 10.

26. A chip system, comprising:

a communication interface for inputting and/or outputting information;

a processor for executing the computer program via the communication interface, causing a device on which the system-on-chip is installed to perform the method according to any one of claims 2-10.