CN115080579A

CN115080579A - Method and device for updating map data

Info

Publication number: CN115080579A
Application number: CN202210699654.2A
Authority: CN
Inventors: 杜春利; 申雅倩; 殷志东
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-06-20
Filing date: 2022-06-20
Publication date: 2022-09-20

Abstract

The disclosure provides a method and a device for updating map data, relates to the technical field of data processing, and particularly relates to intelligent transportation. The implementation scheme is as follows: determining positions of a plurality of candidate road intersections in map data representing a geographical area, wherein the plurality of candidate road intersections are road intersections including restriction flag information in the map data; acquiring running data of a plurality of vehicles, wherein the running data of each vehicle comprises a running track of the vehicle in a geographic area; determining a candidate road intersection as a first target road intersection in response to traveling data of at least some vehicles among the traveling data of the plurality of vehicles satisfying a preset condition within a preset distance range of the candidate road intersection; and performing a correction operation on the restriction mark information at the at least one first target road intersection.

Description

Method and device for updating map data

Technical Field

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

Background

Height and width limitation are important elements for identifying whether vehicles can normally pass in a logistics map. Height limiting marker posts can be erected in dense urban areas or under communities, villages and bridges, so that the phenomenon that some ultrahigh trucks run to cause traffic pressure is avoided, the influence on traveling of citizens is reduced, and the like is avoided. The logistics map product collects the labels which are erected on the spot by using a conventional collection method, and avoids roads when planning a route for a truck user in advance after the logistics map is manufactured.

However, with the continuous change of the real world, the height limit and width limit information are updated and changed synchronously, for example, with the continuous deepening and increment of railway lines, high speed and other high-grade roads in China, railways are laid on the roads in some villages and towns, high frames are added in cities, and culverts and overpasses are formed by geometry with ground roads; while historically some limited signs have not existed or are not accurate; these two types of scene updates are not timely, which may cause the following effects: the planned route is not consistent with the actual trafficability, so that the truck cannot traffic, turns around, returns and searches for the route again; the original passable road of the truck is planned to avoid and the truck detours, so that the driving cost is increased, and other accidents can be caused by guiding the truck to a small broken road.

In the related technology, height limit and width limit information is collected on the spot, a collection vehicle is used for carrying out coverage collection on a city, a new sign is found, and a professional drawing link is used for carrying out operation after the sign is identified. However, this collection method has limited data acquisition and high cost, and cannot cover a large amount of new railways or country roads with low road grade in a short time, so that actual limit sign information cannot be obtained.

The approaches described in this section are not necessarily approaches that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, unless otherwise indicated, the problems mentioned in this section should not be considered as having been acknowledged in any prior art.

Disclosure of Invention

The present disclosure provides a method and apparatus, an electronic device, a computer-readable storage medium, and a computer program product for updating map data.

According to an aspect of the present disclosure, there is provided a method for updating map data, including: determining positions of a plurality of candidate road intersections in map data representing a geographical area, wherein the plurality of candidate road intersections are road intersections including restriction flag information in the map data; acquiring running data of a plurality of vehicles, wherein the running data of each vehicle comprises a running track of the vehicle in a geographic area; determining a candidate road intersection as a first target road intersection in response to traveling data of at least some vehicles among the traveling data of the plurality of vehicles satisfying a preset condition within a preset distance range of the candidate road intersection; and performing a correction operation on the restriction mark information at the at least one first target road intersection.

According to another aspect of the present disclosure, there is provided an apparatus for updating map data, including: a first determination unit configured to determine positions of a plurality of candidate road intersections in map data representing a geographical area, wherein the plurality of candidate road intersections are road intersections including restriction flag information in the map data; an acquisition unit configured to acquire travel data of a plurality of vehicles, wherein the travel data of each vehicle includes a travel track of the vehicle within a geographic area; a second determination unit configured to determine a candidate road intersection as a first target road intersection in response to traveling data of at least some vehicles among the traveling data of the plurality of vehicles satisfying a preset condition within a preset distance range of the candidate road intersection; and a correction unit configured to perform a correction operation on the restriction flag information at the at least one first target road intersection.

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described above.

According to another aspect of the present disclosure, there is also provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the above-described method.

According to another aspect of the present disclosure, there is also provided a computer program product comprising a computer program, wherein the computer program realizes the above-mentioned method when executed by a processor.

According to one or more embodiments of the present disclosure, a first target road intersection at which the restriction flag information may be erroneous is obtained through analysis of the travel data of a plurality of vehicles, and then the correction operation is performed on the restriction flag information of the first target road intersection. The first target road intersection with the wrong information of the limit sign is determined through the running data of a plurality of vehicles, the range of the candidate road intersection needing to update the limit sign information is reduced, the limit sign information of each road intersection on the map does not need to be updated, and the cost of updating the map is greatly reduced.

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

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the embodiments and, together with the description, serve to explain the exemplary implementations of the embodiments. The illustrated embodiments are for purposes of illustration only and do not limit the scope of the claims. Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements.

FIG. 1 illustrates a schematic diagram of an exemplary system in which various methods described herein may be implemented, according to an embodiment of the present disclosure;

FIG. 2 shows a flow diagram of a method for updating map data according to an embodiment of the present disclosure;

FIG. 3 shows a flow diagram of a method for updating map data according to another embodiment of the present disclosure;

FIG. 4 illustrates a scene schematic diagram of a method implementing an embodiment of the disclosure;

FIG. 5 illustrates a flow diagram in which a method of determining location information for a plurality of road intersections in map data may be implemented in accordance with an embodiment of the present disclosure;

fig. 6 illustrates a block diagram of an apparatus for updating map data according to an embodiment of the present disclosure;

FIG. 7 illustrates a block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure.

Detailed Description

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

In the present disclosure, unless otherwise specified, the use of the terms "first", "second", and the like to describe various elements is not intended to limit the positional relationship, the temporal relationship, or the importance relationship of the elements, and such terms are used only to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, based on the context, they may also refer to different instances.

The terminology used in the description of the various examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the elements may be one or more. Furthermore, the term "and/or" as used in this disclosure is intended to encompass any and all possible combinations of the listed items.

Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

Fig. 1 illustrates a schematic diagram of an exemplary system 100 in which various methods and apparatus described herein may be implemented in accordance with embodiments of the present disclosure. Referring to fig. 1, the system 100 includes one or

more client devices

101, 102, 103, 104, 105, and 106, a server 120, and one or more communication networks 110 coupling the one or more client devices to the server 120.

Client devices

101, 102, 103, 104, 105, and 106 may be configured to execute one or more applications.

In embodiments of the present disclosure, the server 120 may run one or more services or software applications that enable the execution of the method for updating map data.

In some embodiments, the server 120 may also provide other services or software applications that may include non-virtual environments and virtual environments. In certain embodiments, these services may be provided as web-based services or cloud services, for example, provided to users of

client devices

101, 102, 103, 104, 105, and/or 106 under a software as a service (SaaS) model.

In the configuration shown in fig. 1, server 120 may include one or more components that implement the functions performed by server 120. These components may include software components, hardware components, or a combination thereof, which may be executed by one or more processors. A user operating a

client device

101, 102, 103, 104, 105, and/or 106 may, in turn, utilize one or more client applications to interact with the server 120 to take advantage of the services provided by these components. It should be understood that a variety of different system configurations are possible, which may differ from system 100. Accordingly, fig. 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

The user may use the

client devices

101, 102, 103, 104, 105, and/or 106 to obtain updated map data or to upload related data (e.g., vehicle parameters, travel data, etc., as noted below). The client device may provide an interface that enables a user of the client device to interact with the client device. The client device may also output information to the user via the interface. Although fig. 1 depicts only six client devices, those skilled in the art will appreciate that any number of client devices may be supported by the present disclosure.

Client devices

101, 102, 103, 104, 105, and/or 106 may include various types of computer devices, such as portable handheld devices, general purpose computers (such as personal computers and laptops), workstation computers, wearable devices, smart screen devices, self-service terminal devices, service robots, gaming systems, thin clients, various messaging devices, sensors or other sensing devices, and so forth. These computer devices may run various types and versions of software applications and operating systems, such as MICROSOFT Windows, APPLE iOS, UNIX-like operating systems, Linux, or Linux-like operating systems (e.g., GOOGLE Chrome OS); or include various Mobile operating systems such as MICROSOFT Windows Mobile OS, iOS, Windows Phone, Android. Portable handheld devices may include cellular telephones, smart phones, tablets, Personal Digital Assistants (PDAs), and the like. Wearable devices may include head-mounted displays (such as smart glasses) and other devices. The gaming system may include a variety of handheld gaming devices, internet-enabled gaming devices, and the like. The client device is capable of executing a variety of different applications, such as various Internet-related applications, communication applications (e.g., email applications), Short Message Service (SMS) applications, and may use a variety of communication protocols.

Network 110 may be any type of network known to those skilled in the art that may support data communications using any of a variety of available protocols, including but not limited to TCP/IP, SNA, IPX, etc. By way of example only, one or more networks 110 may be a Local Area Network (LAN), an ethernet-based network, a token ring, a Wide Area Network (WAN), the internet, a virtual network, a Virtual Private Network (VPN), an intranet, an extranet, a Public Switched Telephone Network (PSTN), an infrared network, a wireless network (e.g., bluetooth, WIFI), and/or any combination of these and/or other networks.

The server 120 may include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-end servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and/or combination. The server 120 may include one or more virtual machines running a virtual operating system, or other computing architecture involving virtualization (e.g., one or more flexible pools of logical storage that may be virtualized to maintain virtual storage for the server). In various embodiments, the server 120 may run one or more services or software applications that provide the functionality described below.

The computing units in server 120 may run one or more operating systems including any of the operating systems described above, as well as any commercially available server operating systems. The server 120 may also run any of a variety of additional server applications and/or middle tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, and the like.

In some implementations, the server 120 may include one or more applications to analyze and consolidate data feeds and/or event updates received from users of the

client devices

101, 102, 103, 104, 105, and/or 106. Server 120 may also include one or more applications to display data feeds and/or real-time events via one or more display devices of

client devices

101, 102, 103, 104, 105, and/or 106.

In some embodiments, the server 120 may be a server of a distributed system, or a server incorporating a blockchain. The server 120 may also be a cloud server, or a smart cloud computing server or a smart cloud host with artificial intelligence technology. The cloud Server is a host product in a cloud computing service system, and is used for solving the defects of high management difficulty and weak service expansibility in the traditional physical host and Virtual Private Server (VPS) service.

The system 100 may also include one or more databases 130. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 130 may be used to store information such as audio files and video files. The database 130 may reside in various locations. For example, the database used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The database 130 may be of different types. In certain embodiments, the database used by the server 120 may be, for example, a relational database. One or more of these databases may store, update, and retrieve data to and from the database in response to the command.

In some embodiments, one or more of the databases 130 may also be used by applications to store application data. The databases used by the application may be different types of databases, such as key-value stores, object stores, or regular stores supported by a file system.

The system 100 of fig. 1 may be configured and operated in various ways to enable application of the various methods and apparatus described in accordance with the present disclosure.

Fig. 2 shows a schematic diagram of a method 200 for updating map data according to an embodiment of the present disclosure, as shown in fig. 2, the method 200 comprising:

a step 201 of determining positions of a plurality of candidate road intersections in map data representing a geographical area, wherein the plurality of candidate road intersections are road intersections including restriction flag information in the map data;

step 202, acquiring running data of a plurality of vehicles, wherein the running data of each vehicle comprises a running track of the vehicle in a geographic area;

step 203, in response to that the traveling data of at least some vehicles in the traveling data of the plurality of vehicles satisfies a preset condition within a preset distance range of a candidate road intersection, determining the candidate road intersection as a first target road intersection; and

and 204, performing correction operation on the limit sign information at the at least one first target road intersection.

According to the method of the embodiment of the present disclosure, the first target road intersection at which the restriction flag information may be erroneous is obtained by analyzing the travel data of the plurality of vehicles, and then the correction operation is performed on the restriction flag information of the first target road intersection. The first target road intersection where the information of the limit sign is possibly wrong is determined through the driving data of a plurality of vehicles, and the range of the candidate road intersection where the limit sign information needs to be updated is narrowed, so that the limit sign information of each road intersection on the map does not need to be updated, and the cost for updating the map is greatly reduced.

In step 201, map data may be used to graphically represent a particular geographic area. The map data may be, for example, map data stored in a navigation App installed in the client device, or map data downloaded from the correlation database 130 by the client device via the server 120. The associated navigation App will update the map data periodically, for example, it may download updated map data periodically from the database 130. The map data generally includes route data of roads, POI (point of interest) data, etc., which will record position information of relevant points of interest. The candidate road intersections may be selected from a plurality of road intersections, and the road intersections may be obtained by processing and calculating route data of a road, which will be described below and will not be described herein again. In addition, the map data further includes a plurality of restriction flag information indicating a width restriction flag or a height restriction flag within the geographic area. The width limit flag or the height limit flag is generally set near an intersection of roads, and therefore, in the map data, each of the plurality of restriction flag information matches the data information of one of the road intersections in the map.

In step 202, the travel data of a plurality of vehicles can be obtained from the associated navigation apps of the vehicle ends of each vehicle. When the vehicle travels into the geographic area, the navigation App records the travel data of the vehicle during actual travel, and the travel data includes, but is not limited to, the travel track, the travel speed, the travel state and the like of the vehicle in the geographic area. In the present embodiment, the travel data includes at least a travel track of the vehicle within the geographic area.

In step 203, the preset distance range of the candidate road intersection may be, for example, within a range of 20m, 30m, or 40m of the candidate road intersection. The preset condition may be, for example, that the running track of the vehicle is abnormal, such as a u-turn or a sudden stop. The satisfaction of these preset conditions means that the driver of the vehicle finds that the restriction flag of the road intersection is different from the predicted restriction flag when driving near the road intersection, and therefore the candidate road intersection may be the target road intersection for which the update correction of the restriction flag information is necessary.

In step 204, the correction operation may determine the corrected limit flag information. The corrected limit sign information may be obtained by collecting an image of the real road and then analyzing the image, or may be obtained by further analyzing the trajectories of a plurality of vehicles and the related parameters of a plurality of vehicles. In other embodiments, the information may be obtained through other channels, such as being downloaded from an associated database.

Fig. 3 shows a schematic diagram of a method 300 for updating map data according to another embodiment of the present disclosure, as shown in fig. 3, the method 300 including:

step 301, obtaining map data and position information of a plurality of limit signs in a geographic area;

step 302, determining position information of a plurality of road intersections in map data;

a step 303 of, for each of a plurality of restriction marks, determining a road intersection as a candidate road intersection in response to a position of the restriction mark matching a road intersection position of the plurality of road intersections;

step 304, acquiring running data of a plurality of vehicles, wherein the running data of each vehicle comprises a running track of the vehicle in a geographic area;

a step 305 of determining a candidate road intersection as a first target road intersection in response to the presence of the turn-back of the travel locus of at least part of the travel data of the vehicles within the preset distance range of the candidate road intersection;

step 306, obtaining vehicle parameters of a plurality of vehicles, wherein the vehicle parameters comprise the height and/or width of the vehicles; and

step 307, for each of the at least one first target road junction: determining the corrected limit sign information of the first target road intersection according to vehicle parameters of at least one target vehicle, wherein the at least one target vehicle is a vehicle with a retrace of a driving track of the driving data within a preset distance range of the first target road intersection;

step 308, at least in response to the fact that no turn-back exists in the running tracks of all the vehicles in the running data of the vehicles within the preset distance range of one candidate road intersection, determining the candidate road intersection as a second target road intersection;

step 309, the restriction flag information corresponding to at least one second target road intersection is deleted.

For the original map data, it may not contain information of a plurality of restriction marks, and therefore, it is necessary to obtain the positions of a plurality of restriction marks from other channels (for example, related databases) and then match the positions of the plurality of restriction marks with the positions of a plurality of road intersections, respectively, so as to determine to which road intersection each restriction mark belongs.

In step 301, map data of a geographic area to be updated and location information of a plurality of restriction marks in the geographic area may be obtained from different databases.

In step 302, road intersections formed between a plurality of roads may be determined by analyzing and calculating overpasses or intersection relations between the plurality of roads in the map data, and then the position information of the road intersections may be acquired. The position information of the plurality of limit marks and the position information of the road intersection can be represented in the form of position coordinates, and if the two position coordinates are represented in different forms in the data, the representation forms of the two position coordinates can be further unified, so that the subsequent matching process of the two position coordinates is facilitated.

In step 303, the restriction mark position and the road intersection position are matched, which means that the distance between the positions of the restriction mark position and the road intersection position is smaller than a preset distance, and the preset distance may be, for example, 5m, 10m, 15m, and the like. When the distance between a position of a restriction mark and a position of a road intersection is less than the preset distance, it is determined that the restriction mark and the road intersection are matched. The matched restriction mark information may be stored in the map data together with the position information of the road intersection, and become a part of the map data. Road intersections where there is a matching restriction flag are subsequently determined as candidate road intersections, which are likely to be road intersections for which update of the restriction flag information is subsequently required. The map data is generally separate from the position information of the restriction mark, and therefore the two data need to be fused first in order to subsequently determine the first target road intersection.

In step 304, the plurality of vehicles are vehicles that have historically actually traveled within the geographic area, such as: may be vehicles that actually travel one day, three days, or one week before the update of the map data, and the travel trajectory is the history data information of these vehicles. These travel trajectories can be obtained, for example, by navigation apps installed on the vehicle ends of a plurality of vehicles. When the vehicles enter the geographic area and move in the area, the navigation App may acquire the movement tracks of the vehicles and upload the movement track data of the vehicles to the relevant server 120 or database 130.

In step 305, the existence of the turn-back of the driving track indicates that the vehicle has a turning behavior within the preset distance range of the candidate road intersection, which may prove that the driver of the vehicle finds a width-limited or height-limited sign that does not conform to the original data. Fig. 4 shows a scene schematic diagram of a method implementing an embodiment of the disclosure. As shown in fig. 4, a certain candidate road intersection 403 is formed by the intersection of a road 401 and a road 402, and the road 401 is above the road 402, to determine that a restriction flag 404 is formed in the traveling direction of the road 402. For example, since the driver knows from the navigation App or previous experience that the height limit of the bridge at the candidate road intersection is 4m, the driver thinks that a truck having a height of 3.5m driven by the driver can smoothly pass through the tunnel of the bridge, but the height limit of the bridge at the candidate road intersection may become 3m due to construction or the like, and the truck cannot pass through. At this time, the driver finds a new restriction mark 5 meters away from the intersection of the roads, and turns around the vehicle (the traveling locus of the vehicle is shown by an arrow in the figure), and therefore, the traveling locus of the truck turns back.

In other embodiments, the process of determining the first target road intersection in step 305 may be implemented in other ways, in other words, the preset condition may be other than the condition about the travel track.

In some embodiments, the driving data of each vehicle further comprises a planned trajectory for the vehicle planned by the navigation application within the geographic area, the preset condition being related to the planned trajectory. Determining a candidate road intersection as the first target road intersection in response to the traveling data of at least some of the plurality of vehicles satisfying a preset condition within a preset distance range of the candidate road intersection further includes: and determining a candidate road intersection as the first target road intersection in response to the traveling locus of at least some vehicles in the traveling data of the plurality of vehicles within the preset distance range of the candidate road intersection being different from the planned locus.

The planned trajectory may be a trajectory of a route recommended by a navigation App installed at the vehicle end before the vehicle actually travels, and therefore, the planned trajectory is not a travel trajectory on which the vehicle actually travels. It will be appreciated that when the driver of the vehicle realizes that a candidate road intersection has a restriction mark that is different from the restriction mark information recorded by the original map data, he will intentionally bypass the candidate road intersection, resulting in a different actual travel trajectory of the vehicle than the planned trajectory recommended by the navigation App. When the correlation server 120 determines that the two tracks have a difference in the vicinity of the selected road intersection (for example, the recommended planned track passes through the candidate road intersection, and the actual driving track does not pass through the candidate road intersection), it determines that the candidate road intersection is the target road intersection which needs to be subjected to information correction.

Determining the first target road intersection in combination with analyzing the difference between the actual driving route and the navigation route of the vehicle makes the determination of the first target road intersection more accurate, prevents the vehicle from turning around for other reasons and determines the candidate road intersection as the first target road intersection

In some embodiments, the driving data for each vehicle further includes a driving speed of the vehicle within the geographic area, and the predetermined condition is related to the driving speed. Determining a candidate road intersection as the first target road intersection in response to traveling data of at least some of the plurality of vehicles satisfying a preset condition within a preset distance range of the candidate road intersection further includes: in response to the traveling speeds of at least some of the traveling data of the plurality of vehicles within the preset distance range of one candidate road intersection being less than the threshold speed, the candidate road intersection is determined as the first target road intersection.

When the driver of the vehicle drives near a certain candidate road intersection he may not find the restriction mark, but he may intentionally slow down or even stop by observing that the tunnel height of the bridge at which the candidate road intersection is found is different from the restriction mark information recorded by the original map data, resulting in a vehicle traveling speed within a preset distance range of the candidate road intersection being less than a threshold speed, which may be, for example, 2m/s, 1m/s, 0.5m/s, etc. When the correlation server 120 determines that the running speed is lower than the threshold speed, the candidate road intersection is determined as a subsequent target road intersection needing information correction.

The first target road intersection is determined in conjunction with the travel speed of the vehicle, making the determination of the first target road intersection more accurate.

It should be noted that, although in the process of determining the first target road intersection in the above embodiment, the corresponding candidate road intersection may be determined as the first target road intersection as long as a part of the travel data of the plurality of vehicles satisfies the preset condition, in another embodiment, in order to improve the accuracy of updating the data and avoid the erroneous recognition of the first target road intersection, it may be further defined that the corresponding candidate road intersection is determined as the first target road intersection only when the travel data of a certain proportion (for example, 30%, 50%, or 70%) or more of the travel data of the plurality of vehicles satisfies the preset condition at the same time.

In step 306, vehicle parameters of a plurality of vehicles can still be acquired by the vehicle-end navigation App, and before the vehicles run, the driver can input the parameters of the vehicles, such as the height and width of the vehicles, into the navigation App, and the navigation App plans the recommended running path of the vehicles according to the limit sign information in the map data and the height and width of the vehicles.

In step 307, the corrected limit flag information may be obtained by analyzing the height and width of the vehicle. In some embodiments, a minimum height and/or width present in the vehicle parameters of the at least one target vehicle is determined, and then the minimum height and/or width is determined as the modified restriction mark information for the candidate road intersection. For example: for a certain first target road intersection, if there is a turning behavior of trucks with a height of 5m and a width of 4m at the same time, and if a truck with a height of 3m passes directly, the position limit is assumed to be below 4m, and then the correction result of the limit mark information corresponding to the first target road intersection may be determined to be 4 m.

The height and width parameters of the vehicle are used for determining the corrected limiting sign information, manual collection is avoided, and the cost of map data updating is reduced.

Similar to the above description of step 305, the process of determining the revised limit flag information in step 307 can also be applied to the case where the form data is a planned travel track or travel speed.

In other embodiments, step 306 and step 307 may also determine the modified constraint flag information in other manners. In some embodiments, an image or laser point cloud of a restriction mark at least one first target road intersection may be acquired; the image is then image-identified or the laser point cloud is analyzed to determine corrected limit marking information at the at least one first target road intersection. The image or the laser point cloud of the limit mark can be acquired through manual acquisition or other channels (such as a database of a relevant map information data acquisition department). The digital information on the limit mark can be directly read through image recognition or laser point cloud analysis, so that the corrected limit mark information can be directly determined. And verifying the height limit or width limit information by using the image or the laser point cloud, so that the accuracy of the corrected limit mark information is improved.

In

steps

308 and 309, at least one second target road intersection may additionally be determined from the plurality of candidate road intersections. The second target road intersection is a candidate road intersection for which the corresponding restriction flag information needs to be deleted. For example: for a certain second target road intersection, the restriction flag information recorded in the original map data may be 3m, but if there is a 5 m-height truck in the navigation map that smoothly passes through the tunnel of the second target road intersection, the location is suspected that the setting of the restriction flag has been cleared, and at this time, the restriction flag information of the second target road intersection recorded in the map data may be deleted.

Fig. 5 shows a flowchart of a method 500 of determining location information of a plurality of road intersections in map data according to an embodiment of the present disclosure, as shown in fig. 5, the method 500 including:

step 501, determining path data of a plurality of roads and a plurality of railways in map data;

step 502, determining a plurality of first intersections among a plurality of roads and a plurality of second intersections among a plurality of roads and a plurality of railways according to the path data; and

in step 503, a set of the plurality of first intersections and the plurality of second intersections is determined as the plurality of road intersections.

In step 501, road data in the map data includes route data of a plurality of highways and a plurality of railways. The path data includes the position information of the highway or the railway and the height information of the highway or the railway, and whether the intersection road has the interchange relation can be determined by comparing the height information. The overpass is a condition that two roads intersect and one road is located above the other road, and only in this case is a bridge with a tunnel, which results in a restriction mark.

In step 502, there are two situations where the limit flag may be present. One is that an interchange occurs between a plurality of roads, and the other is that an interchange occurs between a road and a railway. It will be appreciated that in the second case, the railway needs to be located above the road to generate the restriction mark. The plurality of first intersections can be determined by analyzing and calculating route data of a plurality of roads, and the plurality of second intersections can be determined by analyzing and calculating route data of a plurality of roads, route data of a plurality of railways, and a height information relationship therebetween.

By determining a plurality of road intersections according to the situation, the road intersections where the restriction marks are unlikely to appear originally are prevented from being determined as candidate road intersections, and therefore the accuracy of subsequent map data updating is improved.

There is also provided in accordance with another aspect of the present disclosure an apparatus for updating map data. Fig. 6 shows a block diagram of an apparatus 600 for updating map data according to an embodiment of the present disclosure. As shown in fig. 6, the apparatus 600 includes: a first determination unit 610 configured to determine positions of a plurality of candidate road intersections in map data representing a geographical area, wherein the plurality of candidate road intersections are road intersections including restriction flag information in the map data; an obtaining unit 620 configured to obtain travel data of a plurality of vehicles, wherein the travel data of each vehicle includes a travel track of the vehicle within a geographic area; a second determination unit 630 configured to determine one candidate road intersection as a first target road intersection in response to traveling data of at least some vehicles among the traveling data of the plurality of vehicles satisfying a preset condition within a preset distance range of the candidate road intersection; and a correction unit 640 configured to perform a correction operation on the restriction flag information at the at least one first target road intersection.

The various elements of the apparatus 600 shown in fig. 6 may correspond to the various steps in the method 200 described with reference to fig. 2, whereby the operations, features and advantages described above with respect to the method 200 are equally applicable to the apparatus 600 and the elements comprised therein. Certain operations, features and advantages may not be described in detail herein for the sake of brevity.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations and do not violate the good customs of the public order.

According to an embodiment of the present disclosure, there is also provided an electronic device, a readable storage medium, and a computer program product.

Referring to fig. 7, a block diagram of a structure of an electronic device 700, which may be a server or a client of the present disclosure, which is an example of a hardware device that may be applied to aspects of the present disclosure, will now be described. Electronic device is intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 7, the electronic device 700 includes a computing unit 701, which may perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data required for the operation of the electronic device 700 can also be stored. The computing unit 701, the ROM702, and the RAM703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

A number of components in the electronic device 700 are connected to the I/O interface 705, including: an input unit 706, an output unit 707, a storage unit 708, and a communication unit 709. The input unit 706 may be any type of device capable of inputting information to the electronic device 700, and the input unit 706 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device, and may include, but is not limited to, a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and/or a remote controller. Output unit 707 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, a video/audio output terminal, a vibrator, and/or a printer. Storage unit 708 may include, but is not limited to, magnetic or optical disks. The communication unit 709 allows the electronic device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, such as bluetooth (TM) devices, 802.11 devices, WiFi devices, WiMax devices, cellular communication devices, and/or the like.

Computing unit 701 may be a variety of general purpose and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 701 performs the respective methods and processes described above, such as a method for updating map data. For example, in some embodiments, the method for updating map data may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 708. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 700 via the ROM702 and/or the communication unit 709. When the computer program is loaded into the RAM703 and executed by the computing unit 701, one or more steps of the method for updating map data described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured by any other suitable means (e.g., by means of firmware) to perform the method for updating map data.

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

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

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

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

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

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

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

Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the above-described methods, systems and apparatus are merely exemplary embodiments or examples and that the scope of the present invention is not limited by these embodiments or examples, but only by the claims as issued and their equivalents. Various elements in the embodiments or examples may be omitted or may be replaced with equivalents thereof. Further, the steps may be performed in an order different from that described in the present disclosure. Further, various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced with equivalent elements that appear after the present disclosure.

Claims

1. A method for updating map data, comprising:

determining positions of a plurality of candidate road intersections in map data representing a geographical area, wherein the plurality of candidate road intersections are road intersections including restriction flag information in the map data;

acquiring running data of a plurality of vehicles, wherein the running data of each vehicle comprises a running track of the vehicle in the geographic area;

determining a candidate road intersection as a first target road intersection in response to traveling data of at least some vehicles among the traveling data of the plurality of vehicles satisfying a preset condition within a preset distance range of the candidate road intersection; and

and performing a correction operation on the restriction flag information at the at least one first target road intersection.

2. The method according to claim 1, wherein the determining of one candidate road intersection as the first target road intersection in response to the traveling data of at least some of the plurality of vehicles satisfying a preset condition within a preset distance range of the candidate road intersection comprises:

in response to the presence of a turn-back of a travel locus of at least a part of the travel data of the vehicles within a preset distance range of one candidate road intersection, determining the candidate road intersection as a first target road intersection.

3. The method of claim 1, wherein the driving data of each vehicle further comprises a planned trajectory for the vehicle planned by the navigation application within the geographic area, wherein the determining a candidate road intersection as the first target road intersection in response to the driving data of at least some of the plurality of vehicles satisfying a predetermined condition within a predetermined distance range of the candidate road intersection further comprises:

and determining a candidate road intersection as the first target road intersection in response to the traveling locus of at least some vehicles in the traveling data of the plurality of vehicles within the preset distance range of the candidate road intersection being different from the planned locus.

4. The method of claim 1, wherein the travel data for each vehicle further includes a travel speed of the vehicle within the geographic area, wherein determining a candidate road intersection as the first target road intersection in response to the travel data for at least some of the plurality of vehicles satisfying a predetermined condition within a predetermined distance range of the candidate road intersection further comprises:

determining a candidate road intersection as the first target road intersection in response to a traveling speed of at least some of the traveling data of the plurality of vehicles within a preset distance range of the candidate road intersection being less than a threshold speed.

5. The method of claim 1, wherein the determining locations of a plurality of candidate road intersections in map data representing a geographic area comprises:

acquiring the map data and position information of a plurality of limit marks in the geographic area;

determining location information for a plurality of road intersections in the map data;

for each of the plurality of restriction marks, in response to a position of the restriction mark matching a road intersection position of the plurality of road intersections, determining the road intersection as a candidate road intersection.

6. The method of claim 5, wherein the determining location information for a plurality of road intersections in the map data comprises:

determining path data of a plurality of roads and a plurality of railways in the map data;

determining a plurality of first intersections between the plurality of highways and a plurality of second intersections between the plurality of highways and the plurality of railways from the route data; and

determining a set of the plurality of first intersections and the plurality of second intersections as the plurality of road intersections.

7. The method according to any one of claims 1-6, wherein said modifying the restriction flag information at the at least one first target road intersection comprises:

obtaining vehicle parameters of the plurality of vehicles, wherein the vehicle parameters comprise the height and/or width of the vehicles; and

for each of the at least one first target road junction:

and determining the corrected limit sign information of the first target road intersection according to the vehicle parameters of at least one target vehicle, wherein the at least one target vehicle is a vehicle with a retrace of the running track of the running data within the preset distance range of the first target road intersection.

8. The method of claim 7, wherein determining the modified restriction flag information for the first target road intersection based on the vehicle parameters of the at least one target vehicle comprises:

determining a minimum height and/or width present in vehicle parameters of the at least one target vehicle; and

and determining the minimum height and/or width as the corrected limit sign information of the candidate road intersection.

9. The method according to any one of claims 1-6, wherein said modifying the restriction flag information at the at least one first target road intersection further comprises:

acquiring an image or a laser point cloud of a limit sign at the at least one first target road intersection; and

performing image recognition on the image or analyzing the laser point cloud to determine corrected limit marking information at the at least one first target road intersection.

10. The method of any of claims 1-6, further comprising:

determining a candidate road intersection as a second target road intersection in response to at least no turn-back of the travel trajectories of all the vehicles in the travel data of the plurality of vehicles within a preset distance range of the candidate road intersection; and

and deleting the corresponding restriction mark information of the at least one second target road intersection.

11. An apparatus for updating map data, comprising:

a first determination unit configured to determine positions of a plurality of candidate road intersections in map data representing a geographical area, wherein the plurality of candidate road intersections are road intersections including restriction flag information in the map data;

an acquisition unit configured to acquire travel data of a plurality of vehicles, wherein the travel data of each vehicle includes a travel track of the vehicle within the geographic area;

a second determination unit configured to determine a candidate road intersection as a first target road intersection in response to traveling data of at least some of the plurality of vehicles satisfying a preset condition within a preset distance range of the candidate road intersection; and

a correction unit configured to perform a correction operation on the restriction flag information at the at least one first target road intersection.

12. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein

The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-10.

13. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-10.

14. A computer program product comprising a computer program, wherein the computer program realizes the method of any one of claims 1-10 when executed by a processor.