CN115146007A - Map data processing method and device - Google Patents

Map data processing method and device Download PDF

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Publication number
CN115146007A
CN115146007A CN202110292905.0A CN202110292905A CN115146007A CN 115146007 A CN115146007 A CN 115146007A CN 202110292905 A CN202110292905 A CN 202110292905A CN 115146007 A CN115146007 A CN 115146007A
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confidence
map
confidence information
information
target
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刘建琴
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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Priority to CN202110292905.0A priority Critical patent/CN115146007A/en
Priority to PCT/CN2022/079965 priority patent/WO2022194008A1/en
Publication of CN115146007A publication Critical patent/CN115146007A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/23—Updating
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map

Abstract

The application provides a map data processing method and device, which can solve the problem of low accuracy of map element evaluation and updating caused by the confidence of a single map element reported by terminal equipment, thereby improving the accuracy of map updating and being applicable to a vehicle networking communication system. The method comprises the following steps: the network side can obtain the confidence information of the map elements and determine whether to update the map according to the confidence information of the map elements. Wherein the reference confidence information may include: confidence information of the target element and reference confidence information. The reference confidence information may include: at least one of confidence information for the reference element, joint confidence information for the target element and the reference element, and conditional confidence information for the target element and the reference element.

Description

Map data processing method and device
Technical Field
The application relates to the field of maps and internet of vehicles, in particular to a map data processing method and device.
Background
With the wide use of electronic maps in daily life, updating maps becomes an important part of the use process of electronic maps. The traditional map updating mode is that a large number of road networks are distributed to acquire, maintain and update data, so that a large amount of manpower, material resources and financial resources are consumed, and the acquisition cost and the maintenance and update cost are high. The crowdsourcing acquisition mode is that terminal equipment, such as a vehicle or a mobile phone, is used for acquiring and reporting acquired data to a cloud end, and the cloud end updates a map according to the data reported by the terminal equipment so as to reduce the cost of map updating. However, the accuracy of the map updating method is not sufficient, and the requirement of a scene with a high map accuracy requirement cannot be met.
Disclosure of Invention
The embodiment of the application provides a map data processing method and device, and the technical problem that map updating accuracy is not high based on crowdsourcing data acquisition can be solved.
In order to achieve the purpose, the following technical scheme is adopted in the application:
in a first aspect, a method for processing map data is provided, which is applied to a network side. The map data processing method may include: and obtaining the confidence information of the map elements, and determining whether to update the map according to the confidence information of the map elements. The map element may include a target element and a reference element, the confidence information of the map element may include confidence information of the target element and reference confidence information, and the reference confidence information may include: at least one of confidence information of the reference element, joint confidence information between the target element and the reference element, and conditional confidence information between the target element and the reference element.
Based on the map data processing method in the first aspect, the network side may evaluate whether the target element changes according to the confidence information of the target element reported by the terminal device and the reference confidence information of the reference element associated with the target element, and update the target element in the map according to the evaluation result. That is to say, the credibility of the change of the target element can be evaluated based on the incidence relation between the reference element and the target element, and the adverse effects of different acquisition capabilities of different terminal devices on the evaluation and updating of the target element can be reduced, so that the accuracy of map updating is improved.
In addition, the confidence information of a single map element is also influenced by the self equipment error of the terminal equipment, such as a terminal positioning error item, an external reference calibration error item, a measurement error item of a sensor and the like. The map data processing method of the first aspect may further comprehensively evaluate confidence information of a plurality of map elements reported by the terminal device, so as to reduce adverse effects on the confidence information of the map elements due to device errors of the terminal device, thereby improving accuracy of evaluation.
In one possible design, the reference element may be multiple, and the reference confidence information may further include: joint confidence information or conditional confidence information between each two of the plurality of reference elements. Therefore, the map is updated by combining the incidence relation between the reference elements, and more accurate confidence information can be obtained, so that the accuracy of map updating is further improved.
Alternatively, the confidence information of the map elements may be used to determine a confidence covariance matrix. For example, the confidence information of the map element is a confidence covariance matrix, or the confidence information of the map element is used to indicate the confidence covariance matrix, or the confidence information of the map element includes each element in the confidence covariance matrix, so that the receiving end determines the confidence covariance matrix. The confidence covariance matrix may include the confidence of a plurality of map elements. The confidence covariance matrix may include the following formula:
Figure BDA0002983114090000011
Figure BDA0002983114090000021
wherein, cov (P) v ) For the confidence covariance matrix, diagonal element P v (x) Confidence of the x-th map element, P v (x, y) is a joint confidence or conditional confidence of the xth map element relative to the yth map element, the joint confidence information between the xth and yth map elements including: the joint confidence of the xth map element relative to the yth map element, the conditional confidence information between the xth and yth map elements comprising: conditional confidence of the x-th map element relative to the y-th map element. Wherein x = i, i +1, \ 8230, i + n; y = i, i +1, \ 8230;, i + n; i and n are positive integers greater than or equal to 1.
In one possible design, obtaining confidence information of the map element may include: and the network side acquires the confidence information from the plurality of terminal devices and fuses the confidence information of the plurality of terminal devices to obtain the fused confidence information. And the fused confidence information is the confidence information of the map elements. Therefore, by fusing the confidence information of the map elements uploaded by the plurality of terminal devices, such as the confidence information of the target elements or the reference confidence information, the adverse effect of a single terminal device, such as a terminal device with large calculation error, on the confidence can be reduced, so that the credibility of the fused map elements is improved, and the accuracy of evaluation is further improved.
In one possible embodiment, the conditional confidence information between the target element and the reference element may relate to an influence factor of the reference element on the target element. Therefore, the incidence relation between the reference element and the target element can be represented by using the influence factors, so that the condition confidence degree information can more accurately reflect the credibility of the target element, and the accuracy of evaluation is improved.
In one possible embodiment, the target element may be a changed map element.
In one possible design, the reference element may be a map element whose reference confidence information satisfies a preset condition. Therefore, the network side can more accurately evaluate whether the target element changes or not when the reference element meets the preset condition, and the accuracy of map updating is further improved.
In a second aspect, a map data processing method is provided and applied to a terminal device. The map data processing method may include: confidence information for a target element, which may be a map element, is determined. Determining reference confidence information, which may include: at least one of confidence information of the reference element, joint confidence information between the target element and the reference element, or conditional confidence information between the target element and the reference element. And finally, sending the confidence information of the map elements to a network side. Wherein the confidence information of the map element comprises the confidence information of the target element and the reference confidence information.
In one possible design, the reference element may be multiple, and the reference confidence information may further include: joint confidence information or conditional confidence information between each two of the plurality of reference elements.
Alternatively, the confidence information of the map elements may be used to determine a confidence covariance matrix. For example, the confidence information of the map element is a confidence covariance matrix, or the confidence information of the map element is used to indicate the confidence covariance matrix, or the confidence information of the map element includes each element in the confidence covariance matrix, so that the receiving end determines the confidence covariance matrix. The confidence covariance matrix may include confidences of a plurality of map elements, the plurality of map elements including the target element and the reference element, the confidence covariance matrix may include the following formula:
Figure BDA0002983114090000022
wherein, cov (P) v ) As a confidence covariance matrix, diagonal element P v (x) Confidence of the x-th map element, P v (x, y) is a joint confidence or conditional confidence of the xth map element relative to the yth map element, the joint confidence information between the xth and yth map elements including: the joint confidence of the xth map element relative to the yth map element, the conditional confidence information between the xth and yth map elements comprising: conditional confidence of the x-th map element relative to the y-th map element. Wherein x = i, i +1, \ 8230, i + n; y = i, i +1, \ 8230;, i + n; i and n are positive integers.
In one possible design, the method according to the second aspect may further include: a target element and a reference element are determined. The target element is a changed map element, and the reference element is a map element with confidence coefficient information meeting preset conditions.
In addition, the technical effects of the map data processing method according to the second aspect may refer to the technical effects of the map data processing method according to the first aspect, and are not described herein again.
In a third aspect, a map data processing apparatus is provided. The device includes: the device comprises a processing module and an acquisition module. The obtaining module may be configured to obtain confidence information of the map element. The map element may include a target element and a reference element, the confidence information may include confidence information of the target element and reference confidence information, and the reference confidence information may include: at least one of confidence information for the reference element, joint confidence between the target element and the reference element, and conditional confidence between the target element and the reference element. The processing module may be configured to determine whether to update the map according to the confidence information of the map elements.
In one possible design, the reference element may be multiple, and the reference confidence information may further include: joint confidence information or conditional confidence information between each two of the plurality of reference elements.
Alternatively, the confidence information of the map elements may be used to determine a confidence covariance matrix. For example, the confidence information of the map element is a confidence covariance matrix, or the confidence information of the map element is used to indicate the confidence covariance matrix, or the confidence information of the map element includes each element in the confidence covariance matrix, so that the receiving end determines the confidence covariance matrix. The confidence covariance matrix may include the confidence of a plurality of map elements, and the confidence covariance matrix may include the following formula:
Figure BDA0002983114090000031
Figure BDA0002983114090000032
wherein, cov (P) v ) As a confidence covariance matrix, diagonal element P v (x) Confidence of the x-th map element, P v (x, y) is a joint confidence or conditional confidence of the xth map element relative to the yth map element, the joint confidence information between the xth and yth map elements including: joint of xth map element with respect to yth map elementConfidence, the conditional confidence information between the xth map element and the yth map element including: a conditional confidence of the xth map element relative to the y map element. Wherein x = i, i +1, \ 8230, i + n; y = i, i +1, \ 8230;, i + n; i and n are positive integers.
In a possible design scheme, the obtaining module may be further configured to obtain confidence information from multiple terminal devices, and fuse the confidence information of the multiple terminal devices to obtain fused confidence information. And the fused confidence information is the confidence information of the map elements.
In one possible design, the conditional confidence information between the target element and the reference element may relate to an impact factor of the reference element on the target element.
In one possible embodiment, the target element is a changed map element.
In one possible design, the reference element may be a map element whose reference confidence information satisfies a preset condition.
Optionally, the obtaining module may include a transceiver module, and the transceiver module may include a receiving module and a transmitting module. The receiving module and the sending module are respectively used for realizing the receiving function and the sending function of the map data processing device of the third aspect. For example, the receiving module may be configured to receive confidence information from a plurality of terminal devices.
Optionally, the map data processing apparatus according to the third aspect may further include a storage module, where the storage module stores a program or an instruction. The processing module, when executing the program or the instructions, makes it possible for the map data processing apparatus described in the third aspect to execute the map data processing method described in the first aspect.
It should be noted that the map data processing apparatus according to the third aspect may be a network side, or may be a chip (system) or other component or assembly that can be disposed in the network side, which is not limited in this application.
In addition, the technical effects of the map data processing apparatus according to the third aspect may refer to the technical effects of the map data processing method according to the first aspect, and are not described herein again.
In a fourth aspect, a map data processing apparatus is provided. The apparatus may include: a processing module and a transceiver module. The processing module is used for determining the confidence information of the target element. A processing module further configured to determine reference confidence information, the reference confidence information may include: at least one of confidence information of the reference element, joint confidence information between the target element and the reference element, or conditional confidence information between the target element and the reference element. And the transceiving module is used for sending the confidence information of the map elements to the network side. Wherein the confidence information of the map element includes the confidence information of the target element and the reference confidence information.
One possible design scenario wherein the reference confidence information further comprises: joint confidence information or conditional confidence information between multiple reference elements.
Alternatively, the confidence information of the map elements may be used to determine a confidence covariance matrix. For example, the confidence information of the map element is a confidence covariance matrix, or the confidence information of the map element is used to indicate the confidence covariance matrix, or the confidence information of the map element includes each element in the confidence covariance matrix, so that the receiving end determines the confidence covariance matrix. The confidence covariance matrix may include the confidence of a plurality of map elements including the target element and the reference element, and the confidence covariance matrix may include the following formula:
Figure BDA0002983114090000041
wherein, cov (P) v ) As a confidence covariance matrix, diagonal element P v (x) Confidence of the x-th map element, P v (x, y) is a joint confidence or conditional confidence of the xth map element relative to the yth map element, the joint confidence information between the xth and yth map elements including: joint confidence of the xth map element relative to the yth map element, conditional confidence between the xth and yth map elementsThe information includes: a conditional confidence of the xth map element relative to the y map element. Wherein x = i, i +1, \8230;, i + n; y = i, i +1, \ 8230;, i + n; i and n are positive integers.
In one possible embodiment, the processing module may be further configured to determine the target element and the reference element. The target element is a changed map element, and the reference element is a map element with reference confidence information meeting preset conditions.
Optionally, the transceiver module may include a receiving module and a transmitting module. The receiving module and the sending module are respectively used for realizing the receiving function and the sending function of the map data processing device in the fourth aspect.
Optionally, the map data processing apparatus according to the fourth aspect may further include a storage module, where the storage module stores a program or an instruction. When the processing module executes the program or the instructions, the map data processing apparatus described in the fourth aspect is caused to execute the map data processing method described in the second aspect.
It should be noted that the map data processing apparatus described in the fourth aspect may be a terminal device, or may be a chip, other component, or assembly that can be disposed in the terminal device, which is not limited in this application.
In addition, for technical effects of the map data processing apparatus according to the fourth aspect, reference may be made to technical effects of the map data processing method according to the first aspect, and details are not repeated here.
In a fifth aspect, a map data processing apparatus is provided. The map data processing apparatus is configured to execute the map data processing method according to the first aspect or the second aspect.
In this application, the map data processing apparatus according to the fifth aspect may be the network side according to the first aspect, the terminal device according to the second aspect, a chip, another component, or a module provided in each of the above devices, or an apparatus including the above devices.
It should be understood that the map data processing apparatus according to the fifth aspect includes corresponding modules, units, or means (means) for implementing the map data processing method according to the first aspect or the second aspect, and the modules, units, or means may be implemented by hardware, software, or hardware executing corresponding software. The hardware or software includes one or more modules or units for performing the functions involved in any of the above-described map data processing methods.
In addition, for technical effects of the map data processing apparatus according to the fifth aspect, reference may be made to technical effects of the map data processing method according to the first aspect or the second aspect, and details are not repeated here.
In a sixth aspect, a map data processing apparatus is provided. The map data processing apparatus includes: a processor for executing the map data processing method of the first aspect or the second aspect.
In a possible design, the map data processing apparatus according to the sixth aspect may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be for the map data processing apparatus of the sixth aspect to communicate with other apparatuses.
In a possible configuration, the map data processing apparatus according to the sixth aspect may further include a memory. The memory may be integral with the processor or may be separate. The memory may be used to store the computer program and/or data relating to the map data processing method of the first or second aspect.
In this application, the map data processing apparatus according to the sixth aspect may be the network side according to the first aspect, the terminal device according to the second aspect, a chip, another component, or a module provided in each of the devices, or an apparatus including the devices.
In addition, for technical effects of the map data processing apparatus according to the sixth aspect, reference may be made to technical effects of the map data processing method according to the first aspect or the second aspect, and details are not repeated here.
In a seventh aspect, a map data processing apparatus is provided. The map data processing apparatus includes: a processor coupled to the memory, the processor being configured to execute the computer program stored in the memory to cause the map data processing apparatus to perform the map data processing method of the first aspect or the second aspect.
In a possible design, the map data processing apparatus of the seventh aspect may further include a transceiver. The transceiver may be a transmit-receive circuit or an interface circuit. The transceiver may be used for the map data processing apparatus according to the seventh aspect to communicate with other apparatuses.
In this application, the map data processing apparatus according to the seventh aspect may be the network side according to the first aspect, the terminal device according to the second aspect, or a chip, other component or assembly provided in each of the above devices, or an apparatus including the above devices.
In addition, for technical effects of the map data processing apparatus according to the seventh aspect, reference may be made to technical effects of the map data processing method according to the first aspect or the second aspect, and details are not repeated here.
In an eighth aspect, there is provided a map data processing apparatus including: a processor and a memory; the memory is used for storing a computer program or instructions which, when executed by the processor, causes the map data processing apparatus to perform the map data processing method according to the first aspect or the second aspect.
In a possible design, the map data processing apparatus according to the eighth aspect may further include a transceiver. The transceiver may be a transmit-receive circuit or an interface circuit. The transceiver may be used for the map data processing apparatus according to the eighth aspect to communicate with other apparatuses.
In this application, the map data processing apparatus according to the eighth aspect may be the network side according to the first aspect, the terminal device according to the second aspect, or a chip, other component, or assembly provided in each of the above devices, or an apparatus including the above devices.
In addition, for technical effects of the map data processing apparatus according to the eighth aspect, reference may be made to technical effects of the map data processing method according to the first aspect or the second aspect, and details are not repeated here.
In a ninth aspect, there is provided a map data processing apparatus comprising: a processor; the processor is configured to be coupled with the memory, and after reading the computer program in the memory, execute the map data processing method according to the first aspect or the second aspect.
In a possible design, the map data processing apparatus according to the ninth aspect may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the map data processing apparatus described in the ninth aspect to communicate with other apparatuses.
In this application, the map data processing apparatus according to the ninth aspect may be the network side according to the first aspect, the terminal device according to the second aspect, or a chip, other component or assembly provided in each of the above devices, or an apparatus including the above devices.
In addition, for technical effects of the map data processing apparatus according to the ninth aspect, reference may be made to technical effects of the map data processing method according to the first aspect or the second aspect, and details are not repeated here.
In a tenth aspect, a processor is provided. The processor is configured to execute the map data processing method described in any one of the possible implementation manners of the first aspect or the second aspect.
In an eleventh aspect, a map data processing system is provided. The map data processing system comprises a network side and one or more terminal devices.
In a twelfth aspect, there is provided a computer-readable storage medium comprising: computer programs or instructions; the computer program or instructions, when run on a processor, cause the map data processing method of the first or second aspect to be performed.
In a thirteenth aspect, there is provided a computer program product comprising a computer program or instructions which, when run on a processor, causes the map data processing method of the first or second aspect to be performed.
Drawings
FIG. 1 is a block diagram of a data processing system according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a map data processing method according to an embodiment of the present application;
FIG. 3 is a diagram illustrating a map element according to an embodiment of the present disclosure;
fig. 4 is a first schematic structural diagram of a map data processing apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a map data processing apparatus according to an embodiment of the present application;
fig. 6 is a third schematic structural diagram of a map data processing apparatus according to an embodiment of the present application.
Detailed Description
First, technical terms related to embodiments of the present application will be described.
1. Crowdsourcing: crowdsourcing has become more widespread in different areas, converting what would otherwise be done by a professional company or institution into a mode of operation by a multitude of users. For example, the collection of raw data can be completed by many users while using the device daily, and is used as a basis for improving the user experience.
For example, in the map field, data collection is converted from an original professional collection mode into a crowdsourcing collection mode, wherein the professional collection mode collects map information by using professional collection equipment, and the crowdsourcing collection mode can collect map information by using terminal equipment such as a vehicle or a mobile phone through a sensor carried by the crowdsourcing collection mode during daily use.
In the map updating process in the professional collection mode, a network side (e.g., a cloud side) usually receives a notification that a map element is changed in advance, and then collects the changed map element in a corresponding area by using professional collection equipment. In the map updating process in the crowdsourcing acquisition mode, if the terminal equipment detects that a certain map element changes, the terminal equipment can directly send the acquired information of the map element to the cloud end so as to update the map in time.
Compared with the professional collection mode, the terminal equipment in the crowdsourcing collection mode can execute the collection service in the process of executing the daily service, the problem of insufficient professional collection equipment can be solved, and the collection efficiency and the real-time property of map element updating can be improved.
2. Confidence coefficient: the likelihood that a measured value embodying a parameter is consistent with respect to the true value, or that the true value falls within a confidence interval of the measurement, may be used to characterize the trustworthiness of the measurement. The confidence level may be expressed in the form of a probability, in which case the confidence level may be referred to as a confidence probability, or simply a probability. In the embodiment of the present application, the confidence may be used to indicate the credibility of the measured map element information.
3. Covariance matrix: each element in the covariance matrix is a covariance between variables, and the covariance is used to represent the total error of the two variables, i.e. the relative trend of the two variables, and if the trends of the two variables are consistent, the covariance is positive, and if the trends of the two variables are opposite, the covariance is negative.
For example, embodiments of the present application provide a joint confidence (or joint probability) covariance matrix whose diagonal elements are the confidences (or probabilities) of individual map elements and whose off-diagonal elements are the joint confidences (or joint probabilities) between two map elements, which may represent the overall error between the confidences of the map elements. The confidence of a map element may also be referred to as a probability, which is, for example, an edge probability. The off-diagonal element is a joint confidence between two map elements, and may include a joint confidence of a first map element relative to a second map element of the two map elements, or a joint confidence of the second map element relative to the first map element. Further, the joint confidence between two map elements on the off-diagonal elements may be replaced by a conditional confidence to obtain a conditional confidence covariance matrix.
4. Diversity calculation: in radio communications, upon receiving multiple signals carrying the same message, diversity calculations may be used to recover the communicated message using either a selection circuit or a combining circuit. Compared with the method of obtaining the message through a single signal, the method of diversity calculation can obtain the message with better quality. In the embodiment of the application, the network side can fuse the confidence degrees of the map elements by using a diversity calculation mode so as to improve the credibility of the map elements.
5. Maximum likelihood optimization estimation (MLE) strategy: the method is a common strategy for estimating class conditional probability, and the core idea of the MLE strategy is that the event corresponding to the maximum probability is the event which has already occurred. In the embodiment of the application, the network side can evaluate whether the target element changes by using the MLE strategy so as to improve the accuracy of map updating.
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.
The technical scheme of the embodiment of the application can be applied to various map data processing systems or various communication systems which need to execute the map data processing method, such as a vehicle to any object (V2X) communication system.
This application is intended to present various aspects, embodiments, or features around a system that may include a number of devices, components, or modules, and the like. It is to be understood and appreciated that the various systems may include additional devices, components, modules, or the like, and/or may not include all of the devices, components, modules, or the like discussed in connection with the figures. Furthermore, a combination of these schemes may also be used. In the embodiments of the present application, "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., H and/or I, which may mean: h exists alone, H and I exist simultaneously, and I exists alone. Further, by "at least one of (at least one of a).
To facilitate understanding of the embodiment of the present application, first, a system to which the map data processing method provided in the embodiment of the present application is applied will be described by taking the map data processing system shown in fig. 1 as an example.
Fig. 1 is a schematic architecture diagram of a map data processing system according to an embodiment of the present application. As shown in fig. 1, the map data processing system may include a terminal device and a network side, such as a cloud, which may include a cloud server and/or a cloud virtual machine. The number of the terminal devices can be one or more, and the terminal devices are configured with sensors which can be used for collecting information of map elements.
In a possible design, the terminal device may be a device capable of providing collected map elements for the network device, and the network side may be a device capable of updating the map according to the reported map elements. It should be understood that, when the terminal device detects that a map element (i.e., a target element) changes, it determines the confidence information of the map element and the reference confidence information of other map elements (i.e., reference elements) around the map element, and uploads the confidence information corresponding to the map element and the reference confidence information corresponding to the reference element to the network side. The network side and the terminal device may be configured to execute a map data processing method shown in fig. 2 described below to determine whether the map element is changed, thereby updating the map with the changed map element.
The network side of the map data processing system may be a network side device, and the network side of the map data processing system may include a device, a chip, or a chip system having a transceiving function, and is configured to perform steps executed by the network side in the following method. The network side includes but is not limited to: an application server arranged in the network, such as a map server, or a Road Side Unit (RSU) having a map update function. The network side may be configured to provide a map service, for example, store an electronic map, update the electronic map, or send the electronic map to a terminal device, and the specific implementation manner may refer to the related content shown in fig. 2, which is not described herein again. In addition, the network side can be used for providing over-the-air upgrade services, and/or software/algorithm update services and the like.
The terminal device may be a device, a chip, or a system-on-chip having a transmitting/receiving function. The terminal device can also be referred to as a user equipment, an access terminal, a subscriber unit, a remote terminal, a mobile device, a user terminal, a wireless communication device, a user agent, or a user device. The terminal device in the embodiment of the application may be a vehicle, a mobile phone (mobile phone), a tablet computer (Pad), a computer, an intelligent terminal in self driving (self driving), a terminal in transportation safety (transportation safety), a wireless terminal in smart city (smart city), a vehicle-mounted terminal, or an RSU having a map information acquisition function, and the like. The RSU with the map information acquisition function can receive an instruction from a network side, intensively perceive unmatched map elements and report the perception result to the network side. The terminal device of the present application may also be an on-board module, an on-board component, an on-board chip, or an on-board unit built into a vehicle as one or more components or units. The terminal device can use an electronic map issued by a network side, and the terminal device can also be used for sensing the surrounding environment, acquiring the parameters of the map elements which are not matched with the electronic map and the attribute information of the map elements, such as confidence coefficient, and reporting the parameters and the attribute information of the map elements to the network side. For a specific implementation, reference may be made to related contents shown in fig. 2 described below, and details are not described here.
It should be noted that the solution in the embodiment of the present application may also be applied to other map data processing systems, and the corresponding names may also be replaced with names of corresponding functions in other map data processing systems.
It should be appreciated that fig. 1 is a simplified schematic diagram that is merely exemplary for ease of understanding, and that other network-side, and/or other terminal devices, not shown in fig. 1, may also be included in the map data processing system.
The map data processing method provided by the embodiment of the present application will be specifically described below with reference to fig. 2 to 3.
Exemplarily, fig. 2 is a schematic flowchart of a map data processing method provided in an embodiment of the present application. The map data processing method can be applied to the map data processing system shown in fig. 1. As shown in fig. 2, the map data processing method includes the steps of:
s201, the terminal device determines confidence information of the target element.
Illustratively, the terminal device may be a vehicle or a roadside unit as shown in fig. 1. The target element may be a map element detected by the terminal device as not conforming to the electronic map, and the element is changed compared with the element in the map, for example, the passable direction change caused by road repair. Alternatively, the target element may be an element measured by the terminal device, and the element is a new element compared with the map, such as a beacon, and is not represented in the map stored in the terminal. The electronic map may be map data stored locally for the terminal device, and the map data stored locally may be map data prestored by the terminal device, or may be map data received by the terminal device from the network side in advance. In the embodiment of the application, the acquisition mode of the electronic map is not limited. The terminal device can realize a navigation function and/or an automatic driving function by using the electronic map. The map element may be any kind of information element in an electronic map. For example, the information element may include geographic information such as location information, road information, or building information, such as: building type, street number where the building is located, traffic sign line, traffic signal lamp, or the like. The embodiment of the present application does not limit the specific implementation manner of the map element.
Moreover, the confidence information (also referred to as the first confidence information) of the target element may be used to indicate the confidence level of the target element, and a specific implementation manner of the confidence information of the target element may refer to the following specific implementation manner in S203, which is not described herein again.
S202, the terminal device determines reference confidence information.
For example, the reference confidence information may be confidence information associated with the reference element. The reference element may be a map element collected by the terminal device. There is an association between the reference element and the target element. The association rules may be preset in the terminal device, for example elements within a preset distance. For example, if the target element is a traffic light in the north direction newly added at the intersection detected by the terminal device, the reference element may be a traffic light in the south direction, a traffic light in the west direction, and/or a traffic light in the east direction at the intersection, or may be a lamp post on which the traffic light corresponding to the target element is located, or may be a surrounding building corresponding to the intersection. For another example, if the target element is a road segment being repaired, which is detected by the terminal device, the reference element may be a surrounding building of the road segment or a traffic sign in the road segment. The embodiment of the application does not limit the specific implementation manner of the relevance between the reference element and the target element.
Further, the reference confidence information may be used to indicate the confidence level of the reference element, or the reference confidence information may be used to indicate: the degree of confidence of a first map element relative to a second map element of the two map elements. The first map element and the second map element may include a target element and a reference element, or may include two reference elements. For a specific implementation of the reference confidence information, reference may be made to the following specific implementation in step S203, which is not described herein again.
Optionally, in this embodiment of the application, the reference element may be a map element whose reference confidence information satisfies a preset condition. As to the implementation of the preset condition, reference may be made to the following specific implementation manner of the second preset condition, which is not described herein again.
It should be noted that the number of the target elements and the number of the reference elements may be one or more, which are detected by the terminal device. In addition, when there are a plurality of target elements, the plurality of target elements may have a relationship therebetween. For example, the plurality of target elements includes a first target element and a second target element, the first target element may be a reference element of the second target element, and the second target element may also be a reference element of the first target element.
It can be understood that the association between the target element and the reference element may be configured or preset for the terminal device, or may be set by a protocol, and the embodiment of the present application does not limit a specific implementation manner for the terminal device to obtain the association between the map elements.
S203, the terminal device sends the first confidence information and the reference confidence information to the network side. Accordingly, the network side obtains confidence information of the map elements from at least one terminal device.
The confidence information of the map element of the terminal device (which may also be referred to as confidence information of the terminal device) may include the first confidence information and the reference confidence information.
Illustratively, the network side may be the cloud or the server shown in fig. 1. The confidence information of the map element may be used to indicate the confidence level of the map element. For example, the first confidence information may be used to represent the trustworthiness of the target element. The reference confidence information may be used to indicate the trustworthiness of the reference element, or the trustworthiness of a first map element relative to a second map element of the two map elements. The first map element and the second map element may include a target element and a reference element, and may further include two reference elements. The confidence information (the first confidence information and the reference confidence information) of the map element may be determined by the terminal device according to a calculation rule, the calculation rule may be an algorithm configured inside the vehicle-mounted terminal or the sensor, and the algorithm configured by different terminal devices may be different.
Wherein the reference confidence information may include one or more of: at least one of confidence information of the reference element, joint confidence information between the target element and the reference element (which may also be referred to as first joint confidence information), and conditional confidence information between the target element and the reference element (which may also be referred to as first conditional confidence information).
In the embodiment of the present application, the first confidence level information and the confidence level information of the reference element may be a possibility that a measured parameter value of a single map element is a true value, and may be used to indicate a confidence level of a corresponding map element. The joint confidence information (such as the first joint confidence information) is the possibility that the parameter measurement values of the map elements are all true values, and can be used to indicate the joint confidence level of the corresponding map elements. The conditional confidence information (the first conditional confidence information described above) is a possibility that, in a case where the measured value of the parameter of a certain map element is an actual value, the measured values of the parameters of other map elements are actual values, and may be used to indicate the credibility of other map elements in a case where the certain map element is credible.
The joint confidence information and the condition confidence information may be calculated by the terminal device according to the confidence information of the target element and the confidence information of the reference element. Therefore, the terminal device may only report the confidence information of the target element and the confidence information of the reference element, and the network side determines the joint confidence information or the condition confidence information according to the confidence information of the target element and the confidence information of the reference element. Or, the terminal device may report the confidence information of the target element and the confidence information of the reference element, and further report the joint confidence information or the condition confidence information, so that the network side may directly determine whether to update the map by using the confidence information reported by the terminal device.
Optionally, in a case that the reference element may be multiple, the reference confidence information may further include: joint confidence information between two reference elements (which may also be referred to as second joint confidence information), or conditional confidence information between two reference elements (which may also be referred to as second conditional confidence information).
Wherein the second joint confidence information may include: and the terminal equipment calculates the obtained joint confidence according to the confidence information of the multiple reference elements. The second joint confidence information may be used to represent a joint confidence level between the corresponding two reference elements. The second condition confidence information may include: and the terminal equipment calculates the obtained conditional confidence according to the confidence information of the multiple reference elements. The second conditional confidence information may be used to indicate the trustworthiness of a reference element under conditions where another reference element is trustworthy. The terminal device can send the reference confidence information to the network side by sending the second joint confidence information or the second condition confidence information to the network side. The embodiment of the application does not limit a specific implementation manner of sending the second combination confidence information or the second condition confidence information by the terminal device.
Similarly, when there are a plurality of target elements, the confidence information may further include: joint confidence information between two target elements (which may also be referred to as third joint confidence information), or conditional confidence information between two target elements (which may also be referred to as third conditional confidence information). The third joint confidence information may include: and the terminal equipment calculates the obtained joint confidence according to the confidence information of the target elements. The third joint confidence information may be used to represent a joint confidence level of the corresponding two target elements. The third condition confidence information may include: and the terminal equipment calculates the obtained conditional confidence according to the confidence information of the target elements. The third condition confidence information may be used to indicate the trustworthiness of one target element if another target element is trustworthy.
It can be understood that the first confidence level information, the confidence level information of the reference element, the joint confidence level information, and the condition confidence level information may be confidence level information determined by the terminal device according to its own calculation rule, but since the calculation rules of different terminal devices may differ, the confidence level information, the joint confidence level information, or the condition confidence level information of the same map element uploaded by different terminal devices may differ, and it is difficult to accurately reflect the confidence level of the corresponding map element.
It can be understood that, based on the relevance between the target element and the reference element, the credibility of the target element and the credibility of the reference element also have relevance, and the terminal device can report the confidence information of the target element and the reference confidence information of the reference element, so that the network side determines the credibility of the change of the target element, that is, the change confidence, thereby reducing the adverse effect of different calculation rules in the terminal device on the credibility of the characterization element, and further enabling the network side to evaluate whether the target element changes according to the change confidence. The specific implementation manner of determining the change confidence and evaluating the target element by the network side may refer to the following related content of S204, which is not described herein again.
In summary, in the embodiment of the present application, the network side may determine, based on the relevance between the target element and the reference element, the change confidence of the target element, which may more accurately reflect the credibility of the target element. Therefore, compared with a mode of evaluating whether the target element changes by using the confidence of the target element, the mode of evaluating the target element by using the reference confidence information of the reference element in the embodiment of the application can reduce the influence of different confidence calculation rules or different acquisition capabilities among a plurality of terminal devices on the evaluation of the target element, thereby improving the accuracy of network side evaluation.
In one possible design, the confidence information may be represented in a plurality of forms, and the confidence information may be confidence or information indicating confidence. For example, the first confidence information may be: the confidence of the target element or information indicating the confidence of the target element. The confidence information for the reference element may be: the confidence of the reference element or information indicating the confidence of the reference element. The joint confidence information may be: a joint confidence between two map elements or information indicating a joint confidence between the two map elements. The conditional confidence information may be: a conditional confidence between two map elements or information indicating a conditional confidence between the two map elements. The confidence degree can be represented by probability, or by a numerical value, such as a numerical value with a value interval of [0,100 ].
Accordingly, the confidence information of the map element may be a set of confidences uploaded by the terminal device (hereinafter referred to as a first confidence set). For example, if the confidence is represented by a probability, the set of confidence may be a set of probabilities. Optionally, the first confidence set may be a confidence covariance matrix. For example, if the confidence is represented by a probability, the confidence covariance matrix may be a joint probability covariance matrix or a conditional probability covariance matrix. The diagonal elements of the confidence covariance matrix may be the confidence of individual map elements, such as the confidence of the target element and the confidence of the reference element. Accordingly, the off-diagonal elements of the confidence covariance matrix may be: joint confidence or conditional confidence between any two map elements. The terminal device may upload the confidence covariance matrix to the network side so that the network side fuses the confidence covariance matrix from the at least one terminal device. It should be noted that, in the embodiment of the present application, the confidence level of the map element, the conditional confidence level, and the joint confidence level are all an expression of the confidence level of the map element.
Illustratively, the confidence covariance matrix includes the following formula:
Figure BDA0002983114090000121
wherein, cov (P) v ) As a confidence covariance matrix, diagonal element P v (x) Confidence of the x-th map element, P v (x, y) is a joint confidence or conditional confidence of the xth map element relative to the yth map element, the joint confidence information between the xth and yth map elements including: joint confidence of the xth map element relative to the yth map element, conditional confidence information between the xth and yth map elements including: conditional confidence of the x-th map element relative to the y-th map element. Wherein x = i, i +1, \8230;, i + n; y = i, i +1, 8230, i + n; i and n are positive integers.
It should be noted that, in the embodiment of the present application, the confidence set may also be in other set forms. For example, the confidence set may be an array in which each element is one of: a confidence of the target element, a confidence of the reference element, a joint confidence of the x-th element relative to the y-th element, or a conditional confidence.
Fig. 3 is a schematic diagram of a map element according to an embodiment of the present application. In the following, referring to fig. 3, a specific implementation manner in which the first confidence set is a joint probability covariance matrix is further described by taking a terminal device as a vehicle terminal carrying a sensor as an example.
The first confidence information may be a first probability if the confidence is represented by a probability. The confidence information of the reference elements in the reference confidence information may be a first reference probability, the first joint confidence information may be a first joint probability, the second joint confidence information may be a second joint probability, and the third joint confidence information may be a third joint probability. In the joint probability covariance matrix, the off-diagonal elements may include: the first joint probability, the second joint probability, and/or the third joint probability.
In the process that the vehicle terminal 1 navigates according to the electronic map, if the vehicle terminal 1 detects that the map element a and the map element B at the intersection are not in accordance with the corresponding map elements on the electronic map, the map element a and the map element B are used as target elements. The vehicle terminal 1 determines the corresponding map element C and map element D according to the correlation between the target element and the reference element, and uses the map element C and the map element D as the reference element. Then, the vehicle terminal 1 may calculate a first confidence set Cov (P) of the vehicle terminal 1 according to the set confidence calculation method v1 ). The first set of confidence may be a joint probability covariance matrix. The first set of confidence levels Cov (P) of the vehicle terminal 1 described above v1 ) Can be as follows:
Figure BDA0002983114090000122
wherein, cov (P) v1 ) Is a first confidence set, P, of the vehicle terminal 1 v1 (A) And P v1 (B) A first probability, P, of a target element (corresponding to map element a, map element B in sequence) determined by the vehicle terminal 1 v1 (C) And P v1 (D) First reference probability, P, of reference elements each determined by the vehicle terminal 1 v1 (BA) and P v1 (AB) third joint probability, P, between two target elements (map element A and map element B), both determined by the vehicle terminal 1 v1 (DC) and P v1 (CD) are allA second probability of association, P, between two reference elements (map element C and map element D) determined by the vehicle terminal 1 v1 (CA)、P v1 (AC)、P v1 (BC)、P v1 (CB)、P v1 (DA)、P v1 (AD)、P v1 (DB)、P v1 (BD) are all the first joint probabilities between the target element and the reference element determined by the vehicle terminal 1. Wherein, for map element a, map element B can be regarded as a reference element of map element a; similarly, for map element B, map element a may be considered a reference element for map element B.
It is understood that the joint probability covariance matrix may be a symmetric matrix, i.e. a matrix with the main diagonal as the symmetry axis and two elements located at symmetric positions on both sides of the symmetry axis corresponding to equal values. Wherein the joint probability between two identical map elements is equal, e.g. P v1 (BA) and P v1 (AB) equal, P v1 (DC) and P v1 (CD) are equal.
Optionally, the joint probability covariance matrix may also be an asymmetric matrix, that is, a matrix with non-corresponding elements being equal exists by taking the main diagonal as a symmetry axis. Accordingly, the joint probabilities between two identical map elements may not be equal, e.g., P v1 (BA) and P v1 (AB) not equal, P v1 (DC) and P v1 (CD) are not equal, and the embodiment of the present application does not limit the specific implementation manner of the joint probability covariance matrix.
It should be noted that the terminal device may not be able to detect all the target elements and/or the reference elements, and the first confidence sets reported by different terminal devices may be different. Continuing with the vehicle terminal as an example, if the sensor of the vehicle terminal 2 detects that the map element a and the map element B are target elements, and then the vehicle terminal 2 only detects the corresponding map element D according to the association between the target element and the reference element, taking the map element D as the reference element, the vehicle terminal 2 may upload the first confidence level set Cov (P) of the vehicle terminal 2 to the cloud end v2 ). The first confidence set Cov (P) of the vehicle terminal 2 v2 ) Can be as follows:
Figure BDA0002983114090000131
wherein, cov (P) v2 ) Is a first confidence set, P, of the vehicle terminal 2 v2 (A) And P v2 (B) A first probability, P, of the target elements each determined by the vehicle terminal 2 v2 (D) A first reference probability, P, of a reference element, P, each determined by the vehicle terminal 2 v2 (BA) and P v2 (AB) third association probabilities, P, between target elements, all determined by the vehicle terminal 2 v2 (DA)、P v2 (AD)、P v2 (DB)、P v2 (BD) are all first joint probabilities between the target element and the reference element determined by the vehicle terminal 2. Wherein, for map element a, map element B can be regarded as a reference element of map element a; similarly, for map element B, map element a may be considered a reference element for map element B. In this embodiment of the present application, the first confidence set may also be implemented in other manners, and the above-listed first joint probability covariance matrix is only used as an example, and a specific implementation manner of the first confidence set reported by the terminal device to the network side is not specifically limited.
It is to be understood that the first confidence set may also be a joint probability covariance matrix, or may also be one or more probability sets in other forms formed by taking multiple probabilities as elements, such as multiple sets including elements in one or more row vectors or column vectors in the joint probability covariance matrix, and the embodiment of the present application does not limit a specific implementation manner of the first confidence set.
It is also understood that the first confidence set may also be a conditional probability covariance matrix. The diagonal elements of the conditional probability covariance matrix may be the confidences of individual map elements, such as the first probability of the target element and the first reference probability of the reference element. Accordingly, the off-diagonal elements of the conditional probability covariance matrix may be conditional probabilities of any two map elements, such as a first conditional probability between a target element and a reference element, a second conditional probability between every two reference elements of the plurality of reference elements, and/or a third conditional probability between every two target elements of the plurality of target elements. The terminal device may upload the conditional probability covariance matrix to the network side, so that the network side fuses the conditional probability covariance matrix from the at least one terminal device. The specific implementation of the conditional probability covariance matrix may refer to the implementation of the joint probability covariance matrix, which is not described herein again.
And when the terminal device reports the confidence information of the map element to the network side, the terminal device may report the first confidence information to the network side, may also report the reference confidence information corresponding to the target element to the network side, and may also report only the first confidence information to the network side without reporting the corresponding reference confidence information. The embodiment of the application does not limit the specific implementation manner of reporting the map element to the network side by the terminal device. It can be understood that, in the embodiment of the present application, the terminal device may also report other information related to the target element and/or the reference element when reporting the first confidence information and/or the reference confidence information.
It may also be noted that, when there are multiple terminal devices, the network side may receive map elements from the multiple terminal devices, and related parameters, such as confidence information, of the same map element reported by different terminal devices may be different. Taking a target element as an example, assuming that there are a vehicle 1 and a vehicle 2, both the vehicle 1 and the vehicle 2 report the target element, and the target element is a newly added traffic light in the north direction at a certain intersection, but the parameter of the target element reported by the vehicle 1 is that the newly added traffic light is located 10 meters north of the intersection, and the related parameter of the target element reported by the vehicle 2 is that the newly added traffic light is located 20 meters north of the intersection. The embodiment of the application does not limit the specific implementation manner of the relevant parameters of the map elements.
Optionally, the conditional confidence information between the target element and the reference element relates to an impact factor of the reference element on the target element. Regarding the implementation of the condition confidence information, reference may be made to the implementation of the fourth condition confidence information in step S204, which is not described herein again.
For example, the obtaining, by the network side, the confidence information of the map element from the at least one terminal device may include: and the network side acquires the confidence information from the plurality of terminal devices and fuses the confidence information of the plurality of terminal devices to obtain the fused confidence information.
And the fused confidence information is the confidence information of the map elements.
Therefore, by fusing the confidence information of the map elements uploaded by the plurality of terminal devices, such as the first confidence information or the reference confidence information, the adverse effect of a single terminal device, such as a terminal device with a large calculation error, on the confidence can be reduced, so that the credibility of the fused map elements is improved, and the accuracy of evaluation is further improved.
For implementation of the fusion confidence information, reference may be made to the following specific implementation manner of the fusion confidence information in step S204, and details are not described herein again.
And S204, the network side determines whether to update the map according to the first confidence degree information and the reference confidence degree information.
Specifically, the step S204 may include: the network side can determine the change confidence of the target element according to the first confidence information and the reference confidence information, and determine whether to update the map according to the change confidence.
Wherein the change confidence is used for representing the credibility of the change of the target element. Therefore, based on the relevance between the target element and the reference element, the relevance also exists between the first confidence degree information and the reference confidence degree information, so that the network side can determine the change confidence degree, and evaluate whether the target element changes or not by using the change confidence degree, thereby reducing the adverse effect of different calculation rules in the terminal equipment on the credibility degree of the characterization element and improving the evaluation accuracy.
It can be understood that the network side may fuse the confidence information (such as the first confidence information and the reference confidence information) of the map element reported by at least one terminal device, and then determine the change confidence of the map element based on the fused confidence information of the map element, such as the fused first confidence information and the fused reference confidence information.
In some embodiments, the determining, by the network side, the change confidence of the target element according to the first confidence information and the reference confidence information may include: the network side may determine, according to the first confidence information, confidence information (hereinafter, referred to as second confidence information) of the fused target element, and determine, according to the reference confidence information, reference confidence information after fusion. And finally, the network side can determine the change confidence of the target element according to the second confidence information and the fused reference confidence information.
The fused reference confidence information may include one or more of the following: the confidence information of the fused reference element, the fused first joint confidence information (may also be referred to as fourth joint confidence information), the fused second joint confidence information (may also be referred to as fifth joint confidence information), or the fused third joint confidence information (may also be referred to as sixth joint confidence information).
It is understood that the second confidence information and the fused reference confidence information may be expressed in various forms, such as probabilities or numerical values.
Correspondingly, the confidence information of the fused map elements may be a second confidence set, the second confidence set may be determined by fusing at least one first confidence set on the network side, and the second confidence set may be used to determine the credibility of the target element (e.g., the change probability of the target element) on the network side. The first confidence set may be a confidence set of a map element reported by at least one terminal device to a network side, and a specific implementation manner of the first confidence set may refer to the related content in S203, which is not described herein again.
In one possible design, the second confidence set may also be a joint probability covariance matrix. Taking the first confidence set as an example of a joint probability covariance matrix, a specific implementation manner of the second confidence set is described in detail.
Illustratively, the second set of confidences may be a joint probability covariance matrix. The fused first confidence information may be a second probability, the fused reference element confidence information may be a second reference probability, the fourth joint confidence information may be a fourth joint probability, the fifth joint confidence information may be a fifth joint probability, and the sixth joint confidence information may be a sixth joint probability.
The cloud end can receive a first confidence coefficient set Cov (P) from the vehicle terminal 1 v1 ) A first set of confidences Cov (P) of the vehicle terminal 2 v2 ) \8230The8230, and a first set of confidence levels Cov (P) for vehicle terminal n vn ) And n is a positive integer. The cloud end can fuse the plurality of first confidence coefficient sets { Cov (P) } v1 )、Cov(P v2 )…Cov(P vn ) Obtaining a second confidence set Cov (P), where the second confidence set Cov (P) may be:
Figure BDA0002983114090000151
wherein Cov (P) is a second confidence set, P (A) and P (B) are second probabilities of target elements, P (C) and P (D) are second reference probabilities of reference elements, P (BA) and P (AB) are sixth joint probabilities between cloud-fused target elements, P (DC) and P (CD) are fifth joint probabilities between cloud-fused reference elements, and P (CA), P (AC), P (BC), P (CB), P (DA), P (AD), P (DB) and P (BD) are fourth joint probabilities of cloud-fused target elements and reference elements. For a specific implementation manner of the second confidence set, reference may be made to the specific implementation manner of the first confidence set, which is not described herein again.
It should be noted that the fused second confidence set may include: the second probability, the second reference probability, the fourth joint probability, the fifth joint probability and the sixth joint probability.
For example, the second probability in the second confidence set may be determined according to the first probability of the target element, the second reference probability in the second confidence set may be determined according to the first reference probability of the reference element, the fourth joint probability in the second confidence set may be determined according to a plurality of first joint probabilities of the reference element and the target element, the fifth joint probability in the second probability set may be determined according to a plurality of second joint probabilities between the reference elements, and the sixth joint probability in the second probability set may be determined according to a plurality of third joint probabilities between the target elements. The following further describes a specific implementation of network-side convergence.
First, the network side may fuse the confidence information uploaded by the terminal device in a diversity calculation manner, which is described below with reference to several examples.
In a possible design, the first confidence level information may be a first probability, and the network side may determine second confidence level information according to the first confidence level information, and may include: the network side can determine a second probability of the target element according to the first probability and a first preset criterion. Wherein the first preset criterion may satisfy:
P(X)＝1-[1-P v1 (X)]×[1-P v2 (X)]×…×[1-P vn (X)]；
wherein, P vn (X) is the nth first probability of the target element, n is less than or equal to Q 1 Positive integer of (2), Q 1 P (X) is the second probability of the target element.
It will be appreciated that in this example, the parameter X in the first preset criterion described above may be a target element. In the diversity calculation, the number of terminal devices reporting the first confidence level set may affect the credibility of the target element. With the increase of terminal devices reporting the first confidence set, the number of the first probabilities received by the network side is increased, and the second probability of the target element obtained after the network side is fused can be correspondingly increased. Therefore, by means of the mode of the centralized calculation in the first preset criterion, the more the number of the fused first probabilities is, the greater the credibility of the target element is, and the accuracy of the network side evaluation is improved.
Similarly, the network side may also fuse the reference confidence information of the reference element by using the above diversity calculation method.
For example, if the confidence information is probability, the determining, by the network side, the reference confidence information of the fused reference element according to the reference confidence information may include: the network side can determine the reference confidence information of the fused reference element according to the reference confidence information and a first preset criterion.
In some examples, the reference confidence information may include confidence information of the reference element, and the confidence information of the reference element may be a first reference probability of the reference element. The parameter X in the first predetermined criterion may be a reference element, P vn (X) an nth first reference probability of a reference element, n being less than or equal to Q 1 Positive integer of (2), Q 1 P (X) is the second reference probability of the reference element.
In still other examples, the reference confidence information may include first joint confidence information, such as a first joint probability, of the target element and the reference element. The parameter X in the first predetermined criterion may be a combination of the target element and the reference element, P vn (X) may be an nth first joint probability of the target element and the reference element, n being less than or equal to Q 1 Positive integer of (2), Q 1 P (X) is a fourth joint probability of the target element and the reference element.
In still other examples, the reference confidence information may include second joint confidence information, such as a second joint probability, between each two of the plurality of reference elements. The parameter X in the first predetermined criterion may be a combination of two reference elements, P vn (X) may be an nth second joint probability between every two reference elements of the plurality of reference elements, n being less than or equal to Q 1 Positive integer of (2), Q 1 P (X) is a fifth joint probability of the plurality of reference elements.
In still other examples, the parameter X in the first preset criterion may be a combination of any two target elements, P, of the plurality of target elements vn (X) may be two of the plurality of target elementsN is less than or equal to Q 1 Positive integer of (2), Q 1 P (X) is a sixth joint probability between two of the plurality of target elements.
Therefore, by means of the mode of the centralized calculation in the first preset criterion, the more the fused reference confidence information is, the greater the credibility of the reference element is, and the accuracy of the evaluation of the network side based on the reference element is improved. For a specific implementation manner of the first preset criterion, reference may be made to the specific implementation manner of the network side fusing the first probability, which is not described herein again.
Secondly, the network side can also process the fused confidence information in a simple path mode. The simple path may characterize the correspondence of the target element to the reference element in graph theory. The specific implementation manner of processing the fused confidence information by the network side according to the simple path is described in detail below by taking the second confidence information as an example.
In a possible design, the determining, by the network side, the change confidence information of the target element according to the second confidence information and the fused reference confidence information may include: the network side can determine third confidence information of the target element according to the fused reference confidence information and the number of the reference elements, and determine the change confidence of the target element according to the third confidence information and the fused reference confidence information.
The following describes how to determine the third confidence information of the target element by taking the second confidence information as the second probability. Correspondingly, the network side may determine third confidence information of the target element according to a second preset criterion and the second probability, where the third confidence information may be the third probability. Wherein the second preset criterion may satisfy:
P(X)′＝1-[1-P(X)] j ；
where P (X) is the second probability of the target element, P (X)' is the third probability of the target element, and j is the number of reference elements corresponding to the target element.
For example, the number of reference elements may represent the number of corresponding relationships between the target element and the reference elements, and may represent the number of simple paths between the target element and the reference elements in graph theory, that is, the degree of the target element. In graph theory, the number of simple paths between the target element and the reference element affects the credibility of the target element, and the more simple paths between the target element and the reference element, the higher the credibility of the target element. Therefore, the network side can increase the credibility of the target element through the number of simple paths between the target element and the reference element, so that the accuracy of the second confidence information of the fused target element of the network side is improved.
Similarly, the network side may also process the second reference confidence information of the fused reference element by using the simple path, that is, the number of simple paths between the target element and the reference element may also affect the confidence level of the reference element, so that the confidence information (e.g., the second reference confidence information) of the reference element may be processed by using the second preset criterion, and the confidence level of the reference element may be increased.
It may be noted that, before fusing the confidence information reported by at least one terminal device, for example, before fusing the confidence information in a diversity calculation manner, the network side may also use a simple path manner to pre-process the confidence information reported by the terminal device (for example, the first confidence information and the confidence information of the reference element), and a specific implementation manner of processing the confidence by using the simple path may refer to the second preset criterion, which is not described herein again.
Moreover, the network side can pre-process the confidence information reported by the terminal equipment by using a simple path mode, and the terminal equipment can also pre-process the confidence information of the map element by using the simple path mode before reporting, so that the credibility of the map element is increased. The embodiment of the application does not limit the execution subject of the confidence information of the map element which is processed in advance.
In a possible design, the change confidence level may be the second confidence level information of the target element or the fourth condition confidence level information of the target element.
And determining the fourth condition confidence information of the target element according to the fused reference confidence information and the second confidence information.
For example, the change confidence level may be used to indicate the confidence level that the target element has changed. The fourth condition confidence information may be a likelihood that the target element is trustworthy if the reference element is trustworthy.
It can be understood that, after fusing the reported confidence information of the map elements, the network side may determine the change confidence of the target element by using the following two ways, which are described below separately.
In the first way, the network side may use the second confidence information of the fused target element as a change confidence of the target element, and evaluate whether the target element changes according to the change confidence.
Taking the second confidence set as an example, the second confidence information may be a second probability of the target element, the change confidence may be a change probability of the target element, the target element may be a map element a and a map element B, and P (a) and P (B) are both the second probabilities of the target element, so that the change probability of the target element may be P (a) and P (B). The network side can evaluate whether the map element A and the map element B are changed according to P (A) and P (B).
In a second manner, the network side may determine fourth condition confidence information of the target element according to the fused confidence information of the reference element and the second confidence information of the target element, use the fourth condition confidence information as a change confidence of the target element, and evaluate whether the target element changes according to the change confidence.
For example, the fourth condition confidence information may be used to characterize the trustworthiness of the target element if the reference element is trustworthy. The fourth condition confidence information of the target element can use the second reference confidence information of the reference element as a reference, and then the credibility of the target element is measured, so that the influence of different calculation rules in the terminal equipment on reflecting the credibility of the target element can be reduced, the credibility of the target element can be reflected more accurately, and the accuracy of network side evaluation is further improved.
Optionally, the fourth condition confidence information of the target element is related to an influence factor of the reference element on the target element. Therefore, the incidence relation between the reference element and the target element can be represented by using the influence factors, so that the credibility of the target element can be more accurately reflected by the fourth condition confidence degree information, and the accuracy of evaluation is improved.
Further, the fourth condition confidence information may include two different types of conditional probabilities, such as a third conditional probability and a fourth conditional probability, the third conditional probability may be a conditional probability of one map element compared to another map element, and the fourth conditional probability may be a conditional probability of one map element compared to another map elements. For example, the conditional probability of a map element a compared to a map element B is the probability that a map element a changes under the condition that a map element B changes. Similarly, the conditional probability of one map element compared to another map elements may be: the probability of a map element changing if another plurality of map elements change. The third conditional probability and the fourth conditional probability of the target element are respectively used as an example for explanation.
For the third conditional probability of the target element, the network side may determine the third conditional probability of the target element according to a third preset criterion, the second probability and the second reference probability. Wherein the third preset criterion may satisfy:
P(X|Y)＝P(X)+[1-P(X)]×P(Y)×a；
wherein, X is a target element, Y is a reference element, P (X | Y) is a third conditional probability of the target element, P (X) is a second probability of the target element, P (Y) is a second reference probability of the reference element, a is an influence factor of the reference element on the target element, and a is a real number greater than 0 and less than or equal to 1.
For example, the third conditional probability of the target element may be a conditional probability of the target element compared to a reference element. For example, when the target element is a map element a and a map element B, and the reference element is a map element C, the third conditional probability of the map element a may include P (a | C), and the third conditional probability of the map element B may include P (B | C).
It can be understood that, based on the association between the target element and the reference element, the credibility of the reference element may affect the credibility of the target element, that is, the credibility of the reference element is increased, and the credibility of the target element is also increased accordingly. In this way, the third conditional probability of the target element may increase with an increase in the second reference probability of the reference element, so that the third conditional probability of the target element may more accurately reflect the credibility of the target element.
Similarly, when there are a plurality of target elements, the credibility between the plurality of target elements also affects each other. The multiple target elements may include a first target element and a second target element, and when the fourth condition confidence information of the first target element is calculated, the second target element may also be used as a reference element of the first target element, so that the network side may calculate the fourth condition confidence information corresponding to the first target element according to an influence of the credibility of the second target element on the credibility of the first target element.
For example, when the target elements are map element a and map element B, the third conditional probability for map element a may further include P (a | B), and the third conditional probability for map element B may further include P (B | a).
Similarly, when there are a plurality of reference elements, the credibility of the plurality of reference elements also affect each other, so that the network side can calculate the third conditional probability of the reference element by using the third preset criterion, thereby improving the credibility of the third conditional probability of the reference element. The specific implementation manner of determining the third conditional probability of the reference element at the network side may refer to the specific implementation manner of determining the third conditional probability of the target element, and is not described herein again.
The influence factor a may be determined by the network side according to the correlation between the reference element and the target element, and the value of the influence factor may be configured or preset by the network side or set by a protocol.
For the fourth conditional probability, the network side may be determined according to the third conditional probability and the fourth joint probability.
Illustratively, the fourth conditional probability may be a conditional probability of the target element compared to the plurality of reference elements. For example, when the target elements are map element a and map element B, and the reference elements are map element C, map element D, and map element E, the fourth condition probability of map element a may include P (a | CD) and P (a | CDE), the fourth condition probability of map element B may include P (B | CD) and P (B | CDE), and the fourth condition probability of map element a and map element B may include P (AB | CD) and P (AB | CDE). The specific implementation manner of the fourth conditional probability may refer to the related content of the third conditional probability, and is not described herein again.
It is understood that the credibility of the plurality of reference elements may also affect the credibility of the target element based on the association between the target element and the reference element. Therefore, when the number of the reference elements is multiple, the network side can determine the probability that the target element is credible under the condition that the number of the reference elements is credible, namely the fourth conditional probability, according to the third conditional probability, so that the network side can evaluate the target element more accurately according to the third conditional probability and the fourth conditional probability subsequently, and the accuracy of map updating is improved.
And the network side can calculate the fourth conditional probability of the target element by using the existing conversion formula of the joint probability and the conditional joint distribution decomposition formula based on the third conditional probability and the fourth joint probability. The number of reference elements compared with the same target element is different, and the way of determining the fourth condition probability is also different. For example, the fourth conditional probability of the map element a may include a first sub-probability P (a | CD) and a second sub-probability P (a | CDE), and the network side determines the first sub-probability P (a | CD) and the second sub-probability P (a | CDE) differently. The following describes a specific implementation manner of determining the fourth conditional probability by the network side, taking the first sub-probability P (a | CD) and the second sub-probability P (a | CDE) as examples.
For the first sub-probability P (a | CD), if the map element a is a target element and the map element C and the map element D are reference elements, the network side may calculate the first sub-probability P (a | CD) of the map element a according to a fourth preset criterion. Wherein the fourth preset criterion may satisfy:
Figure BDA0002983114090000191
wherein P (a | CD) is a first sub-probability of map element a, the first sub-probability is a fourth condition probability of map element a compared to map element C and map element D, P (ACD) is a joint probability of map element a, map element C and map element D, and P (CD) is a sixth joint probability of map element C and map element D; p (AC | D) is a conditional probability of map element A and map element C compared to map element D, P (D) is a second probability of map element D, P (A | D) is a third conditional probability of map element A compared to map element D, and P (C | D) is a third conditional probability of map element C compared to map element D.
For the second sub-probability P (a | CDE), if the map element a is a target element, and the map element C, the map element D, and the map element E are reference elements, the network side may calculate the second sub-probability P (a | CDE) of the map element a according to a fifth preset criterion. Wherein the fifth preset criterion may satisfy:
Figure BDA0002983114090000201
wherein P (a | CDE) is a second sub-probability of map element a, the second sub-probability is a fourth conditional probability of map element a compared to map element C, map element D, and map element E, P (ACDE) is a joint probability of map element a, map element C, map element D, and map element E, P (CDE) is a joint probability of map element C, map element D, and map element E, P (AC | DE) is a conditional probability of map element a and map element C compared to map element D and map element E, P (a | DE) is a first sub-probability of map element a, P (C | DE) is a first sub-probability of map element C, P (a | DE) and P (C | DE) can both be determined according to the fourth predetermined criterion, P (CD | E) is a conditional probability of map element C and map element D compared to map element E, P (E) is a second sub-probability of map element E, P (C | E) is a second sub-probability of map element C compared to map element E, P (C | E) is a third sub-probability of map element E compared to map element D compared to map element E.
The conditional probability may include a fifth conditional probability of a plurality of map elements compared to another map element, such as the conditional probability P (AC | D) of map element a and map element C compared to map element D. The conditional probabilities may also include a sixth conditional probability of the plurality of map elements as compared to the other plurality of map elements, such as the conditional probability P (AC | DE) of map element a and map element C as described above as compared to map element D and map element E. The embodiment of the present application does not limit the specific implementation manner of the conditional probability.
It is understood that the network side may evaluate whether the target element is changed based on the change confidence of the target element (e.g., the second probability, the second conditional probability, the third conditional probability, the fourth conditional probability, etc.). The network side can determine the credibility of the target element under the condition that the reference element is credible, thereby determining whether the credibility of the change of the target element is acceptable or not, and updating the map according to the change information of the reliable target element. There are various ways for the network side to evaluate the target element, and the way for evaluating the target element provided in the embodiment of the present application is described by combining two specific implementation ways.
In a first specific implementation, the reference element may be plural. Accordingly, the S204 may include: and acquiring second joint confidence information among the multiple reference elements, and determining that the target element changes according to the confidence information of the target element, the reference confidence information and the second joint confidence information.
For example, the second joint confidence information may be used to represent a joint confidence level of the corresponding plurality of reference elements. The network side can acquire second joint confidence information among a plurality of reference elements according to the reference confidence information; the network side may also receive second joint confidence information from at least one terminal device. The embodiment of the application does not limit the specific implementation manner of the network side for acquiring the second combination confidence information.
Specifically, the second joint confidence information may be a second joint probability of a plurality of reference elements. Accordingly, the network side can determine a fifth joint probability of the multiple reference elements according to the second joint probability. If the fifth joint probability between the reference elements is greater than the first probability threshold, the network side may determine that the target element changes.
In this way, the network side can determine that the credibility of the target element is high based on the relevance between the target element and the reference element under the condition that the joint credibility of the reference element is high, so that the target element can be accurately determined to be changed.
In a second specific implementation manner, the change confidence may be multiple, and the determining, by the network side, that the target element changes according to the change confidence may include: the network side selects at least one change confidence coefficient meeting a first preset condition from the multiple change confidence coefficients, and determines that the target element changes according to the at least one change confidence coefficient.
Illustratively, the first preset condition is related to a change confidence of the target element, the change confidence meeting the first preset condition may be used to characterize a confidence level that the target element changes when the first preset condition is met, and the network side may adjust a criterion for evaluating whether the target element changes by adjusting the first preset condition of the target confidence. Therefore, based on the joint confidence information between the reference elements, under the condition that the reference elements are credible, the network side can accurately determine which target element is changed according to the confidence information of the target elements and the reference confidence information, so that the accuracy of map updating is improved.
Optionally, the at least one change confidence satisfying the first preset condition may be the largest one of the plurality of change confidences. That is to say, the network side can determine which target element has the highest credibility according to the maximum change confidence, so that the target element can be accurately determined to change, and the accuracy of map updating is further improved.
By combining the two scenarios, the network side can determine that the target element changes according to the second joint confidence information between every two reference elements in the multiple reference elements and the change confidence meeting the first preset condition. The following describes in detail a specific implementation manner in which the target confidence is the maximum change confidence of the target element, taking the change confidence as an example where the change confidence is the change probability.
Specifically, the second joint confidence information may be a second joint probability of a plurality of reference elements, the first confidence threshold may be a first probability threshold, and the target confidence may be a target probability of a target element. Accordingly, the network side can determine a fifth joint probability of the multiple reference elements according to the second joint probability, and determine the maximum change probability as the target probability. If the fifth joint probability between the reference elements is greater than the first probability threshold, the network side can determine that the target element corresponding to the target probability changes.
For example, the target probability may be used to characterize the maximum confidence level of the target element. Assuming that the map element a is a target element, the map element C and the map element D are reference elements, and the conditional probability of the map element a may include P (a | C), P (a | D), and P (a | CD), assuming that the target probability is P (a | CD), it indicates that the confidence level of the map element a is the highest in the case that the map element C and the map element D are trusted, and assuming that the target probability is P (a | C), it indicates that the confidence level of the map element a is the highest in the case that the map element C is trusted.
It can be understood that the network side may use the MLE policy to evaluate the target element, that is, the target element corresponding to the maximum change probability is considered to be a trusted target element, and the target element is changed. Specifically, if the fifth association probability between the reference elements is greater than or equal to the first probability threshold, the network side may determine that the reference element corresponding to the target element is trusted, so that based on the association between the reference element and the target element, the network side may determine that the degree of trust of the target element is higher, and further may determine that the target element corresponding to the target probability is trusted by using the MLE policy, that is, the target element changes, and the network side may update the map according to the change information of the target element.
If the fifth joint probability between the reference elements is smaller than the first probability threshold, the network side may determine that the reference element corresponding to the target element is not trusted or is low in credibility, and thus, based on the correlation between the reference element and the target element, the network side may determine that the credibility of the target element is low or the target element is not trusted, and the network side may not update the map according to the change information of the target element.
Similarly, the above MLE policy may be applied to scene 1 and scene 2, where scene 1 may be a scene with one target element, and scene 2 may be a scene with multiple target elements, and the following description will take scene 1 and scene 2 as examples respectively.
In scenario 1, the target element is one, and the network side may determine that the target element is changed if the fifth joint probability of the reference element is greater than the first probability threshold. Further, the network side can also determine which target elements are credible according to the target probability. For example, a map element a is a target element, a map element C, a map element D and a map element E are reference elements, and the change probability of the map element a may include P (a | C), P (a | D), P (a | E), P (a | CD), P (a | CE), P (a | DE) and P (a | CDE), so that the network side may determine a target probability P corresponding to a plurality of change probabilities according to a sixth preset criterion max1 To determine the target probability P max1 The corresponding target element changes. The sixth preset criterion may satisfy:
Figure BDA0002983114090000221
wherein, P max1 The target probability of the target element is the variation probability of the target element, and P (A | C), P (A | D), P (A | E), P (A | CD), P (A | CE), P (A | DE) and P (A | CDE) are the variation probabilities of the target elementMaximum value of variation probability of each target element, P (CDE) is a fifth joint probability of the reference element, P t1 Is a preset or configured first probability threshold.
Thus, the fifth joint probability P (CDE) is greater than or equal to the first probability threshold P t1 In this case, the network side may determine that the information of the map element C, the map element D, and the map element E is relatively reliable, so as to determine that the reliability of the change of the map element a is relatively high. Further, assume a target probability P max1 = P (a | CD), the network side may also determine that map element a is authentic if map element C and map element D are authentic.
However, at a fifth joint probability P (CDE) less than the first probability threshold P t1 In this case, the network side may determine that the map element C, the map element D, and the map element E are not trusted, and then the network side may consider that the map element a is not trusted or the credibility of the map element a is low.
In scenario 2, there are a plurality of target elements, and the network side may determine that the target element corresponding to the target probability changes when the fifth joint probability of the reference element is greater than the first probability threshold. For example, the map element a and the map element B are target elements, the map element C, the map element D, and the map element E are reference elements, and the change probability of the map element a may include P (a | C), P (a | D), P (a | E), P (a | CD), P (a | CE), P (a | DE), and P (a | CDE), the change probability of the map element B may include P (B | C), P (B | D), P (B | E), P (B | CD), P (B | CE), P (B | DE), and P (B | CDE), the change probability of the map element a and the map element B may include P (AB | C), P (AB | D), P (AB | E), P (AB | CD), P (AB | CE), P (AB | DE), and P (AB | CDE), and the network side may determine the target probabilities P (a) corresponding to the plurality of conditional probabilities according to a seventh preset criterion max2 To determine the target probability P max2 The corresponding target element changes. The seventh preset criterion may be:
Figure BDA0002983114090000222
wherein the content of the first and second substances,P max2 p (A | C), P (A | D), P (A | E), P (A | CD), P (A | CE), P (A | DE), P (A | CDE), P (B | C), P (B | D), P (B | E), P (B | CD), P (B | CE), P (B | DE), P (B | CDE), P (AB | C), P (AB | D), P (AB | E), P (AB | CD), P (AB | CE), P (AB | DE), and P (AB | CDE) are the variation probabilities of the target elements, and in this preset rule, the target probability of the target element is the maximum value among the variation probabilities of the plurality of target elements, P (CDE) is the fifth combination probability of the reference element, and P (AB | CDE) is the fifth combination probability of the reference element t2 Is a preset or configured first probability threshold.
As such, the fifth joint probability P (CDE) is greater than or equal to the first probability threshold P in scenario 2 t2 In this case, the network side can be based on the target probability P max2 And accurately determining that the corresponding target element is changed.
For example, the target probability P max2 If the map element C and the map element E are credible, the network side may determine that the change information of the map element a is more credible, and thus determine that the degree of credibility of the change of the map element a is higher. As another example, the target probability P max2 = P (B | CDE), the network side can determine that the change information of the map element B is authentic in the case where the map element C, the map element D, and the map element E are authentic, thereby determining that the map element B is changed. As another example, the target probability P max2 If P (AB | E) is set, the network side may determine that the change information of both the map element a and the map element B is more reliable when the map element E is reliable, and thus determine that both the map element a and the map element B are changed.
It should be noted that the embodiment of the present application does not limit the specific number of the fifth combination probabilities of the reference elements, for example, the fifth combination probability may include one or more of the following probabilities: p (CDE), P (CD), P (CE) or P (DE). Accordingly, the first probability threshold may be one or a plurality of, and when the first probability threshold is a plurality of, the first probability thresholds corresponding to the different fifth joint probabilities may be the same or different.
Similarly, when the fifth joint probabilities are multiple, the network side may determine that the target element corresponding to the target probability changes when the multiple fifth joint probabilities satisfy the first condition. Wherein the first condition may include one of the following conditions: all of the fifth joint probabilities are greater than or equal to the first probability threshold, or there is a fifth joint probability of the plurality of fifth joint probabilities that is greater than or equal to the first probability threshold. The network side may also randomly select a fifth joint probability to compare with the corresponding first probability threshold, and the embodiment of the application does not limit a specific implementation manner for the network side to evaluate the fifth joint probability.
It should be noted that the first preset condition of the target confidence may be set according to the MLE policy, and may also be set according to other policies, and the embodiment of the present application does not limit a specific implementation manner of the first preset condition of the target confidence.
With reference to the first specific implementation and the second specific implementation, the network side may evaluate the target element by using an MLE policy, and the network side may also evaluate the target element by using a reference element corresponding to the target element and the change confidence. The following third specific implementation is described in detail with reference to the credibility of the region in which the target element is located.
In a third specific implementation manner, the determining, by the network side, that the target element changes according to the change confidence may include: if the change confidence of the target element is greater than or equal to the second confidence threshold, the network side may determine that the target element changes.
For example, the change confidence may be a change probability of the target element, and the change probability may include one or more of the following probabilities: the second probability, the third conditional probability, the fourth conditional probability, the fifth conditional probability, or the sixth conditional probability. Correspondingly, the second probability threshold may be one or multiple, and when the second probability threshold is multiple, the second probability thresholds corresponding to different change probabilities may be the same or different. For example, the third conditional probability may correspond to a second probability threshold, and the fourth conditional probability, the fifth conditional probability, and the sixth conditional probability may correspond to another second probability threshold.
The network side can determine that the target element corresponding to the change probability greater than or equal to the second confidence coefficient threshold value is credible through the comparison result of the change confidence coefficient and the second confidence coefficient threshold value, so that the network side can determine that the target element changes, and can update the map according to the target element. The network side can also determine that the target element corresponding to the change confidence degree smaller than the second confidence degree threshold value is not credible or the credibility degree is low, so that the network side is difficult to determine whether the target element changes, and the map can not be updated according to the target element.
For example, assuming that the change confidence of the target element is a change probability, the second confidence threshold is a second probability threshold, the map element a and the map element B are target elements, the map element C is a reference element, the change probability of the map element a may include P (a | C), the change probability of the map element B may include P (B | C), and the change probabilities of the map element a and the map element B may include P (AB | C). If P (a | C) is greater than or equal to the second probability threshold, the network side may determine that the map element a is authentic, thereby determining that the map element a has changed. If P (AB | C) is greater than or equal to the second probability threshold, the network side may determine that map element a and map element B are authentic, thereby determining that both map element a and map element B are changed. If P (a | C), P (B | C), and P (AB | C) are all less than the second probability threshold, the network side may determine that map element a and map element B are not trustworthy or are less trustworthy.
It is understood that when the variation probability of the target element is multiple, the condition for evaluating the target element at the network side may be multiple. The network side may determine that the target element changes when all the change probabilities of the target element are greater than or equal to the second probability threshold. The network side may also determine that the target element changes when there is a change probability greater than or equal to the second probability threshold in the multiple change probabilities of the target element. The network side can also randomly select a change probability to be compared with a second probability threshold value, so that the evaluation target element changes.
Optionally, the reference element may be a map element whose reference confidence information satisfies a second preset condition. In other words, the reference confidence information may satisfy the second preset condition. Specifically, the reference confidence information may satisfy a second preset condition, and may be that the condition confidence information satisfies the second preset condition, or the joint confidence information satisfies the second preset condition. Accordingly, the method illustrated in fig. 2 may further include: the terminal equipment determines at least one reference element, wherein the reference element is a map element of which the reference confidence information meets a second preset condition.
For example, the second preset condition may be related to the reference confidence information, and the confidence level of the reference element is adjusted by adjusting the second preset condition. For example, the second preset condition may be that the fused reference confidence information is greater than or equal to the third confidence threshold, that is, the confidence level of the reference element is higher, and the second preset condition may also be that the coordinate distance between the reference element and the target element in the map is less than or equal to the distance threshold, that is, the association between the reference element and the target element is higher, so that the confidence level of the reference element is higher.
Optionally, the second preset condition may be that the fused reference confidence information is greater than or equal to a third confidence threshold. That is to say, based on the relevance between the reference element and the target element, the credibility of the reference element is high, and the network side can consider that the credibility of the change of the target element is high, so that the credibility of the change of the target element can be accurately determined, and the accuracy of map updating is further improved.
Further, the method shown in fig. 2 may further include: if the number of the reference elements meeting the second preset condition reaches the first number threshold, the network side may determine that the target element changes.
Illustratively, based on the association between the reference element and the target element, the greater the number of reference elements satisfying the second preset condition, the higher the credibility of the region in which the target element is located, and the region in which the number of reference elements satisfying the second preset condition is greater than or equal to the first number threshold may be considered as the high credibility region. Conversely, the less the number of reference elements satisfying the second preset condition, the lower the credibility of the region in which the target element is located, and the region in which the number of reference elements satisfying the second preset condition is smaller than the first number threshold may be regarded as a low-credibility region.
For example, assume that the fused reference confidence information is a second reference probability including a reference element, the third confidence threshold is a third probability threshold, the map element a and the map element B are target elements, the map element C, the map element D and the map element E are reference elements, the second reference probability of the map element C is 0.6, the second reference probability of the map element D is 0.7, the second reference probability of the map element E is 0.8, and the third probability threshold is 0.7. Therefore, the reference elements meeting the second preset condition can be a map element D and a map element E, the number of the reference elements meeting the second preset condition is 2, and if the first number threshold is also 2, the area where the map element a and the map element B are located is a high-reliability area, so that the network side can determine that the map element a and the map element B are both reliable and the map element a and the map element B are both changed. However, if the number of reference elements satisfying the second preset condition is smaller than the first number threshold, the network side may confirm that the credibility of the map element a and the map element B is low or unreliable.
Optionally, the network side may evaluate whether the target element is changed or not by combining the number of the reference elements meeting the second preset condition and the change confidence of the target element.
Specifically, the method shown in fig. 2 may further include: when the number of the reference elements meeting the second preset condition is greater than or equal to the first number threshold and the change confidence of the target element is greater than or equal to the second confidence threshold, the network side may determine that the target element changes. The second preset condition may be that the second reference confidence of the reference element is greater than or equal to the third confidence threshold.
For example, it is assumed that the fused reference confidence information includes a second reference probability of a reference element, the third confidence threshold is a third probability threshold, the change confidence of the target element is a change probability, the second confidence threshold is a second probability threshold, and the map element a and the map element B are target elements, the map element C, the map element D, and the map element E are reference elements, the second reference probability of the map element C is 0.6, the second reference probability of the map element D is 0.7, the second reference probability of the map element E is 0.8, and the third probability threshold is 0.7, the number of reference elements satisfying the second preset condition is 2, and if the first number threshold is also 2, the area where the map element a and the map element B are located is a high-confidence area. And, if the change probability P (a | CE) of the map element a is greater than or equal to the second probability threshold, the network side can determine that the map element a has changed. If the change probability P (AB | CDE) of the map element a and the map element B is greater than or equal to the second probability threshold, the network side may determine that both the map element a and the map element B are credible and both the map element a and the map element B change. However, if the number of reference elements satisfying the second preset condition is smaller than the first number threshold, or the change probabilities are both smaller than the second probability threshold, the network side confirms that the credibility of the map element a and the credibility of the map element B are low or unreliable.
Therefore, when the area where the target element is located is the high-confidence area, the network side can accurately determine which target element is changed according to the comparison result of the second confidence threshold and the change confidence, and therefore the map updating accuracy is improved.
It should be noted that there may be one or multiple second confidence thresholds, and when there are multiple second confidence thresholds, the second confidence thresholds corresponding to different change confidences may be the same or different. Taking the change confidence as the change probability of the target element, and taking the second confidence threshold as the second probability threshold as an example, the change probability may include a third conditional probability, a fourth conditional probability, a fifth conditional probability and a sixth conditional probability, the third conditional probability and the fourth conditional probability of the target element may correspond to one second probability threshold, and the fifth conditional probability and the sixth conditional probability of the target element may correspond to another second probability threshold. Similarly, there may be one or more reference elements, and accordingly, there may be one or more third probability thresholds, and when there are a plurality of third probability thresholds, the third probability thresholds corresponding to the reference confidences of different reference elements may be the same or different.
It can be stated that, the embodiments of the present application do not limit the step performed by the network side to compare the number of reference elements with the first number threshold, and the order of comparing the change confidence with the second confidence threshold.
Moreover, the first confidence threshold, the second confidence threshold, the third confidence threshold, and the first quantity threshold may be configured or preset on the network side, or may be set by a protocol.
Further, the network side may also determine a change parameter of the target element according to the change confidence of the target element and the related parameter of the target element reported by the at least one terminal device, and the change parameter of the target element may be used to update the electronic map.
S205, the network side sends the updated electronic map to at least one terminal device. Correspondingly, the terminal equipment receives the updated electronic map from the network side.
And the updated electronic map is determined by the network side according to the changed target elements.
For example, after determining the credible target element, that is, the changed target element in S204, the network side may update the electronic map according to the changed target element, so that the network side may send the updated electronic map to the terminal device, and update the electronic map in the terminal device in time, so that the terminal device may accurately implement the navigation function and/or the automatic driving function according to the updated electronic map. If it is determined in S204 that the target element is not trusted or is low in credibility, the network side may not update the electronic map according to the target element, and may not send the updated electronic map to the terminal device, that is, S205 is an optional step.
It can be understood that, when there are multiple terminal devices, the network side may receive target elements reported from the multiple terminal devices. Because the information of the same target element reported by different terminal devices may be different, the network side may fuse, based on the change confidence of the target element, multiple pieces of information of the same target element reported by multiple terminal devices according to a preset fusion rule after determining that the target element has changed, obtain a change parameter of the target element, and update the electronic map by using the change parameter.
For example, the preset fusion rule may be to determine that an average value of multiple pieces of information of the same target element is information of the fused target element. Assuming that the vehicles 3 and 4 report newly added traffic lights in the north direction at the same intersection, the information of the target element a reported by the vehicle 3 is that the newly added traffic light is located at the position of the intersection which is 10 meters north, and the information of the target element reported by the vehicle 4 is that the newly added traffic light is located at the position of the intersection which is 30 meters north, the network side can determine the change parameter of the target element as that the newly added traffic light is located at the position of the intersection which is 20 meters north by preset fusion rules based on the change confidence of the target element, so as to update the map by using the change parameter of the target element.
One or more preset fusion rules in the network side may be provided, and the embodiment of the present application does not limit a specific implementation manner of the preset fusion rules.
It should be noted that the network side may send the updated electronic map to the terminal device in an incremental update manner, that is, only send the map elements that need to be updated to the terminal device, and the network side may also send the updated electronic map to the terminal device in a change update manner, that is, send the complete updated electronic map to the terminal device. Moreover, the network side may send the updated electronic map to the terminal device in a unicast manner, or may send the updated electronic map in a broadcast manner.
Based on the map data processing method shown in fig. 2, the network side may evaluate whether the target element changes according to the first confidence of the target element reported by the terminal device and the first reference confidence of the reference element associated with the target element, and update the target element in the map according to the evaluation result. That is to say, the credibility of the change of the target element can be evaluated based on the incidence relation between the reference element and the target element, the adverse effects of different calculation rules of different terminal devices on the evaluation and updating of the target element can be reduced, and the problem of low accuracy of the evaluation and updating of the map element caused by only depending on the confidence of a single element reported by the terminal device can be solved, so that the accuracy of the map updating is improved.
In addition, the confidence of a single map element is also influenced by the self equipment errors of the terminal equipment, such as a terminal positioning error item, an external reference calibration error item, a measurement error item of a sensor and the like. The map data processing method shown in fig. 2 can also comprehensively evaluate the confidence degrees of a plurality of map elements reported by the terminal device, so as to reduce the adverse effect on the confidence degrees of the map elements caused by the device errors of the terminal device, thereby improving the accuracy of evaluation.
It should be understood that any one of the first preset criterion to the seventh preset criterion of the network side in the embodiment of the present application may also be used for the terminal device, which mainly depends on the processing capability of the terminal device, and when these preset criteria are used for the terminal device, optionally, the terminal device may report the probability fused based on the above criteria to the network side, which is not specifically limited here.
The map data processing method provided by the embodiment of the present application is described in detail above with reference to fig. 2. The following describes in detail an apparatus for performing the map data processing method according to the embodiment of the present application with reference to fig. 4 to 5.
For example, fig. 4 is a schematic structural diagram of a map data processing apparatus according to an embodiment of the present application. As shown in fig. 4, the map data processing apparatus 400 includes: a processing module 401 and an acquisition module 402. For convenience of explanation, fig. 4 shows only main components of the map data processing apparatus.
In some embodiments, the map data processing apparatus 400 may be applied to the map data processing system shown in fig. 1, and performs the function of the network side in the map data processing method shown in fig. 2.
The obtaining module 402 may be configured to obtain confidence information of the map element. The map element may include a target element and a reference element, and the confidence information may include confidence information of the target element and the reference confidence information. The reference confidence information may include: at least one of confidence information for the reference element, joint confidence information for the target element and the reference element, or conditional confidence information for the target element and the reference element.
The processing module 401 may be configured to determine whether to update the map according to the confidence information of the map element.
In one possible design, the reference element may be multiple, and the reference confidence information may further include: joint confidence information or conditional confidence information between each two of the plurality of reference elements.
Alternatively, the confidence information of the map elements may be used to determine a confidence covariance matrix. For example, the confidence information of the map element is a confidence covariance matrix, or the confidence information of the map element is used to indicate the confidence covariance matrix, or the confidence information of the map element includes each element in the confidence covariance matrix, so that the receiving end determines the confidence covariance matrix. The confidence covariance matrix may include confidences of a plurality of map elements, the plurality of map elements may include the target element and the reference element, and the confidence covariance matrix may include the following formula:
Figure BDA0002983114090000271
wherein, cov (P) v ) For the confidence covariance matrix, the diagonal element P (x) is the confidence of the xth map element, P (x, y) is the joint confidence or conditional confidence of the xth map element relative to the ythh map element, and the joint confidence information between the xth and yth map elements includes: the xth map element relative to the ythJoint confidence of map elements, conditional confidence information between the xth and yth map elements including: conditional confidence of the x-th map element relative to the y-th map element. Wherein x = i, i +1, \8230;, i + n; y = i, i +1, \ 8230;, i + n; i and n are positive integers.
In a possible design, the obtaining module may be further configured to obtain confidence information from a plurality of terminal devices. And fusing the confidence information of the plurality of terminal devices to obtain fused confidence information. And the fused confidence information is the confidence information of the map elements.
In one possible embodiment, the target element is a changed map element.
Alternatively, the reference element may be a map element in which the reference confidence information satisfies a preset condition.
Optionally, the obtaining module 402 may include a transceiver module (not separately shown in fig. 4). The transceiver module may include a receiving module and a transmitting module (not separately shown in fig. 4). Wherein, the receiving module and the sending module are respectively used for realizing the receiving function and the sending function of the map data processing apparatus 400.
Optionally, the map data processing apparatus 400 may further include a storage module (not separately shown in fig. 4) that stores a program or instructions. The processing module 401, when executing the program or the instructions, makes it possible for the map data processing apparatus 400 to execute the map data processing method shown in fig. 2.
The map data processing apparatus 400 may be a network side, or may be a chip or other components or assemblies that can be disposed in the network side, which is not limited in the present application.
Fig. 5 is a schematic structural diagram of a map data processing apparatus according to an embodiment of the present application. As shown in fig. 5, the map data processing apparatus 500 includes: a processing module 501 and an acquisition module 502. For convenience of explanation, fig. 5 shows only main components of the map data processing apparatus.
In some embodiments, the map data processing apparatus 500 may be applied to the map data processing system shown in fig. 1, and performs the function of the terminal device in the map data processing method shown in fig. 2.
The processing module 501 is configured to determine confidence information of the target element. The processing module 501 is further configured to determine reference confidence information.
The transceiver module 502 is configured to send the confidence information and the reference confidence information to the network side.
Wherein the reference confidence information may include: at least one of confidence information of the reference element, joint confidence information between the target element and the reference element, or conditional confidence information between the target element and the reference element.
In one possible design, the reference confidence information further includes: joint confidence information between multiple reference elements.
Alternatively, the confidence information of the map elements may be used to determine a confidence covariance matrix. For example, the confidence information of the map element is a confidence covariance matrix, or the confidence information of the map element is used to indicate the confidence covariance matrix, or the confidence information of the map element includes each element in the confidence covariance matrix, so that the receiving end determines the confidence covariance matrix. The confidence covariance matrix may include the confidence of a plurality of map elements including the target element and the reference element, and the confidence covariance matrix may include the following formula:
Figure BDA0002983114090000281
wherein, cov (P) v ) For the confidence covariance matrix, the diagonal element P (x) is the confidence of the xth map element, P (x, y) is the joint confidence or conditional confidence of the xth map element relative to the yth map element, and the joint confidence information between the xth map element and the yth map element includes: joint confidence of the xth map element relative to the yth map element, conditional confidence information between the xth and yth map elements including: the xth map elementConditional confidence of the element with respect to the y-th map element. Wherein x = i, i +1, \ 8230, i + n; y = i, i +1, \ 8230;, i + n; i and n are positive integers.
Further, the processing module 501 may also be configured to determine the target element and the reference element. The target element is a changed map element, and the reference element is a map element with reference confidence information meeting preset conditions.
Optionally, the transceiver module 502 may include a receiving module and a transmitting module (not separately shown in fig. 5). Wherein, the receiving module and the sending module are respectively used for realizing the receiving function and the sending function of the map data processing device 500.
Optionally, the map data processing apparatus 500 may further include a storage module (not separately shown in fig. 5) that stores a program or instructions. The processing module 501, when executing the program or the instructions, makes it possible for the map data processing apparatus 500 to execute the map data processing method shown in fig. 2.
The map data processing apparatus 500 may be a terminal device, or may be a chip (system) or other components or assemblies that can be disposed in the terminal device, which is not limited in this application.
It should be noted that the processing modules involved in the map data processing apparatus 500 shown in fig. 5 may be implemented by a processor or a processor-related circuit component, and may be a processor or a processing unit; the receiving module, the transmitting module, and the transceiving module may be implemented by a transceiver or a transceiver-related circuit component, and may be a transceiver or a transceiving unit. The following is a description with reference to examples.
Fig. 6 is a schematic structural diagram of a map data processing apparatus according to an embodiment of the present application. The map data processing device may be a terminal device or a network side, or may be a chip (system) or other component or assembly that can be provided on the terminal device or the network side. As shown in fig. 6, the map data processing apparatus 600 may include a processor 601. Optionally, the map data processing apparatus 600 may further include a memory 602 and/or a transceiver 603. The processor 601 is coupled to the memory 602 and the transceiver 603, such as via a map data processing bus.
The following specifically describes each component of the map data processing apparatus 600 with reference to fig. 6:
the processor 601 is a control center of the map data processing apparatus 600, and may be a single processor or a collective term for a plurality of processing elements. For example, the processor 601 is one or more Central Processing Units (CPUs), or may be an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application, such as: one or more microprocessors (digital signal processors, DSPs), or one or more Field Programmable Gate Arrays (FPGAs).
Alternatively, the processor 601 may perform various functions of the map data processing apparatus 600 by running or executing a software program stored in the memory 602 and calling up data stored in the memory 602.
In a particular implementation, processor 601 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG. 6, for example, as an embodiment.
In particular implementations, map data processing apparatus 600 may also include a plurality of processors, such as processor 601 and processor 604 shown in fig. 2, as an embodiment. Each of these processors may be a single-Core Processor (CPU) or a multi-Core Processor (CPU). A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).
The memory 602 is configured to store a software program for executing the scheme of the present application, and the processor 601 controls the execution of the software program.
Alternatively, the memory 602 may be a read-only memory (ROM) or other type of static storage device that may store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that may store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these. The memory 602 may be integrated with the processor 601, or may be independent and coupled to the processor 601 through an interface circuit (not shown in fig. 6) of the map data processing apparatus 600, which is not particularly limited in the embodiments of the present application.
A transceiver 603 for map data processing with other map data processing devices. For example, the map data processing apparatus 600 is a terminal device, and the transceiver 603 may be used for map data processing with a network side or map data processing with another terminal device. For another example, the map data processing apparatus 600 is a network side, and the transceiver 603 may be used for map data processing with a terminal device or map data processing with another network side.
Optionally, the transceiver 603 may include a receiver and a transmitter (not separately shown in fig. 6). Wherein the receiver is configured to implement a receive function and the transmitter is configured to implement a transmit function.
Optionally, the transceiver 603 may be integrated with the processor 601, or may be independent and coupled to the processor 601 through an interface circuit (not shown in fig. 6) of the map data processing apparatus 600, which is not specifically limited in this embodiment of the present application.
It should be noted that the structure of the map data processing apparatus 600 shown in fig. 6 does not constitute a limitation to the map data processing apparatus, and an actual map data processing apparatus may include more or less components than those shown in the figure, or some components may be combined, or a different arrangement of components may be provided.
In addition, for technical effects of the map data processing apparatus 600, reference may be made to the technical effects of the map data processing methods described in the foregoing method embodiments, and details are not repeated here.
An embodiment of the present application further provides a chip system, including: a processor coupled to a memory for storing a program or instructions that, when executed by the processor, cause the system-on-chip to implement the method of any of the above method embodiments.
Optionally, there may be one or more processors in the system-on-chip. The processor may be implemented by hardware or by software. When implemented in hardware, the processor may be a logic circuit, an integrated circuit, or the like. When implemented in software, the processor may be a general-purpose processor implemented by reading software code stored in a memory.
Optionally, the number of the memories in the chip system may be one or more. The memory may be integrated with the processor or may be separate from the processor, which is not limited in this application. For example, the memory may be a non-transitory processor, such as a read only memory ROM, which may be integrated with the processor on the same chip or separately disposed on different chips, and the type of the memory and the arrangement of the memory and the processor are not particularly limited in this application.
The system-on-chip may be, for example, 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.
The embodiment of the application provides a map data processing system. The system comprises one or more terminal devices, and one or more network sides.
It should be understood that the processor in the embodiments of the present application may be a Central Processing Unit (CPU), and the processor may also be other general purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It will also be appreciated that the memory in the embodiments of the subject application 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 Random Access Memory (RAM) are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct bus RAM (DR RAM).
The above embodiments may be implemented in whole or in part by software, hardware (e.g., circuitry), firmware, or any combination thereof. When implemented in software, the above-described embodiments 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 or computer programs. The procedures or functions according to the embodiments of the present application are wholly or partially generated when the computer instructions or the computer program are loaded or 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 in, or transmitted from one computer-readable storage medium to another computer-readable storage medium, e.g., the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wire (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, data center, etc. that contains one or more collections of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.
It should be understood that the term "and/or" herein is only one kind of association relationship describing the association object, and means that there may be three kinds of relationships, for example, a and/or B, and may mean: a exists singly, A and B exist simultaneously, and B exists singly, wherein A and B can be singular or plural. In addition, the "/" in this document generally indicates that the former and latter associated objects are in an "or" relationship, but may also indicate an "and/or" relationship, which may be understood with particular reference to the former and latter text.
In this application, "at least one" means one or more, "a plurality" means two or more. "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.
It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the 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, the division of the units is only one logical division, and other divisions may be realized in practice, 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.
The 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 may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. 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, or a network side, 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 (24)

1. A map data processing method is applied to a network side, and the method comprises the following steps:
obtaining confidence information of a map element, wherein the map element comprises a target element and a reference element, the confidence information of the map element comprises the confidence information of the target element and reference confidence information, and the reference confidence information comprises: at least one of confidence information for the reference element, joint confidence information between the target element and the reference element, and conditional confidence information between the target element and the reference element;
and determining whether to update the map according to the confidence information of the map elements.
2. The method of claim 1, wherein the reference element is a plurality of elements, and wherein the reference confidence information further comprises: joint confidence information or conditional confidence information between each two of the plurality of reference elements.
3. The method of claim 2, wherein the confidence information for the map element is a confidence covariance matrix comprising confidence levels for a plurality of map elements, the confidence covariance matrix comprising the following equation:
Figure FDA0002983114080000011
wherein, cov (P) v ) For the confidence covariance matrix, diagonal element P v (x) Confidence of the x-th map element, P v (x, y) is a joint confidence or conditional confidence of the xth map element relative to the yth map element, the joint confidence information between the xth and yth map elements including: joint confidence of the xth map element relative to the yth map element, conditional confidence information between the xth and yth map elements including: conditional confidence of the xth map element relative to the yth map element, wherein x = i, i +1, \ 8230;, i + n; y = i, i +1, 8230a, i + n; i and n are positive integers.
4. The method of claim 1, wherein obtaining confidence information for map elements comprises:
obtaining confidence information from a plurality of terminal devices;
fusing the confidence information of the plurality of terminal devices to obtain fused confidence information; and the fused confidence information is the confidence information of the map elements.
5. The method of claim 1, wherein the conditional confidence information between the target element and the reference element is related to an impact factor of the reference element on the target element.
6. The method of any one of claims 1-5, wherein the target element is a changed map element.
7. The method according to any one of claims 1 to 5, wherein the reference element is a map element whose reference confidence information satisfies a preset condition.
8. A map data processing method is applied to terminal equipment, and the method comprises the following steps:
determining confidence information of the target element;
determining reference confidence information, wherein the reference confidence information comprises: at least one of confidence information for a reference element, joint confidence information between the target element and the reference element, and conditional confidence information between the target element and the reference element;
and sending confidence information of the map element to a network side, wherein the confidence information of the map element comprises the confidence information of the target element and the reference confidence information.
9. The method of claim 8, wherein the reference element is a plurality of elements, and wherein the reference confidence information further comprises: joint confidence information or conditional confidence information between each two of the plurality of reference elements.
10. The method of claim 9, wherein the confidence information for the map element is a confidence covariance matrix comprising confidence levels for a plurality of map elements including the target element and the reference element, the confidence covariance matrix comprising the following equation:
Figure FDA0002983114080000021
wherein, cov (P) v ) For the confidence covariance matrix, diagonal element P v (x) Confidence of the x-th map element, P v (x, y) is a joint confidence or conditional confidence of the xth map element relative to the yth map element, the joint confidence information between the xth and yth map elements including: joint confidence of the xth map element relative to the yth map element, conditional confidence information between the xth and yth map elements including: conditional confidence of the xth map element relative to the yth map element, wherein x = i, i +1, \ 8230;, i + n; y = i, i +1, \ 8230;, i + n; i and n are positive integers.
11. The method according to any one of claims 8-10, further comprising:
determining the target element and the reference element; the target element is a changed map element, and the reference element is a map element with reference confidence information meeting a preset condition.
12. A map data processing apparatus, characterized by comprising: the device comprises a processing module and an acquisition module; wherein, the first and the second end of the pipe are connected with each other,
the obtaining module is configured to obtain confidence information of a map element, where the map element includes a target element and a reference element, the confidence information includes confidence information of the target element and reference confidence information, and the reference confidence information includes: at least one of confidence information for the reference element, joint confidence information between the target element and the reference element, and conditional confidence information between the target element and the reference element;
and the processing module is used for determining whether to update the map according to the confidence information of the map elements.
13. The apparatus of claim 12, wherein the reference element is a plurality of elements, and wherein the reference confidence information further comprises: joint confidence information or conditional confidence information between each two of the plurality of reference elements.
14. The apparatus of claim 13, wherein the confidence information for the map element is a confidence covariance matrix comprising confidences for a plurality of map elements, the confidence covariance matrix comprising the following formula:
Figure FDA0002983114080000022
wherein, cov (P) v ) For the confidence covariance matrix, diagonal element P v (x) Confidence of the x-th map element, P v (x, y) is a joint confidence or conditional confidence of the xth map element relative to the yth map element, the joint confidence information between the xth and yth map elements including: joint confidence of the xth map element relative to the yth map element, conditional confidence information between the xth and yth map elements including: conditional confidence of the xth map element relative to the yth map element, wherein x = i, i +1, \ 8230;, i + n; y = i, i +1, \ 8230;, i + n; i and n are positive integers.
15. The apparatus of claim 12,
the acquisition module is further used for acquiring confidence information from a plurality of terminal devices; and the number of the first and second groups,
fusing the confidence information of the plurality of terminal devices to obtain fused confidence information; and the fused confidence information is the confidence information of the map elements.
16. The apparatus of claim 12, wherein the conditional confidence information between the target element and the reference element relates to an impact factor of the reference element on the target element.
17. The apparatus of any of claims 12-16, wherein the target element is a changed map element.
18. The apparatus according to any one of claims 12-16, wherein the reference element is a map element whose reference confidence information satisfies a preset condition.
19. A map data processing apparatus, characterized in that the apparatus comprises: the device comprises a processing module and a transmitting-receiving module; wherein, the first and the second end of the pipe are connected with each other,
the processing module is used for determining confidence information of the target element;
the processing module is further configured to determine reference confidence information, where the reference confidence information includes: at least one of confidence information of a reference element, joint confidence information between the target element and the reference element, and conditional confidence information between the target element and the reference element;
the transceiver module is configured to send confidence information of a map element to a network side, where the confidence information of the map element includes the confidence information of the target element and the reference confidence information.
20. The apparatus of claim 19, wherein the reference element is plural;
the reference confidence further includes: joint confidence information or conditional confidence information between each two of the plurality of reference elements.
21. The apparatus of claim 19, wherein the confidence information for the map element is a confidence covariance matrix comprising confidences for a plurality of map elements including the target element and the reference element, the confidence covariance matrix comprising the following formula:
Figure FDA0002983114080000031
wherein, cov (P) v ) For the confidence covariance matrix, diagonal element P v (x) Confidence of the x-th map element, P v (x, y) is a joint confidence or conditional confidence of the xth map element relative to the yth map element, the joint confidence information between the xth and yth map elements including: joint confidence of the xth map element relative to the yth map element, conditional confidence information between the xth and yth map elements including: conditional confidence of the xth map element relative to the yth map element, wherein x = i, i +1, \ 8230;, i + n; y = i, i +1, \ 8230;, i + n; i and n are positive integers.
22. The apparatus of any one of claims 19-21,
the processing module is further configured to determine the target element and the reference element; the target element is a changed map element, and the reference element is a map element with reference confidence information meeting a preset condition.
23. A map data processing apparatus, characterized by comprising: a processor and a memory; the memory is used for storing a computer program or instructions which, when executed by the processor, causes the map data processing apparatus to perform the map data processing method according to any one of claims 1 to 11.
24. A computer-readable storage medium, characterized in that it comprises a computer program or instructions which, when run on a processor, causes the map data processing method according to any one of claims 1-11 to be performed.
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