CN115328933A

CN115328933A - Data updating method and device and electronic equipment

Info

Publication number: CN115328933A
Application number: CN202211061473.3A
Authority: CN
Inventors: 陈尧; 陶世俊; 康宁
Original assignee: Zhejiang Geely Holding Group Co Ltd; Ningbo Geely Automobile Research and Development Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Ningbo Geely Automobile Research and Development Co Ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2022-11-11

Abstract

The application discloses a data updating method, a data updating device and electronic equipment, and relates to the technical field of data updating. The method comprises the following steps: obtaining at least one map vector segment corresponding to each appointed time in a plurality of appointed times; matching the same map vector segment corresponding to different appointed time in all map vector segments to obtain each first matching result corresponding to the same map vector segment; determining each second matching result in each first matching result; and updating all map vector segments corresponding to the latest specified time in each second matching result. By the data updating method, the whole amount of map information in the map tile range can be prevented from being updated, the data updating amount is reduced, and the timeliness and the updating speed of data updating are improved. Moreover, the data updating mode can also support history backtracking, and the fault tolerance rate is high.

Description

Data updating method and device and electronic equipment

Technical Field

The present disclosure relates to the field of data updating, and in particular, to a data updating method, device and electronic device.

Background

The high-precision map is an electronic map with higher precision and more data dimensions. The accuracy is higher, the high-accuracy map has centimeter-level accuracy, and the data dimensionality is more embodied in that the high-accuracy map comprises surrounding static information which is related to traffic except for road information. As one of the keys for realizing automatic driving of a vehicle, a high-precision map can effectively supplement an automatic driving sensor and provide more reliable sensing capability for the vehicle, so that an accurate high-precision map needs to be constructed, and map information is updated when geographical environment data of roads, rivers, buildings and the like change.

The current map information updating method generally divides a map into a plurality of map tiles, and then totally updates the map information in the map tile range, that is, all the map information corresponding to the map tiles is updated, including the unchanged parts. The updating method has a long corresponding updating period, so that the updating speed of the map information is slow, and the updating method cannot support history backtracking and has low fault-tolerant rate.

Disclosure of Invention

The application discloses a data updating method, a data updating device and electronic equipment, which can avoid the full updating of all map information in a map tile range, reduce the data updating amount and further improve the timeliness and the updating speed of data updating. Moreover, the data updating mode can also support history backtracking, and the fault tolerance rate is high.

In a first aspect, the present application provides a data updating method, including:

obtaining at least one map vector segment corresponding to each appointed time in a plurality of appointed times;

matching the same map vector segment corresponding to different appointed time in all map vector segments to obtain each first matching result corresponding to the same map vector segment;

determining each second matching result in each first matching result, wherein the number and/or the reliability of the map vector segments corresponding to the second matching results meet the preset requirements;

and updating all map vector segments corresponding to the latest specified time in each second matching result.

By the method, the map information in the map tile range can be prevented from being updated in a full amount, the data updating amount is reduced, and the timeliness and the updating speed of data updating are improved. Moreover, the data updating mode can also support history backtracking, and the fault tolerance rate is high.

In a possible design, the matching, among all map vector segments, the same map vector segment corresponding to different specified time instants includes:

matching the same map vector segment corresponding to any two adjacent appointed moments in all map vector segments;

judging whether all map vector segments corresponding to different specified moments are matched;

and if not, matching the same map vector segments corresponding to two designated moments which are separated by M moments at will, wherein M takes 1 as an initial value, and the value of each matching is added by 1 until all the same map vector segments corresponding to different designated moments are matched.

By the method, matching relations among the same map vector segments at different appointed moments can be completely established.

In a possible design, the determining the second matching results from the first matching results includes:

calculating the confidence degree corresponding to each first matching result, wherein the confidence degree is determined according to the map information contained in the map vector segment;

screening out the target confidence degrees which are greater than a preset threshold value from all the confidence degree values;

and taking the first matching result corresponding to each target confidence coefficient as each second matching result.

By the method, the target matching result matched with the reliability draft can be screened from each first matching result.

In a possible design, the calculating the confidence level corresponding to each of the first matching results includes:

determining each sub-matching result between the same map vector segments at different specified moments in each first matching result, wherein the sub-matching results represent the matching relationship between the two map vector segments;

evaluating matching scores respectively corresponding to the sub-matching results according to the map information corresponding to the sub-evaluation results;

and calculating the confidence corresponding to each first matching result according to each matching score.

By the above method, each first matching result can be scored.

In one possible design, the determining the second matching results from the first matching results includes:

determining the number of map vector segments corresponding to each first matching result;

screening out target numerical values which are larger than preset numerical values from all numerical values;

and taking the first matching result corresponding to each target numerical value as each second matching result.

Through the method, the target matching result meeting the requirement can be selected from the first matching results.

In a second aspect, the present application provides a data updating apparatus, comprising:

the acquisition module is used for acquiring at least one map vector segment corresponding to each appointed time in a plurality of appointed times;

the matching module is used for matching the same map vector segment corresponding to different appointed moments in all the map vector segments to obtain each first matching result corresponding to the same map vector segment;

the determining module is used for determining each second matching result in each first matching result, wherein the number and/or the reliability of the map vector segments corresponding to the second matching results meet preset requirements;

and the updating module is used for updating all map vector segments corresponding to the latest specified time in each second matching result.

In one possible design, the matching module is specifically configured to:

judging whether the same map vector segments corresponding to different specified moments are completely matched or not;

In one possible design, the determining module is specifically configured to:

In one possible design, the determination module is further to:

In one possible design, the determining module is further configured to:

In a third aspect, the present application provides an electronic device, comprising:

a memory for storing a computer program;

and the processor is used for realizing the steps of the data updating method when executing the computer program stored in the memory.

In a fourth aspect, the present application provides a computer-readable storage medium having stored therein a computer program which, when executed by a processor, implements the above-mentioned data updating method steps.

Based on the data updating method, the whole amount of map information in the map tile range can be prevented from being updated, the data updating amount is reduced, and the timeliness and the updating speed of data updating are improved. Moreover, the data updating mode can also support history backtracking, and the fault tolerance rate is high.

For each of the second to fourth aspects and possible technical effects of each aspect, reference is made to the above description of the possible technical effects of the first aspect or various possible schemes of the first aspect, and repeated description is omitted here.

Drawings

Fig. 1 is a flowchart of a data updating method provided in the present application;

FIG. 2 is a schematic diagram of a vertex of a map vector segment provided in the present application;

FIG. 3 is a diagram illustrating a matching result of vertices of a map vector segment according to the present disclosure;

FIG. 4 is a second schematic diagram illustrating a matching result of vertices of a map vector segment provided in the present application;

FIG. 5 is a third diagram illustrating a matching result of vertices of a map vector segment according to the present application;

FIG. 6 is a fourth schematic diagram illustrating matching results of vertices of a map vector segment according to the present application;

FIG. 7 is a schematic structural diagram of a data updating apparatus provided in the present application;

fig. 8 is a schematic structural diagram of an electronic device provided in the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clear, the present application will be further described in detail with reference to the accompanying drawings. The particular methods of operation in the method embodiments may also be applied to apparatus embodiments or system embodiments. It should be noted that "a plurality" is understood as "at least two" in the description of the present application. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone. A is connected with B and can represent: a and B are directly connected and A and B are connected through C. In addition, in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not intended to indicate or imply relative importance nor order to be construed.

The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

The current map information updating method generally divides a map into a plurality of map tiles, and then performs full updating on the map information within the map tile range, that is, all the map information corresponding to the map tiles is updated, including the unchanged part. The updating method has a long corresponding updating period, so that the map information updating speed is slow, the updating method cannot support history backtracking, and the fault tolerance rate is low.

In order to solve the above problems, the present application provides a data updating method, by which full update of all map information within a map tile range can be avoided, and the data update amount is reduced, thereby improving the timeliness and the update speed of data update. Moreover, the data updating mode can also support history backtracking, and the fault tolerance rate is high. The method and the device in the embodiment of the application are based on the same technical concept, and because the principles of the problems solved by the method and the device are similar, the device and the embodiment of the method can be mutually referred, and repeated parts are not repeated.

As shown in fig. 1, a flowchart of a data updating method provided by the present application specifically includes the following steps:

s11, acquiring at least one map vector segment corresponding to each appointed time in a plurality of appointed times;

s12, matching the same map vector segment corresponding to different appointed time in all map vector segments to obtain each first matching result corresponding to the same map vector segment;

s13, determining each second matching result in each first matching result;

and S14, updating all map vector segments corresponding to the latest specified time in each second matching result.

In the embodiment of the present application, the update of the high-precision map data may be performed according to a preset period, for example, the update of the map data is performed every other day, or every other two days, or the high-precision map may be updated in real time after the change of the map data is detected. When the high-precision map is updated in real time, at least one map vector segment corresponding to a plurality of designated times in a recent time period is preferentially selected, wherein the recent time period can be the latest 6 hours, the latest 1 day, the latest 2 days and the like.

For example, referring to fig. 2, circles in fig. 2 represent map vector segment vertices, and t1, t2, t3, t4, t5, t6, t7, and t8 are 8 designated times, where time t1 and time t8 respectively include 8 map vector segment vertices, times t2, t3, t6, and t7 respectively include 3 map vector segment vertices, and times t4 and t5 respectively include 2 map vector segment vertices.

After at least one map vector segment corresponding to each appointed time is obtained, matching is carried out between the same map vector segments corresponding to different appointed times. Specifically, the method comprises the following steps:

firstly, matching is carried out between the same map vector segments corresponding to any two adjacent specified time points in all the map vector segments. For example, referring to fig. 2, each row of circles in fig. 2 represents map vector segment vertices corresponding to the same map vector segment at different specified times, and after matching is performed between the same map vector segments corresponding to any two adjacent specified times in fig. 2, a matching result is obtained as shown in fig. 3. In fig. 3, a matching relationship is established between map vector segment vertices corresponding to two adjacent specified time instants in each row, and the matching relationship is represented by a directional arrow, wherein the direction of the arrow represents the direction of time duration. In line a, matching is completed between the map vector segment vertices corresponding to times t1 and t2, the map vector segment vertices corresponding to times t2 and t3, and the map vector segment vertices corresponding to times t7 and t 8.

However, since the same map vector segment does not necessarily exist between all the two adjacent designated times, for example, a map vector segment vertex exists in the C-th row corresponding to the time t1 in fig. 3, but the same map vector segment vertex corresponding to the time t1 does not exist in the C-th row corresponding to the time t2, when the same map vector segments corresponding to any two adjacent designated times are matched according to the above method, the map vector segment vertex corresponding to the time t1 in the C-th row cannot be matched with the map vector segment vertex corresponding to the time t 3. Similarly, the matching between the map vector segments corresponding to the time t4 and the time t6 in the D-th row cannot be completed.

In order to avoid the situation, whether the same map vector segments corresponding to different appointments are all matched is further judged; and if not, matching the same map vector segments corresponding to two designated moments which are separated by M moments at will, wherein M takes 1 as an initial value, and the value of each matching is added by 1 until all the same map vector segments corresponding to different designated moments are matched.

For example, referring to fig. 3, matching is performed between the same map vector segments corresponding to two designated times that are spaced by 1 designated time in fig. 3, and the obtained matching result is shown in fig. 4. In fig. 4, a match is established between the map vector segment corresponding to the D-line time t4 and the map vector segment corresponding to the time t6, a match is established between the map vector segment corresponding to the C-line time t1 and the map vector segment corresponding to the time t3, and a match is established between the map vector segment corresponding to the C-line time t6 and the map vector segment corresponding to the time t 8. At this time, it is detected that there are still the same map vector segment vertices in each row in fig. 3 that cannot establish a match, such as the map vector segment vertex corresponding to the time t2 and the time t5 in row B, and the map vector segment vertex corresponding to the time t3 and the time t7 in row a.

Next, matching is performed between the same map vector segments corresponding to two designated times that are spaced by 2 designated times in fig. 3, and the obtained matching result is shown in fig. 5. In fig. 5, a match is established between the map vector segment corresponding to time t2 and the map vector segment corresponding to time t6 in row B. At this time, it is detected that matching cannot be established between the vertices of the map vector segments corresponding to the time t3 and the time t7 in the row a in fig. 5, and therefore, matching is performed between the same map vector segments corresponding to two designated times that are separated by 3 designated times in any one of fig. 3, and the obtained matching result is shown in fig. 6.

In fig. 6, matching is completed between vertexes of the same map vector segment corresponding to different designated times, and a first matching result is obtained. At this time, the first matching result represents the corresponding track of the same map vector segment at different specified time.

After matching is completed between vertexes of the same map vector segment corresponding to different appointed moments to obtain first matching results, further, each second matching result is selected from each first matching result, wherein the number and/or the reliability of the map vector segments corresponding to the second matching results meet preset requirements. In this embodiment, the method for determining the second matching result may be:

and calculating the confidence degree corresponding to each first matching result, wherein the confidence degree is determined according to the map information contained in the map vector segment. Specifically, the method comprises the following steps:

firstly, determining each sub-matching result between the same map vector segments at different specified times in each first matching result, wherein the sub-matching results represent the matching relationship between the two map vector segments. For example, A, B, C, D in fig. 6 is a first match result for each row, and each directional arrow in fig. 6 is a sub-match result. For the first matching result corresponding to row a, the first matching result includes 4 sub-matching results, which are the matching result between the map vector segments corresponding to time t1 and time t2, the matching result between the map vector segments corresponding to time t2 and time t3, the matching result between the map vector segments corresponding to time t3 and time t7, and the matching result between the map vector segments corresponding to time t7 and time t8, respectively.

And further, evaluating the matching scores respectively corresponding to the sub-matching results according to the map information corresponding to the sub-evaluation results. Wherein the matching score is determined according to the similarity value between two map vector segments corresponding to the sub-matching result. For example: and when the matching score is evaluated, firstly calculating a similarity value between the map vector segment A and the map vector segment B, and then mapping the similarity value into the matching score according to a preset rule. If the similarity value is 90%, the similarity value may be mapped to a matching score of 90, or may be 95, etc.

In the above process, the similarity value between two map vector segments is calculated according to the map information, wherein the map information includes each target object in the map vector segments, such as lane lines, buildings, and the like. In the embodiment of the present application, each sub-matching result actually includes matching between target objects of the map vector segments, and then the similarity value between the map vector segments is calculated according to the similarity value between the target objects.

For example, assuming that matching is performed based on the target object 1, the target object 2, and the target object 3 when the current map vector segment 1 and the map vector segment 2 are matched, the similarity value p1 corresponding to the target object 1, the similarity value p2 corresponding to the target object 2, and the similarity value p3 corresponding to the target object 3 are respectively calculated when the similarity values are calculated. Then, according to the attribute information of each target object, a weight value is set for each similarity value, and the similarity value between the map vector segment 1 and the map vector segment 2 is calculated. Specifically, if the weight value corresponding to the similarity value p1 is the weight k1, the weight value corresponding to the similarity value p2 is the weight k2, and the weight value corresponding to the similarity value 32 is the weight k3, then the similarity value between the map vector segment 1 and the map vector segment 2 can be calculated to be (p 1 × k1+ p2 × k2+ p3 × k 3).

By the method, the matching scores corresponding to the sub-matching results can be obtained, and then the sub-matching scores corresponding to the first matching results are summed, so that the matching scores can be converted into the confidence degrees corresponding to the first matching results, wherein the confidence degrees represent the reliability degrees of the matching results.

For example, the first matching result corresponding to row B in fig. 6 includes 6 sub-matching results, which are respectively the sub-matching result 1 corresponding to time t1 and time t2, the sub-matching result 2 corresponding to time t2 and time t5, the sub-matching result 3 corresponding to time t5 and time t6, the sub-matching result 8 corresponding to time t6 and time t7, and the sub-matching result 6 corresponding to time t7 and time t8, and the matching scores corresponding to the sub-matching results 1 to 6 are added, so that the confidence of the first matching result corresponding to row C can be calculated.

After calculating the confidence degrees corresponding to the first matching results, screening out the target confidence degrees larger than a preset threshold value from the confidence degree values, and taking the first matching results corresponding to the target confidence degrees as second matching results of the reliability degrees.

In this embodiment of the present application, the method for determining the second matching result may further be: and determining map vector segment numerical values corresponding to the first matching results, screening out target numerical values larger than a preset numerical value from all numerical values, and taking the first matching results corresponding to the target numerical values as second matching results.

For example, referring to fig. 6, in fig. 6, the number of map vector segments included in the first matching result corresponding to the a-th row is 5, the number of map vector segments included in the first matching result corresponding to the B, C row is 6, the number of map vector segments included in the first matching result corresponding to the D-th row is 7, and if the preset number is 5, the first matching results respectively corresponding to the B, C, D rows may be used as the second matching results.

In a possible application scenario, the two methods for determining the second matching result may also be combined, for example, the matching score condition and the preset numerical condition are simultaneously satisfied, or the two methods for determining the second matching result are respectively subjected to score setting, then summation, and the like.

After each second matching result is determined in each first matching result, further updating all map vector segments corresponding to the most recently specified time in each second matching result. For example, if the second matching results determined in fig. 6 are the first matching results corresponding to the B, C, D row, the map vector segment of the B, C, D row at time t8 may be updated.

By the data updating method, the whole amount of map information in the map tile range can be prevented from being updated, the data updating amount is reduced, and the timeliness and the updating speed of data updating are improved. Moreover, the data updating mode can also support history backtracking, and the fault tolerance rate is high.

Based on the same inventive concept, an embodiment of the present application further provides a data updating apparatus, as shown in fig. 7, which is a schematic structural diagram of the data updating apparatus, and includes:

an obtaining module 71, configured to obtain at least one map vector segment corresponding to each of a plurality of specified times;

the matching module 72 is configured to match the same map vector segment corresponding to different specified times among all map vector segments to obtain each first matching result corresponding to the same map vector segment;

a determining module 73, configured to determine each second matching result from each first matching result, where the number and/or the reliability of the map vector segments corresponding to the second matching result meet preset requirements;

and an updating module 74, configured to update all map vector segments corresponding to the most recently specified time in each second matching result.

In one possible design, the matching module 72 is specifically configured to:

In one possible design, the determining module 73 is specifically configured to:

In one possible design, the determining module is further configured to:

In one possible design, the determining module 73 is further configured to:

Through the data updating device, the whole updating of all map information in the map tile range can be avoided, the data updating amount is reduced, and the timeliness and the updating speed of data updating are improved. Moreover, the data updating mode can also support history backtracking, and the fault tolerance rate is high.

Based on the same inventive concept, an embodiment of the present application further provides an electronic device, where the electronic device may implement the functions of the foregoing data updating method and apparatus, and with reference to fig. 8, the electronic device includes:

at least one processor 81, and a memory 82 connected to the at least one processor 81, in this embodiment, a specific connection medium between the processor 81 and the memory 82 is not limited, and fig. 8 illustrates an example in which the processor 81 and the memory 82 are connected through a bus 80. The bus 80 is shown in fig. 8 by a thick line, and the connection between other components is merely illustrative and not limiting. The bus 80 may be divided into an address bus, a data bus, a control bus, etc., and is shown in fig. 8 with only one thick line for ease of illustration, but does not represent only one bus or type of bus. Alternatively, processor 81 may also be referred to as a controller, without limitation to the name.

In the embodiment of the present application, the memory 82 stores instructions executable by the at least one processor 81, and the at least one processor 81 can execute the data updating method discussed above by executing the instructions stored in the memory 82. The processor 81 may implement the functions of the various modules in the apparatus shown in fig. 7.

The processor 81 is a control center of the apparatus, and may connect various parts of the entire control device by using various interfaces and lines, and perform various functions of the apparatus and process data by operating or executing instructions stored in the memory 82 and calling data stored in the memory 82, thereby performing overall monitoring of the apparatus.

In one possible design, processor 81 may include one or more processing units, and processor 81 may integrate an application processor, which primarily handles operating systems, user interfaces, application programs, and the like, and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 81. In some embodiments, the processor 81 and the memory 82 may be implemented on the same chip, or in some embodiments, they may be implemented separately on separate chips.

The processor 81 may be a general-purpose processor, such as a Central Processing Unit (CPU), digital signal processor, application specific integrated circuit, field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like, that may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the data updating method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

The memory 82, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The Memory 82 may include at least one type of storage medium, and may include, for example, a flash Memory, a hard disk, a multimedia card, a card-type Memory, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a charge Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and the like. The memory 82 is 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 such. The memory 82 in the embodiments of the present application may also be circuitry or any other device capable of performing a storage function for storing program instructions and/or data.

The processor 81 is programmed to solidify the code corresponding to the data updating method described in the foregoing embodiment into the chip, so that the chip can execute the steps of the data updating method of the embodiment shown in fig. 1 when running. How to program the processor 81 is well known to those skilled in the art and will not be described in detail herein.

Based on the same inventive concept, the present application also provides a storage medium storing computer instructions, which when executed on a computer, cause the computer to perform the data updating method discussed above.

In some possible embodiments, the various aspects of the data updating method provided by the present application may also be implemented in the form of a program product comprising program code for causing the control device to perform the steps in the data updating method according to various exemplary embodiments of the present application described above in this specification, when the program product is run on an apparatus.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data updating apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data updating apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data update apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data update apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A method for updating data, the method comprising:

determining each second matching result in each first matching result, wherein the number and/or the reliability of the map vector segments corresponding to the second matching results meet preset requirements;

2. The method as claimed in claim 1, wherein the matching of the same map vector segment at different designated times among all map vector segments comprises:

3. The method of claim 1, wherein determining each second match result among each first match results comprises:

4. The method of claim 3, wherein calculating the confidence level corresponding to each of the first matching results comprises:

5. The method of claim 1, wherein determining each second match result among each first match results comprises:

6. A data update apparatus, the method comprising:

the determining module is used for determining each second matching result in each first matching result, wherein the number and/or the reliability of the map vector segments corresponding to the second matching results meet the preset requirements;

7. The apparatus of claim 6, wherein the matching module is specifically configured to:

matching the same map vector segment corresponding to any two adjacent appointed time in all map vector segments;

8. The apparatus of claim 6, wherein the determination module is specifically configured to:

screening out the confidence degrees of the targets larger than a preset threshold value from the confidence values;

9. The apparatus of claim 8, wherein the determination module is further to:

10. The apparatus of claim 6, wherein the determination module is further to:

11. An electronic device, comprising:

a memory for storing a computer program;

a processor for implementing the method steps of any one of claims 1-5 when executing the computer program stored on the memory.

12. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1-5.