CN115398182A

CN115398182A - Electronic map updating method and device, computer equipment and storage medium

Info

Publication number: CN115398182A
Application number: CN202080099128.1A
Authority: CN
Inventors: 蔡一奇
Original assignee: DeepRoute AI Ltd
Current assignee: DeepRoute AI Ltd
Priority date: 2020-07-30
Filing date: 2020-07-30
Publication date: 2022-11-25
Also published as: WO2022021218A1

Abstract

An electronic map updating method, an electronic map updating device, a computer device and a storage medium comprise: acquiring a map node topological graph; analyzing the map node topological graph to obtain the dependency relationship among all nodes in the map node topological graph; determining updated nodes in the map node topological graph according to the dependency relationship among the nodes and the updating time contained in the nodes; according to the dependency relationship among the nodes, screening out the dependent nodes directly or indirectly dependent on the updated nodes from the map node topological graph, and determining the calling sequence of each dependent node and the updated nodes; and calling the updated nodes and the dependent nodes according to the calling sequence to obtain the updated electronic map. By adopting the method, the updating efficiency of the electronic map can be improved.

Description

Electronic map updating method and device, computer equipment and storage medium

Technical Field

The application relates to an electronic map updating method, an electronic map updating device, computer equipment and a storage medium.

Background

With the development of science and technology, an electronic map becomes an important supporting element for automatic driving, and each module in an automatic driving vehicle can acquire different prior information from different nodes of the electronic map, so that the obtained prior information is comprehensively acquired to realize automatic driving. For example, the positioning module may match a more robust positioning result according to visual features provided by the positioning nodes, and the planning module may plan a more reliable driving strategy according to semantic information provided by the semantic nodes, and so on.

Due to road renovation and the like, the electronic map is often required to be maintained and updated during the use process. At present, when an update request is received, all nodes in an electronic map are updated based on the update request. However, the manner of updating all the nodes in the electronic map according to the update request is liable to generate unnecessary update operation, so that the update efficiency of the electronic map is low.

Disclosure of Invention

According to various embodiments disclosed in the present application, an electronic map updating method, an electronic map updating apparatus, a computer device, and a storage medium are provided, which can improve the updating efficiency of an electronic map.

An electronic map updating method, comprising:

acquiring a map node topological graph;

analyzing the map node topological graph to obtain the dependency relationship among all nodes in the map node topological graph;

determining updated nodes in the map node topological graph according to the dependency relationship among the nodes and the updating time contained in the nodes;

according to the dependency relationship among the nodes, screening out the dependent nodes directly or indirectly dependent on the updated nodes from the map node topological graph, and determining the calling sequence of each dependent node and the updated nodes;

and calling the updated nodes and the dependent nodes according to the calling sequence to obtain the updated electronic map.

An electronic map updating apparatus, comprising:

the dependency relationship determining module is used for acquiring a map node topological graph; analyzing the map node topological graph to obtain the dependency relationship among all nodes in the map node topological graph;

the updated node determining module is used for determining updated nodes in the map node topological graph according to the dependency relationship among the nodes and the updating time contained in the nodes;

the updating module is used for screening out the dependent nodes directly or indirectly dependent on the updated nodes from the map node topological graph according to the dependency relationship among the nodes, and determining the calling sequence of each dependent node and the updated node; and calling the updated nodes and the dependent nodes according to the calling sequence to obtain the updated electronic map.

A computer device comprising a memory and one or more processors, the memory having stored therein computer-readable instructions that, when executed by the processors, cause the one or more processors to perform the steps of:

acquiring a topological graph of map nodes;

according to the dependency relationship among the nodes, screening out the dependent nodes directly or indirectly dependent on the updated nodes from the map node topological graph, and determining the calling sequence of each dependent node and the updated node;

One or more non-transitory computer-readable storage media storing computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of:

acquiring a map node topological graph;

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features and advantages of the application will be apparent from the description and drawings, and from the claims.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a diagram illustrating an exemplary embodiment of a method for updating an electronic map;

FIG. 2 is a flowchart illustrating an electronic map updating method according to an embodiment;

FIG. 3 is a diagram illustrating a map node topology in one embodiment;

FIG. 4 is a flowchart illustrating a call order determination method according to one embodiment;

FIG. 5 is a block diagram of an electronic map updating apparatus in one embodiment;

FIG. 6 is a block diagram of an electronic map updating apparatus according to another embodiment;

FIG. 7 is a block diagram of a computer device in one embodiment.

Detailed Description

In order to make the technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The electronic map updating method provided by the application can be applied to the application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The server 104 is configured to store the map node topological graph, manage updating of the electronic map based on the map node topological graph, send the updated electronic map to the terminal 102 after the updating operation is completed, and correspondingly display the electronic map by the terminal 102. The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, and the server 104 may be implemented by an independent server or a server cluster formed by multiple servers.

In one embodiment, as shown in fig. 2, an electronic map updating method is provided, which is described by taking the method as an example applied to the server 104 in fig. 1, and includes the following steps:

s202, obtaining a map node topological graph.

Referring to fig. 3, fig. 3 is a schematic diagram of a map node topology diagram in an embodiment. The map node topological graph is a topological structure formed by program nodes, data nodes and edges required by generating an electronic map. The program node is a program module written for implementing a function module in the electronic map, for example, as shown in fig. 3, the program node may be a positioning layer program node, so that the autonomous driving vehicle may determine its own positioning result according to a visual feature provided by the positioning node. For example, as shown in fig. 3, the data node may be a positioning layer data node, and through the positioning layer data node, positioning data output by the positioning layer data node may be received, and the positioning data may be used as a data input source of the map data packing node.

Specifically, when the map node topological graph is generated, developers only need to define the direct dependency relationship between every two nodes, and the map node topological graph can be generated based on the data nodes, the program nodes and the defined direct dependency relationship. As shown in fig. 3, two nodes connected by one edge are in a direct dependency relationship, for example, a pose optimization program node directly depends on an original data node; and the pose optimization data nodes directly depend on pose optimization program nodes and the like. When the data node is directly dependent on a program node, indicating that the data node receives the execution result of the program node; when the program node depends on the data node, the program node is indicated to need to read data from the data node, and the data is processed based on the read data. When the electronic map needs to be updated, the server acquires a map node topological graph.

In one embodiment, the server may read the map node topology map from the cloud.

In one embodiment, the server triggers the electronic map updating operation when determining that the developer updates all or part of the nodes required for generating the electronic map.

In one embodiment, the server updates the electronic map based on the operation of clicking the update control by the developer.

In one embodiment, when the terminal starts the electronic map, the terminal generates an electronic map updating query instruction and sends the electronic map updating query instruction to the server, and the server triggers the electronic map updating operation according to the electronic map updating query instruction.

And S204, analyzing the map node topological graph to obtain the dependency relationship among the nodes.

The dependency relationship refers to a relationship between nodes in the process of executing data processing. The dependency relationship includes a direct dependency relationship and an indirect dependency relationship. As shown in fig. 3, two nodes directly connected by an edge are in a direct dependency relationship, such as a positioning layer program node and a positioning layer data node. Two nodes connected by two or more edges are in an indirect dependency relationship, for example, the positioning layer program node and the map data packing node are connected by two edges, so that the map data packing node indirectly depends on the positioning layer program node. When the node a depends on the node B, it indicates that the node a needs to use the output result of the node B in the process of executing data processing, and the node B is depended on by the node a, for example, as shown in fig. 3, when the pose optimization data node correspondingly stores the execution result output by the pose optimization program node, the pose optimization data node depends on the pose optimization program node, and the pose optimization program node is depended on by the pose optimization data node.

Specifically, since the developer defines the direct dependency between every two nodes, the server may determine the indirect dependency between the nodes according to the direct dependency between every two nodes, and thus after obtaining the map node topology, the server may determine the direct dependency and the indirect dependency between the nodes based on the map node topology.

S206, determining updated nodes in the map node topological graph according to the dependency relationship among the nodes and the updating time contained in the nodes.

The update time refers to the time when the program node or the data node is changed. When a developer changes a program in a program node, a server acquires change time of the program node and embeds the change time as update time into the program node; when a developer changes data in a data node, or when the data node receives an execution result sent by a program node and correspondingly stores the execution result, the server obtains the change time when the developer changes the data in the data node, or the receiving time when the data node receives the execution result, and embeds the change time or the receiving time as update time in the data node.

Specifically, the server extracts the update time of each node in the map node topological graph, and determines at least one pair of node pairs having a direct dependency relationship according to the dependency relationship between the nodes, for example, the positioning layer program node and the positioning layer data node are a pair of node pairs. And the server determines a current node in the node pair and a direct dependent node directly dependent on the current node, and takes the current node as an updated node when the update time of the current node is later than that of the direct dependent node directly dependent on the current node. For example, as shown in fig. 3, when the current node is a positioning layer program node and the directly dependent node directly dependent on the positioning layer program node is a positioning layer data node, the server determines whether the update time of the positioning layer program node is later than the update time of the positioning layer data node, and when the update time of the positioning layer program node is later than the update time of the positioning layer data node, the server takes the positioning layer program node as an updated node.

In one embodiment, the electronic map updating method further includes: when the updating operation of the node to be updated is triggered, the updating time for triggering the updating operation is obtained; and updating the nodes to be updated based on the updating time.

Specifically, the server monitors the updating operation of each node in the map node topological graph, and when the updating operation of the node to be updated is determined to be triggered, the server determines the time for triggering the updating operation of the node to be updated, and embeds the determined time as the updating time into the node to be updated.

In one embodiment, when the node to be updated is updated successfully, the server determines a time point when the update operation is executed successfully, and embeds the time point when the update operation is executed successfully in the node to be updated as the update time.

S208, according to the dependency relationship among the nodes, the dependent nodes directly or indirectly dependent on the updated nodes are screened out from the map node topological graph, and the calling sequence of each dependent node and the updated nodes is determined.

Wherein, the dependent node comprises a direct dependent node and an indirect dependent node.

Specifically, the server screens out direct dependent nodes directly dependent on the updated nodes and indirect dependent nodes indirectly dependent on the updated nodes from the map node topological graph according to the dependency relationship among the nodes. For example, as shown in fig. 3, when the updated node is a visual data node, the direct dependent node directly dependent on the updated node is a map data packaging node, and the indirect dependent node indirectly dependent on the updated node is a map data publishing node. The server determines the calling priority of the updated node as a first calling priority; determining the calling priority of the direct dependent node as a second calling priority; and determining the calling priority of the indirect dependent node as a third calling priority. And the server determines the calling sequence of each dependent node and the updated node according to the calling priority of the updated node, the direct dependent node and the indirect dependent node. It is readily understood that the server preferentially calls nodes having a first call priority; when the node with the first calling priority is called completely, the server calls the node with the second calling priority; when the node with the second calling priority is called, the server calls the node with the third calling priority.

In one embodiment, when a plurality of indirect dependent nodes with a third calling priority exist, determining the dependency relationship among the indirect dependent nodes according to the dependency relationship among the nodes; determining the calling sequence of each indirect dependent node according to the dependency relationship among the indirect dependent nodes; determining the calling sequence of each dependent node and the updated node according to the calling priorities of the updated node, the direct dependent node and the indirect dependent node, comprising the following steps: and determining the calling sequence of each dependent node and the updated node according to the updated node, the calling priority of the direct dependent node and the calling sequence of each indirect dependent node.

Specifically, when two or more indirect dependent nodes exist, the server determines the calling sequence among the multiple indirect dependent nodes according to the dependency relationship among the nodes, so that after the nodes with the first calling priority and the nodes with the second calling priority are called, the server can call the indirect dependent nodes according to the calling sequence among the indirect dependent nodes. More specifically, the server determines an indirect dependent node on which the direct dependent node is directly dependent according to the dependency relationship among the nodes, and sets the determined call sequence of the indirect dependent node as a first call sequence. For example, when the semantic layer program node is an updated node, the direct dependent node is a data node to be labeled, the indirect dependent node directly dependent on the data node to be labeled is a semantic layer data node, and at this time, the server sets the calling sequence of the semantic layer data node to the first calling sequence in the third calling priority.

Further, the server takes the indirect dependent node with the first calling sequence as an initial node, judges whether the map node topological graph has the indirect dependent node directly dependent on the initial node, if so, the server sets the calling sequence of the indirect dependent node directly dependent on the initial node as a second calling sequence in a third calling priority, and takes the indirect dependent node with the second calling sequence as a new initial node. And the server determines the calling sequence of the indirect dependent nodes directly dependent on the new initial node according to the mode until no indirect dependent node directly dependent on the new initial node exists.

For example, in the above example, when the server sets the calling order of the semantic layer data nodes to the first calling order in the third calling priority, the server determines that the indirect dependent node directly dependent on the semantic layer data nodes is the map data packaging node, and at this time, the server sets the calling order of the map data packaging node to the second calling order in the third calling priority. The server determines that an indirect dependent node directly dependent on the map data packaging node is a map data publishing node, and at the moment, the server sets the calling sequence of the map data publishing node as a third calling sequence in a third calling priority, so that the finally obtained complete calling sequence sequentially comprises a semantic layer program node with a first calling priority, a data node to be labeled with a second calling priority, a semantic layer data node with a first calling sequence in the third calling priority, a map data packaging node with a second calling sequence in the third calling priority and a map data publishing node with a second calling sequence in the third calling priority.

And S210, calling the updated nodes and the dependent nodes according to the calling sequence to obtain the updated electronic map.

Specifically, the server calls the updated nodes and the dependent nodes in sequence according to the calling sequence to obtain the updated electronic map. Because the updated electronic map can be obtained only by calling the updated nodes and the dependent nodes, compared with the traditional method of calling all the nodes in the map node topological graph from beginning to end, the method and the device can reduce unnecessary calling processes, thereby improving the generation efficiency of the electronic map.

In one embodiment, the server stores therein node identifications of program nodes having a last call order in the map node topology map. When the server receives the electronic map updating instruction, the server determines the program node with the last calling sequence and determines the data node on which the program node with the last calling sequence directly depends according to the node identification of the program node with the last calling sequence. For example, as shown in fig. 3, when the program node having the last calling sequence is a map data packing node, the server determines that the data nodes on which the map data packing node directly depends are a positioning layer data node, a visualization data node, and a semantic layer data node.

Further, the server extracts the update time in the program node having the last call order and the update time in the corresponding directly dependent data node, and generates an updated electronic map based on the program node having the last call order when the update time in the program node having the last call order is later than the update time in the corresponding directly dependent data node. For example, in the above example, the server calls the map data packaging node, and the node that distributes the map data generates the updated electronic map. When the updating time of the program nodes in the calling sequence is earlier than that of the data nodes which directly depend on the program nodes, the server determines the updated nodes in the map node topological graph according to the method, determines the dependent nodes which directly depend on or indirectly depend on the updated nodes, and sequentially calls the updated nodes and the dependent nodes to obtain the updated electronic map.

In one embodiment, when two or more updated nodes exist, the server determines the dependent node corresponding to each updated node respectively to obtain a plurality of to-be-called node sequences. The server determines a calling sequence between the updated node and the corresponding dependent node in each node sequence to be called according to the method, and simultaneously calls the node sequences to be called based on multiple threads according to the determined calling sequence to obtain a plurality of updated electronic maps. The server determines the generation time of each updated electronic map, and takes the electronic map with the latest generation time as the updated electronic map to be finally output.

In one embodiment, when there are two or more updated nodes, the server determines the program node having the last call order and traverses the plurality of updated nodes. The server determines program nodes which directly or indirectly depend on the updated nodes in the current traversal order except the program node in the last calling order, and takes the determined program nodes and the updated nodes in the current traversal order as a node sequence to be called. The server calls the sequence of nodes to be called simultaneously based on multiple threads. And after all the nodes in the multiple to-be-called node sequences are determined to be called completely, the server calls the program nodes with the last calling sequence to generate the updated electronic map.

In the embodiment, by acquiring the map node topological graph, the acquired map node topological graph can be analyzed to obtain the dependency relationship among the nodes; by determining the dependency relationship among the nodes and extracting the updating time of the nodes, the updated nodes can be determined according to the dependency relationship and the updating time; by determining the updated nodes, the dependent nodes directly or indirectly dependent on the updated nodes can be determined, so that the server can determine the calling sequence of each dependent node and the updated nodes, and sequentially call the updated nodes and the dependent nodes according to the calling sequence to obtain the updated electronic map. Because the updated electronic map can be obtained only by calling the updated nodes and the dependent nodes, compared with the traditional method of calling all the nodes in the map node topological graph from beginning to end, the method and the device can reduce unnecessary calling processes, thereby improving the generation efficiency of the electronic map.

In one embodiment, the step of generating the map node topological graph comprises: acquiring a configuration file of an electronic map; the configuration file of the electronic map comprises a node identifier of at least one data node required for generating the electronic map, a node identifier corresponding to a node directly depended on by the data node and a node identifier corresponding to a node directly depended on the data node; and generating a map node topological graph according to the node identification of at least one data node required by the generation of the electronic map, the node identification corresponding to the node directly depended on by the data node and the node identification corresponding to the node directly depended on the data node.

The server acquires a map configuration file required for generating a map node topological graph, determines the dependency relationship among nodes according to the map configuration file, and generates the map node topological graph according to the dependency relationship among the nodes. The map configuration file comprises a node identification of at least one data node required for generating the electronic map, a node identification corresponding to a node directly depended on by the data node, and a node identification corresponding to a node directly depended on the data node.

In one embodiment, a developer may configure a node configuration file for each data node in advance, so that the server may synthesize the node configuration files of the data nodes to obtain a map configuration file. The node configuration file of the current data node comprises at least one configuration item such as a data input path of the current data node, a node identifier corresponding to a node directly depending on the current data node, and a data storage path of the current data node. It is easy to understand that the developer can configure each configuration item accordingly, or only configure part of the configuration items.

In one embodiment, a developer may configure a node configuration file for each data node and each program node in advance, so that the server may synthesize the node configuration files of the data nodes and the node configuration files of the program nodes to obtain a map configuration file. The current program configuration file comprises at least one configuration item such as a calling mode of a current program node and a node identifier corresponding to a node on which the program node directly depends. The configuration file of the current data node comprises at least one configuration item such as a data input path of the current data node, a node identifier corresponding to a node directly depended by the current data node, a data storage path of the data node and the like.

In one embodiment, the configuration file of the electronic map comprises node identifiers of data nodes required for generating the electronic map and node identifiers corresponding to nodes on which each data node directly depends; generating node identifiers of program nodes required by the electronic map and node identifiers corresponding to nodes on which each program node directly depends; and the server determines the dependency relationship among the nodes according to the electronic map configuration file and generates a map node topological graph according to the dependency relationship among the nodes.

In the embodiment, the server can generate the map node topological graph only by acquiring the map configuration file, so that the generation efficiency of the map node topological graph is greatly improved.

In one embodiment, determining updated nodes in a map node topology graph according to the dependency relationship among the nodes and the update time included in each node includes:

s402, traversing nodes in the map node topological graph;

s404, determining a current traversal order node and a direct dependent node directly dependent on the current traversal order node;

s406, extracting the update time of the current traversal sequence node and the update time of the direct dependent node;

s408, when the update time of the current traversal sequence node is later than the update time of the direct dependent node, determining the current traversal sequence node as an updated node.

Specifically, the server traverses nodes in a map node topological graph, and when the current traversal order node is a program node, the server determines a data node directly dependent on the current traversal order node based on the map node topological graph, and extracts the update time in the current traversal order node and the update time of the data node directly dependent on the current traversal order node, that is, extracts the update time of the current traversal order node and the update time of the directly dependent node. And when the update time of the current traversal order node is later than that of the directly dependent node, the server takes the current traversal order node as the update node.

Because the data nodes are directly dependent on the program nodes in the current traversal order, when the server calls the program nodes to perform data operation, obtains an execution result, and stores the execution result in the data nodes, the update time of the data nodes is later than that of the program nodes. When a developer updates a program node, the server updates the original update time based on the latest update time of the program node in the current traversal order, so that the update time of the program node is later than the update time of the data node.

For example, when a positioning layer data node directly depends on a positioning layer program node, the server inputs an execution result of the positioning layer program node into the positioning layer data node, so that when the updating time of the positioning layer data node is later than that of the positioning layer program node, it is indicated that a developer does not update the positioning layer program node; when the updating time of the positioning graph layer data nodes is earlier than that of the positioning graph layer program nodes, which indicates that a developer updates the positioning graph layer program nodes, the server takes the positioning graph layer program nodes as updated nodes.

And when the current traversal order node is a data node, the server determines the node directly depending on the current traversal order node. It is easy to understand that the nodes directly depending on the nodes in the current traversal order may be program nodes, or data nodes, for example, as shown in fig. 3, the nodes directly depending on the visualized data nodes are map data packing nodes; and the nodes directly depending on the data nodes to be labeled are semantic layer data nodes. The server extracts the update time of the current traversal sequence node and the update time of the program node or the data node directly depending on the current traversal sequence node, and takes the current traversal sequence node as an updated node when the update time of the current traversal sequence node is later than the update time of the program node or the data node directly depending on the current traversal sequence node, namely, the server takes the current traversal sequence node as the updated node when the update time of the current traversal sequence node is later than the update time of the directly depending node.

Because the program node depends on the data node in the current traversal order, the server can input the data in the data node as source data to the program node when the data node in the current traversal order already has data, so that the program node can perform a data processing process based on the source data, and therefore, the update time of the data node in the current traversal order is earlier than that of the program node. When a developer updates the data nodes in the current traversal order, the server updates the original update time based on the latest update time of the data nodes in the current traversal order, so that the update time of the program nodes in the update time of the data nodes in the current traversal order is later than the update time of the data nodes, and therefore the server can judge whether the nodes in the current traversal order are updated or not based on the update time of the nodes in the current traversal order and the update time of the dependent nodes directly dependent on the nodes in the current traversal order.

For example, when the map data packing node directly depends on the visual data node, and the update time of the visual data node is later than that of the map data packing node, it indicates that a developer updates the visual data node, and at this time, the server takes the visual data node as an updated node; and when the update time of the visual data node is later than that of the map data packaging node.

In this embodiment, the server can quickly determine the updated node only by comparing the update time of the current traversal order node with the update time of the direct dependent node directly dependent on the current traversal order node, thereby greatly improving the determination efficiency of the updated node.

In one embodiment, determining the calling order of each dependent node and the updated node according to the dependency relationship among the nodes comprises: determining a direct dependent node directly dependent on the updated node and an indirect dependent node indirectly dependent on the updated node according to the dependency relationship among the nodes; determining the calling priority of the updated node as a first calling priority; determining the calling priority of the direct dependent node as a second calling priority which is next to the first calling priority; determining the calling priority of the indirect dependent node as a third calling priority which is next to the second calling priority; and determining the calling sequence of each dependent node and the updated node according to the calling priority of the updated node, the direct dependent node and the indirect dependent node.

Specifically, the server determines a direct dependent node directly dependent on the updated node and an indirect dependent node indirectly dependent on the updated node according to the dependency relationship between the nodes. The server sets the calling priority of the updated node as a first calling priority, sets the priority of the direct dependent node as a second calling priority, and sets the calling priority of the indirect dependent node as a third calling priority, so that the server calls the node with the first calling priority preferentially.

In this embodiment, the calling order is determined by setting the priority, so that the server can preferentially call the nodes with higher priority, thereby ensuring the generation efficiency of the electronic map.

In one embodiment, determining the order of invocation for each dependent node and updated node comprises: acquiring a calling sequence among program nodes in a preset map node topological graph; screening program nodes from the updated nodes and the dependent nodes; determining the calling sequence of the program nodes screened from the updated nodes and the dependent nodes according to the calling sequence among the program nodes in the map node topological graph; calling the dependent nodes according to the calling sequence to obtain the updated electronic map, wherein the method comprises the following steps: and calling the program nodes according to the calling sequence of the program nodes screened from the updated nodes and the dependent nodes to obtain the updated electronic map.

Specifically, the server obtains a calling sequence among program nodes in a preset map node topological graph, and screens the program nodes from updated nodes and dependent nodes. And the server determines the calling sequence of the program nodes screened from the updated nodes and the dependent nodes according to the calling sequence among the program nodes in the map node topological graph, and calls the program nodes screened from the updated nodes and the dependent nodes according to the determined calling sequence to obtain the updated electronic map. For example, the server obtains node identifiers of program nodes in the map node topological graph, and sorts the node identifiers of the program nodes according to a calling sequence to obtain an identifier sequence. And the server deletes the node identification which is not the updated node and the node identification which is not the dependent node from the identification sequence to obtain the updated identification sequence. And the server calls program nodes screened from the updated nodes and the dependent nodes in sequence according to the updated identification sequence to obtain an updated electronic map.

In one embodiment, after the server obtains the map node topological graph, the server sorts the program nodes based on the calling sequence of the preset logic sorting algorithm, and when the updated electronic map can be generated finally when the program nodes are determined to be called according to the current calling sequence, the server stores the current calling sequence, and the stored current calling sequence is used as the calling sequence of the program nodes in the map node topological graph.

In this embodiment, when the data node directly depends on the program node, the program node inputs the execution result to the corresponding data node, so that the corresponding data node is passively executed, and therefore, the server only needs to call the program node in the map node, and the updated electronic map can be obtained. In addition, by acquiring the preset calling sequence, the calling sequence of the updated node and the program node in the dependent node can be quickly determined, so that the updating efficiency of the electronic map is improved.

In one embodiment, the method for obtaining an updated electronic map by calling updated nodes and dependent nodes according to a calling sequence includes: determining a current node to be called based on the calling sequence; determining a data input path and a data output path of a current node to be called; reading source data from the data input path, and calling a current node to be called to execute the processing process of the source data to obtain an execution result; storing the execution result according to the data output path; and determining a next node to be called of the current node to be called based on the calling sequence, and taking the next node to be called as the current node to be called to continue iterative processing until the node indicated by the calling sequence is called.

Specifically, the server calls the nodes in sequence according to the calling sequence, and generates an updated electronic map based on the called nodes. More specifically, the server determines the current node to be called, and determines the data input path and the data output path of the current node to be called according to the map configuration file or the node configuration file. And the server reads the source data according to the data input path and inputs the source data into the current node to be called so as to enable the current node to be called to execute a data processing process on the source data and obtain an execution result. And the server stores the execution result according to the data output path. And the server determines the next calling node of the current node to be called according to the calling sequence, and continuously iterates the next calling node as the current node to be called until the node indicated by the calling sequence is called.

In one embodiment, when the current node to be called is a data node, the server reads source data from the data input path and outputs the source data according to the data output path, for example, as shown in fig. 3, when the current node to be called is an original data node, the original data node reads the source data from the data input source and outputs the read source data to the pose optimization program node, the positioning layer program node, the visualization layer program node, and the semantic layer generation program node.

In one embodiment, when the current node to be called is a program node, the server reads source data from the data input path, performs data processing on the source data to obtain an execution result, and correspondingly outputs the execution result according to the data output path.

In the embodiment, the server only needs to call the updated nodes and the dependent nodes in sequence to obtain the updated electronic map, so that the updating efficiency of the electronic map is greatly improved.

In one embodiment, determining the data input source and the data output path of the node to be called currently comprises: when the current node to be called is a data node, acquiring a node configuration file of the current node to be called; the node configuration file comprises a calling result storage path of a node on which the current node to be called directly depends and a data output path of the current node to be called; and storing the calling result of the node directly depended by the current node to be called as the data input path of the current node to be called.

Specifically, when the current node to be called is a data node, the server acquires a node configuration file configured in advance for the current node to be called. The node configuration file comprises an execution result storage path of a node on which the current node to be called directly depends and a data output path of the current node to be called. And the server stores the execution result of the node directly depended by the current node to be called as the data input path of the current node to be called. For example, when a positioning layer data node directly depends on a positioning layer program node, the server uses an execution result storage path of the positioning layer program node as a data input path of the positioning layer data node.

In one embodiment, when there is no node on which a node to be executed directly depends, a developer may directly specify a data input path of the node to be executed currently in a corresponding node configuration file.

In this embodiment, since the data node may directly depend on the program node, the server may determine the data input path corresponding to the data node only by determining the execution result storage path of the program node that directly depends on, thereby improving convenience of determining the data input path, and further improving efficiency of determining the data input path.

In one embodiment, the electronic map updating method further includes: when the current node to be called is a program node, determining a data node on which the current node to be called directly depends and a data node which directly depends on the current node to be called; and determining a data input source and a data output path of the nodes to be called in the current traversal sequence according to the node configuration file of the data node on which the current nodes to be called directly depend and the node configuration file of the data node on which the current nodes to be called directly depend.

Specifically, when the current node to be called is a program node, the server obtains a data node which is determined to be directly depended on by the current node to be called, and a data node which is currently called and has direct dependence on the node, and obtains a node configuration file of the data node which is directly depended on by the current node to be called, and a node configuration file of the data node which is currently called and has direct dependence on the node. For example, as shown in fig. 3, when the current node to be called is a node of the positioning layer program, the node on which the current node to be called directly depends is an original data node, and the node on which the current node to be called directly depends is a node of the positioning layer data node, so that the server obtains a node configuration file of the original data node and a node configuration file of the positioning layer data node. For convenience of description, the node configuration file of the data node directly depended on by the current node to be called is referred to as a first node configuration file, and the node configuration file of the data node directly depended on by the current node to be called is referred to as a second node configuration file.

Further, the server reads the data output path from the first node configuration file, and uses the data output path read from the first node configuration file as the data input path of the current node to be called. And the server reads the data input path from the second node configuration file, and takes the data input path read from the second node configuration file as the data output path of the current node to be called. For example, in the above example, the server uses the data output path in the node configuration file corresponding to the original data node as the data input path for locating the graph layer program node. And the server takes the data input path in the node configuration file corresponding to the data node of the positioning graph layer as the data output path of the program node of the positioning graph layer.

In one embodiment, when the data nodes in the topological graph of the nodes of the local graph are managed by a unified database, the data output path and the data input path can be defined by adopting an absolute path; when the data nodes in the map node topology map are not managed by a unified database, the data out path and the data in path may be defined using relative paths.

In this embodiment, a developer can indirectly define the data input path and the data output path of the program node by only defining the data input path and the data output path of the data node, thereby reducing unnecessary configuration processes of the paths and further improving configuration efficiency of the data input path and the data output path.

It should be understood that although the steps in the flowcharts of fig. 2 and 4 are shown in sequence as indicated by the arrows, the steps are not necessarily called out in sequence as indicated by the arrows. The steps are not necessarily required to be performed in the exact order illustrated and may be performed in other orders unless otherwise indicated herein. Moreover, at least some of the steps in fig. 2 and 4 may include multiple sub-steps or multiple stages that are not necessarily called at the same time, but may be called at different times, and the calling order of the sub-steps or stages is not necessarily in sequence, but may be called alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 5, there is provided an electronic map updating apparatus 500, including: a dependency determination module 502, an updated node determination module 504, and an update module 506.

A dependency relationship determining module 502, configured to obtain a map node topological graph; and analyzing the map node topological graph to obtain the dependency relationship among all nodes in the map node topological graph.

The updated node determining module 504 is configured to determine an updated node in the map node topology map according to the dependency relationship between the nodes and the update time included in each node.

An updating module 506, configured to screen out, from the map node topology map, a dependent node that directly or indirectly depends on an updated node according to a dependency relationship between nodes, and determine a calling order of each dependent node and the updated node; and calling the updated nodes and the dependent nodes according to the calling sequence to obtain the updated electronic map.

In one embodiment, as shown in fig. 6, the electronic map updating apparatus 500 is further configured to obtain a map configuration file; the map configuration file comprises a node identifier of at least one data node required for generating the electronic map, a node identifier corresponding to a node directly depended on by the data node and a node identifier corresponding to a node directly depended on the data node; and generating a map node topological graph according to the node identification of at least one data node required by the generation of the electronic map, the node identification corresponding to the node directly depended on by the data node and the node identification corresponding to the node directly depended on the data node.

In one embodiment, the updated node determining module 504 further includes an update time extracting module 5041, configured to traverse nodes in the map node topology map according to a dependency relationship between the nodes; determining a current traversal order node and a direct dependent node directly dependent on the current traversal order node; extracting the update time of the current traversal sequence node and the update time of the direct dependent node; and when the update time of the current traversal order node is later than that of the directly dependent node, determining the current traversal order node as an updated node.

In one embodiment, the updated node determining module 504 further includes a time updating module 5042, configured to, when an updating operation of a node to be updated is triggered, obtain an updating time for triggering the updating operation; and updating the nodes to be updated based on the updating time.

In one embodiment, the updating module 506 further includes a calling order determining module 5061, configured to determine, according to a dependency relationship between nodes, a direct dependent node directly dependent on an updated node and an indirect dependent node indirectly dependent on the updated node; determining the calling priority of the updated node as a first calling priority; determining the calling priority of the direct dependent node as a second calling priority which is next to the first calling priority; determining the calling priority of the indirect dependent node as a third calling priority which is next to the second calling priority; and determining the calling sequence of each dependent node and the updated node according to the calling priority of the updated node, the direct dependent node and the indirect dependent node.

In one embodiment, the calling order determining module 5061 is further configured to determine, when there are multiple indirect dependent nodes with a calling priority of a third calling priority, a dependency relationship between the indirect dependent nodes according to the dependency relationship between the nodes; determining the calling sequence of each indirect dependent node according to the dependency relationship among the indirect dependent nodes; determining the calling sequence of each dependent node and the updated node according to the calling priorities of the updated node, the direct dependent node and the indirect dependent node, comprising the following steps: and determining the calling sequence of each dependent node and the updated node according to the calling priority of the updated node and the direct dependent node and the calling sequence of each indirect dependent node.

In one embodiment, the calling order determining module 5061 is further configured to obtain a calling order among program nodes in a preset map node topological graph; screening program nodes from the updated nodes and the dependent nodes; and determining the calling sequence of the program nodes screened from the updated nodes and the dependent nodes according to the calling sequence among the program nodes in the map node topological graph.

In one embodiment, the update module 506 further includes an execution module 5062, configured to determine a node to be called currently based on the calling order; determining a data input path and a data output path of a current node to be called; reading source data from the data input path, and calling a current node to be called to execute the processing process of the source data to obtain an execution result; storing the execution result according to the data output path; and determining a next node to be called of the current node to be called based on the calling sequence, and taking the next node to be called as the current node to be called to continue iterative processing until the node indicated by the calling sequence is called.

In an embodiment, the executing module 5062 is further configured to, when the current node to be called is a data node, obtain a node configuration file of the current node to be called; the node configuration file comprises an execution result storage path of a node on which the current node to be called directly depends and a data output path of the current node to be called; and storing the execution result of the node on which the current node to be called directly depends as the data input path of the current node to be called.

In one embodiment, the execution module 5062 is further configured to determine, when the current node to be called is a program node, a data node that is directly depended on by the current node to be called and a data node that directly depends on the current node to be called; and determining a data input source and a data output path of the nodes to be called in the current traversal sequence according to the node configuration file of the data node directly depended on by the current nodes to be called and the node configuration file of the data node directly depended on the current nodes to be called.

In one embodiment, a computer device is provided, which may be a server, and an internal structural diagram thereof may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer readable instructions, and a database. The internal memory provides an environment for the operating system and execution of computer-readable instructions in the non-volatile storage medium. The database of the computer device is used for storing electronic map data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer readable instructions, when invoked by a processor, implement an electronic map updating method.

It will be appreciated by those skilled in the art that the configuration shown in fig. 7 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

A computer device comprising a memory and one or more processors, the memory having stored therein computer readable instructions which, when invoked by the processors, cause the one or more processors to, when invoked, perform the steps in the above method embodiments.

One or more non-transitory computer-readable storage media storing computer-readable instructions which, when invoked by one or more processors, cause the one or more processors to perform the steps in the above-described method embodiments when invoked.

It will be understood by those of ordinary skill in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to computer readable instructions, which can be stored in a non-volatile computer readable storage medium, and when called, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

An electronic map updating method, comprising:

acquiring a map node topological graph;

analyzing the map node topological graph to obtain the dependency relationship among all nodes in the map node topological graph;

determining updated nodes in the map node topological graph according to the dependency relationship among the nodes and the updating time contained in the nodes;

according to the dependency relationship among the nodes, screening out the dependent nodes directly or indirectly dependent on the updated nodes from the map node topological graph, and determining the calling sequence of each dependent node and the updated nodes;

and calling the updated nodes and the dependent nodes according to the calling sequence to obtain the updated electronic map.
The method of claim 1, wherein the nodes comprise program nodes, data nodes; the map node topological graph generating step comprises the following steps:

acquiring a map configuration file; the map configuration file comprises a node identifier of at least one data node required for generating the electronic map, a node identifier corresponding to a node directly depended on by the data node and a node identifier corresponding to a node directly depended on the data node;

and generating a map node topological graph according to the node identification of at least one data node required for generating the electronic map, the node identification corresponding to the node directly depended on by the data node and the node identification corresponding to the node directly depended on by the data node.
The method according to claim 1, wherein the determining updated nodes in the map node topology map according to the dependency relationship between the nodes and the update time included in each node comprises:

traversing the nodes in the map node topological graph according to the dependency relationship among the nodes;

determining a current traversal order node and a direct dependent node directly dependent on the current traversal order node;

extracting the update time of the current traversal order node and the update time of the direct dependent node;

and when the update time of the current traversal sequence node is later than that of the direct dependent node, determining the current traversal sequence node as an updated node.
The method of claim 3, further comprising:

when the updating operation of the node to be updated is triggered, the updating time for triggering the updating operation is obtained;

and updating the node to be updated based on the updating time.
The method of claim 1, wherein determining the order of invocation for each dependent node and updated node comprises:

determining a direct dependent node directly dependent on the updated node and an indirect dependent node indirectly dependent on the updated node according to the dependency relationship among the nodes;

determining the calling priority of the updated node as a first calling priority;

determining the call priority of the directly dependent node to be a second call priority that is second to the first call priority;

determining the call priority of the indirect dependent node as a third call priority next to the second call priority;

and determining the calling sequence of each dependent node and the updated node according to the calling priority of the updated node, the direct dependent node and the indirect dependent node.
The method of claim 5, further comprising:

when a plurality of indirect dependent nodes with the calling priority as the third calling priority exist, determining the dependency relationship among the indirect dependent nodes according to the dependency relationship among the nodes;

determining the calling sequence of each indirect dependent node according to the dependency relationship among the indirect dependent nodes;

determining the calling sequence of each dependent node and the updated node according to the calling priorities of the updated node, the direct dependent node and the indirect dependent node comprises the following steps:

and determining the calling sequence of each dependent node and the updated node according to the calling priority of the updated node and the direct dependent node and the calling sequence of each indirect dependent node.
The method of claim 1, wherein the nodes comprise program nodes, data nodes; the determining the calling sequence of each dependent node and the updated node comprises:

acquiring a preset calling sequence among program nodes in the map node topological graph;

screening program nodes from the updated nodes and the dependent nodes;

determining the calling sequence of the program nodes screened from the updated nodes and the dependent nodes according to the calling sequence among the program nodes in the map node topological graph;

the calling the dependent nodes according to the calling sequence to obtain the updated electronic map comprises the following steps:

and calling the program nodes according to the calling sequence of the program nodes screened from the updated nodes and the dependent nodes to obtain the updated electronic map.
The method of claim 1, wherein the calling the updated nodes and the dependent nodes according to the calling order to obtain the updated electronic map comprises:

determining a current node to be called based on the calling sequence;

determining a data input path and a data output path of a current node to be called;

reading source data from the data input path, and calling the current node to be called to execute the processing process of the source data to obtain an execution result;

storing the execution result according to the data output path;

and determining a next node to be called of the current node to be called based on the calling sequence, and taking the next node to be called as the current node to be called to continue iterative processing until the node indicated by the calling sequence is called completely.
The method of claim 8, wherein the nodes comprise program nodes and data nodes; the determining the data input source and the data output path of the current node to be called includes:

when the current node to be called is a data node, acquiring a node configuration file of the current node to be called; the node configuration file comprises an execution result storage path of a node directly depended by the current node to be called and a data output path of the current node to be called;

and storing the execution result of the node on which the current node to be called directly depends as a data input path of the current node to be called.
The method of claim 9, further comprising:

when the current node to be called is a program node, determining a data node directly depended on by the current node to be called and a data node directly depended on the current node to be called;

and determining a data input source and a data output path of the nodes to be called in the current traversal sequence according to the node configuration file of the data nodes directly depended on by the nodes to be called currently and the node configuration file of the data nodes directly depended on by the nodes to be called currently.
An electronic map updating apparatus, comprising:

the dependency relationship determining module is used for acquiring a map node topological graph; analyzing the map node topological graph to obtain the dependency relationship among all nodes in the map node topological graph;

the updated node determining module is used for determining the updated nodes in the map node topological graph according to the dependency relationship among the nodes and the updating time contained in the nodes;

the updating module is used for screening out the dependent nodes directly or indirectly dependent on the updated nodes from the map node topological graph according to the dependency relationship among the nodes, and determining the calling sequence of each dependent node and the updated nodes; and calling the updated nodes and the dependent nodes according to the calling sequence to obtain the updated electronic map.
The apparatus according to claim 11, wherein the electronic map updating apparatus is further configured to obtain a map configuration file; the map configuration file comprises a node identification of at least one data node required for generating the electronic map, a node identification corresponding to a node directly depended on by the data node and a node identification corresponding to a node directly depended on the data node; and generating a map node topological graph according to the node identification of at least one data node required for generating the electronic map, the node identification corresponding to the node directly depended on by the data node and the node identification corresponding to the node directly depended on by the data node.
The apparatus of claim 11, wherein the updated node determining module further comprises an update time extracting module configured to traverse nodes in the map node topology map according to a dependency relationship between the nodes; determining a current traversal order node and a direct dependent node directly dependent on the current traversal order node; extracting the update time of the current traversal sequence node and the update time of the direct dependent node; and when the update time of the current traversal sequence node is later than that of the direct dependent node, determining the current traversal sequence node as an updated node.
A computer device comprising a memory and one or more processors, the memory having stored therein computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to perform the steps of:

acquiring a map node topological graph;

analyzing the map node topological graph to obtain the dependency relationship among all nodes in the map node topological graph;

determining updated nodes in the map node topological graph according to the dependency relationship among the nodes and the updating time contained in the nodes;

according to the dependency relationship among the nodes, screening out the dependent nodes directly or indirectly dependent on the updated nodes from the map node topological graph, and determining the calling sequence of each dependent node and the updated nodes;

and calling the updated nodes and the dependent nodes according to the calling sequence to obtain the updated electronic map.
The computer device of claim 14, wherein the processor, when invoking the computer readable instructions, further invokes the steps of:

acquiring a map configuration file; the map configuration file comprises a node identification of at least one data node required for generating the electronic map, a node identification corresponding to a node directly depended on by the data node and a node identification corresponding to a node directly depended on the data node;

and generating a map node topological graph according to the node identification of at least one data node required for generating the electronic map, the node identification corresponding to the node directly depended on by the data node and the node identification corresponding to the node directly depended on by the data node.
The computer device of claim 14, wherein the processor, when executing the computer readable instructions, further performs the steps of:

traversing the nodes in the map node topological graph according to the dependency relationship among the nodes;

determining a current traversal order node and a direct dependent node directly dependent on the current traversal order node;

extracting the update time of the current traversal sequence node and the update time of the direct dependent node;

and when the update time of the current traversal sequence node is later than that of the direct dependent node, determining the current traversal sequence node as an updated node.
The computer device of claim 16, wherein the processor, when executing the computer readable instructions, further performs the steps of:

when the updating operation of the node to be updated is triggered, the updating time for triggering the updating operation is obtained;

and updating the node to be updated based on the updating time.
One or more non-transitory computer-readable storage media storing computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of:

acquiring a map node topological graph;

analyzing the map node topological graph to obtain the dependency relationship among all nodes in the map node topological graph;

determining updated nodes in the map node topological graph according to the dependency relationship among the nodes and the updating time contained in the nodes;

according to the dependency relationship among the nodes, screening out the dependent nodes directly or indirectly dependent on the updated nodes from the map node topological graph, and determining the calling sequence of each dependent node and the updated nodes;

and calling the updated nodes and the dependent nodes according to the calling sequence to obtain the updated electronic map.
The storage medium of claim 18, wherein the computer readable instructions, when invoked by the processor, further invoke the steps of:

acquiring a map configuration file; the map configuration file comprises a node identification of at least one data node required for generating the electronic map, a node identification corresponding to a node directly depended on by the data node and a node identification corresponding to a node directly depended on the data node;

and generating a map node topological graph according to the node identification of at least one data node required for generating the electronic map, the node identification corresponding to the node directly depended on by the data node and the node identification corresponding to the node directly depended on by the data node.
The storage medium of claim 19, wherein the computer readable instructions, when invoked by the processor, further invoke the steps of:

traversing the nodes in the map node topological graph according to the dependency relationship among the nodes;

determining a current traversal order node and a direct dependent node directly dependent on the current traversal order node;

extracting the update time of the current traversal sequence node and the update time of the direct dependent node;

and when the update time of the current traversal sequence node is later than that of the direct dependent node, determining the current traversal sequence node as an updated node.