CN115507841A

CN115507841A - Map updating method, device, equipment and readable storage medium

Info

Publication number: CN115507841A
Application number: CN202211194149.9A
Authority: CN
Inventors: 邓鑫
Original assignee: Meizu Technology Co Ltd
Current assignee: Meizu Technology Co Ltd
Priority date: 2022-09-28
Filing date: 2022-09-28
Publication date: 2022-12-23

Abstract

The present disclosure relates to a map updating method, apparatus, device, and readable storage medium, which receives image data uploaded by a current operating vehicle in real time, compares the image data with a current high-precision map, determines difference data between the image data and the current high-precision map, corrects the difference data to obtain target difference data, and updates the current high-precision map in real time based on the target difference data. Compared with the prior art, the embodiment of the disclosure replaces professional surveying and mapping vehicles with non-professional operation vehicles to collect data, so that the cost can be greatly reduced, the image data collected by the operation vehicles is received in real time, the image data is compared with the current high-precision map, the difference data is determined, the target difference data is further obtained, the current high-precision map is updated in real time based on the target difference data, the updating period of the high-precision map can be shortened, the updating speed of the high-precision map is increased, and the requirement of automatic driving vehicles for map real-time updating is met.

Description

Map updating method, device, equipment and readable storage medium

Technical Field

The present disclosure relates to the field of information updating technologies, and in particular, to a map updating method, apparatus, device, and readable storage medium.

Background

A High Definition Map (HD Map) is a Map having High positioning accuracy and capable of updating data in real time. Unlike the conventional navigation map, the high-precision map can provide navigation information at a lane level in addition to navigation information at a road level.

The high-precision map is mainly used for automatic driving vehicles and provides lane level planning and self-vehicle positioning assistance in road sections for the automatic driving vehicles, and therefore the high-precision map is required to be updated continuously to ensure the consistency of data and the real world.

At present, the updating of the high-precision map is mainly based on the updating of map data production data acquired by a professional mapping vehicle, but the period of updating the high-precision map is longer due to the high cost and the small quantity of the professional mapping vehicle, so that the updating speed of the high-precision map is slower, and the requirement of an automatic driving vehicle on the real-time updating of the map is difficult to meet.

Disclosure of Invention

In order to solve the technical problem, the present disclosure provides a map updating method, apparatus, device and readable storage medium, so as to shorten a period of updating a high-precision map, and accelerate an updating speed of the high-precision map, thereby meeting a demand of an autonomous vehicle for real-time map updating.

In a first aspect, an embodiment of the present disclosure provides a map updating method, where the method includes:

receiving image data uploaded by a current operating vehicle in real time;

comparing the image data with a current high-precision map, and determining difference data of the image data and the current high-precision map;

correcting the difference data to obtain target difference data;

and updating the current high-precision map in real time based on the target difference data.

In some embodiments, the comparing the image data to a current high-precision map, determining difference data of the image data and the current high-precision map, comprises:

carrying out image recognition on the image data to recognize current environment information;

and comparing the current environment information with the current high-precision map, and determining the difference data of the current environment information and the current high-precision map.

In some embodiments, the current environmental information includes at least one of:

position information, surrounding road condition information, surrounding environment information, traffic sign information, lane information, and road safety driving assistance infrastructure.

In some embodiments, said correcting said difference data to obtain target difference data comprises:

determining position information corresponding to the difference data;

acquiring other difference data of the position information based on big data, wherein the other difference data are obtained based on the comparison between image data uploaded by other operating vehicles and the current high-precision map;

and correcting the difference data based on the other difference data to obtain target difference data.

In some embodiments, said correcting said difference data based on said other difference data to obtain target difference data comprises:

comparing the difference data with the other difference data to obtain data to be corrected;

and correcting the difference data according to the data to be corrected to obtain target difference data.

In some embodiments, the updating the current high precision map in real time based on the target difference data comprises:

generating an update package of the current high-precision map according to the target difference data;

and updating the current high-precision map in real time through the update package.

In some embodiments, after the real-time updating of the current high-precision map based on the target difference data, the method further comprises:

and issuing the updated high-precision map to all vehicles so that all vehicles run based on the high-precision map.

In a second aspect, an embodiment of the present disclosure provides a map updating apparatus, including:

the receiving module is used for receiving image data uploaded by a current operating vehicle in real time;

the determining module is used for comparing the image data with a current high-precision map and determining difference data of the image data and the current high-precision map;

the obtaining module is used for correcting the difference data to obtain target difference data;

and the updating module is used for updating the current high-precision map in real time based on the target difference data.

In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

a memory;

a processor; and

a computer program;

wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of the first aspect.

In a fourth aspect, the disclosed embodiments provide a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method according to the first aspect.

In a fifth aspect, the disclosed embodiments also provide a computer program product comprising a computer program or instructions which, when executed by a processor, implement the method according to the first aspect.

According to the map updating method, the map updating device, the map updating equipment and the readable storage medium, the image data uploaded by the current operating vehicle is received in real time, the image data is compared with the current high-precision map, the difference data between the image data and the current high-precision map is determined, the difference data is corrected to obtain target difference data, and the current high-precision map is updated in real time based on the target difference data. Compared with the prior art, the embodiment of the disclosure replaces a professional surveying and mapping vehicle with a non-professional operation vehicle to collect data, so that the cost can be greatly reduced, the image data collected by the operation vehicle is received in real time, the image data is compared with the current high-precision map to determine the difference data, the target difference data is further obtained, the current high-precision map is updated in real time based on the target difference data, the updating period of the high-precision map can be shortened, the updating speed of the high-precision map is increased, and the requirement of an automatic driving vehicle for map real-time updating is met.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a flowchart of a map updating method provided in an embodiment of the present disclosure;

fig. 2 is a flowchart of a map updating method according to another embodiment of the disclosure;

FIG. 3 is a flowchart of a map updating method according to another embodiment of the disclosure;

fig. 4 is a schematic structural diagram of a map updating apparatus according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

In view of this problem, embodiments of the present disclosure provide a map updating method, which is described below with reference to specific embodiments.

Fig. 1 is a flowchart of a map updating method according to an embodiment of the present disclosure. The method can be applied to a server, can be applied to a scene for updating the high-precision map, can shorten the updating period of the high-precision map and accelerate the updating speed of the high-precision map, thereby meeting the requirement of an automatic driving vehicle on real-time map updating. It can be understood that the map updating method provided by the embodiment of the disclosure can also be applied to other scenes.

The following describes a map updating method shown in fig. 1, which includes the following steps:

and S101, receiving image data uploaded by the current operating vehicle in real time.

Operating vehicles such as net appointments, freight cars, taxis, buses, and the like. In the step, image data is acquired through acquisition equipment such as a forward-looking camera and a look-around camera on the operating vehicle, the operating vehicle uploads the acquired image data to a server, and the server receives the image data uploaded by the current operating vehicle in real time. In traditional map survey and drawing mode, need arrange a large amount of professional survey and drawing vehicles in all over the country, professional survey and drawing vehicle cost is high, and this disclosed embodiment replaces professional survey and drawing vehicle data collection through non-professional operation vehicle, can greatly reduce cost.

S102, comparing the image data with a current high-precision map, and determining difference data of the image data and the current high-precision map.

After receiving image data uploaded by a current operating vehicle, a server compares the image data with a current high-precision map and determines difference data of the image data and the current high-precision map. And determining the newly added road, the newly added traffic sign, the changed road, the changed traffic sign, the newly added traffic light and the like as the difference data of the image data and the current high-precision map through comparison.

S103, correcting the difference data to obtain target difference data.

And after the difference data between the image data and the current high-precision map is determined, the server corrects the difference data to obtain target difference data. In some embodiments, the server corrects the difference data in combination with image data uploaded by other operating vehicles to obtain target difference data. In some embodiments, the server may further correct the difference data by comparing big data to obtain target difference data.

And S104, updating the current high-precision map in real time based on the target difference data.

And after the target difference data is obtained, the server updates the current high-precision map in real time according to the target difference data. Specifically, the server changes the map data of the position corresponding to the target difference data to obtain a new high-precision map, so that the current high-precision map can be updated, the updating period of the high-precision map can be shortened, the updating speed of the high-precision map is increased, and the requirement of an automatic driving vehicle on real-time map updating is met.

The method and the device for updating the high-precision map in real time receive image data uploaded by a current operating vehicle in real time, compare the image data with the current high-precision map, determine difference data between the image data and the current high-precision map, correct the difference data to obtain target difference data, and update the current high-precision map in real time based on the target difference data. Compared with the prior art, the embodiment of the disclosure replaces a professional surveying and mapping vehicle with a non-professional operation vehicle to collect data, so that the cost can be greatly reduced, the image data collected by the operation vehicle is received in real time, the image data is compared with the current high-precision map to determine the difference data, the target difference data is further obtained, the current high-precision map is updated in real time based on the target difference data, the updating period of the high-precision map can be shortened, the updating speed of the high-precision map is increased, and the requirement of an automatic driving vehicle for map real-time updating is met.

Fig. 2 is a flowchart of a map updating method according to another embodiment of the disclosure, as shown in fig. 2, the method includes the following steps:

s201, receiving image data uploaded by the current operating vehicle in real time.

Specifically, the implementation process and principle of S201 and S101 are consistent, and are not described herein again.

S202, carrying out image recognition on the image data, and recognizing the current environment information.

After receiving image data uploaded by a current operating vehicle, the server performs image recognition on the image data to recognize current environment information. For example, the image data is subjected to image recognition based on an image recognition technology, and current environment information is recognized.

In some embodiments, the current environmental information includes at least one of: position information, surrounding road condition information, surrounding environment information, traffic sign information, lane information, and road safety driving assistance infrastructure.

The position information represents the position of the current operating vehicle, such as longitude and latitude information; the surrounding road condition information indicates whether roads around the current operating vehicle can normally pass, whether the road surface collapses, whether the road surface is ponded, whether the road surface is frozen and the like; the surrounding environment information indicates vegetation conditions around the current operating vehicle, surrounding buildings, and the like; the traffic sign information comprises traffic-assisting signs such as a speed limit sign, a tunnel sign, a sharp turning sign, a continuous downhill sign and the like; the lane information indicates the lane condition of the road on which the current operating vehicle is located, such as a one-way lane, a two-way lane, the number of lanes (e.g., two lanes, three lanes), and the like; the road safety driving auxiliary infrastructure comprises street lamps, traffic protective guards, traffic indicating lamps, speed bumps and the like.

S203, comparing the current environment information with the current high-precision map, and determining difference data of the current environment information and the current high-precision map.

After identifying the current environmental information, the server may compare the current environmental information with the current high-precision map, and determine difference data between the current environmental information and the current high-precision map. Specifically, the server compares the current environment information with the environment information of the corresponding position in the current high-precision map, and determines the difference data between the current environment information and the environment information of the corresponding position in the current high-precision map.

And S204, determining the position information corresponding to the difference data.

After determining the difference data between the current environment information and the current high-precision map, further, the server determines the position information corresponding to the difference data. For example, longitude and latitude information corresponding to the difference data may be determined.

And S205, acquiring other difference data of the position information based on big data, wherein the other difference data is obtained by comparing image data uploaded by other operating vehicles with the current high-precision map.

After the position information corresponding to the difference data is determined, the server acquires other difference data of the position information in a big data mode, and the other difference data are obtained by comparing image data uploaded by other operating vehicles with the current high-precision map. In some embodiments, the other difference data may also be based on image data uploaded by a professional mapping vehicle compared to the current high-precision map.

S206, correcting the difference data based on the other difference data to obtain target difference data.

And after other difference data of the position information are obtained, correcting the difference data according to the other difference data to obtain target difference data. For example, the difference data determined by the current operating vehicle is compared with other difference data and mutually verified to obtain target difference data. For example, if the difference data determined by the currently operating vehicle is that a road a is newly repaired at the position a, and a road a can be newly repaired at the position a from other difference data, the obtained target difference data is that a road a is newly repaired at the position a.

And S207, updating the current high-precision map in real time based on the target difference data.

Specifically, the implementation process and principle of S207 and S104 are consistent, and are not described herein again.

The method and the device for identifying the environment of the current high-precision map comprise the steps of receiving image data uploaded by a current operating vehicle in real time, carrying out image identification on the image data, identifying current environment information, comparing the current environment information with the current high-precision map, and determining difference data between the current environment information and the current high-precision map. Further, position information corresponding to the difference data is determined, other difference data of the position information are obtained based on big data, the other difference data are obtained based on comparison between image data uploaded by other operating vehicles and the current high-precision map, and the difference data are corrected based on the other difference data to obtain target difference data. And then updating the current high-precision map in real time based on the target difference data. The method has the advantages that non-professional operation vehicles are adopted to replace professional surveying and mapping vehicles to collect data, cost can be greatly reduced, image data collected by the operation vehicles are received in real time, the image data are compared with a current high-precision map to determine difference data, position information corresponding to the difference data is further determined, other difference data of the position information are obtained based on the large data, the difference data are corrected based on the other difference data to obtain target difference data, the difference data are corrected through the large data, accuracy of the data can be improved, the current high-precision map is updated in real time based on the target difference data, a period for updating the high-precision map can be shortened, updating speed of the high-precision map is increased, and accordingly the requirement of automatic driving vehicles for updating the map in real time is met.

Fig. 3 is a flowchart of a map updating method according to another embodiment of the disclosure, as shown in fig. 3, the method includes the following steps:

s301, receiving image data uploaded by the current operating vehicle in real time.

Specifically, the implementation process and principle of S301 and S101 are consistent, and are not described herein again.

S302, comparing the image data with a current high-precision map, and determining difference data of the image data and the current high-precision map.

Specifically, the implementation process and principle of S302 and S102 are consistent, and are not described herein again.

And S303, determining the position information corresponding to the difference data.

Specifically, the implementation process and principle of S303 and S204 are the same, and are not described herein again.

And S304, acquiring other difference data of the position information based on big data, wherein the other difference data is obtained by comparing image data uploaded by other operating vehicles with the current high-precision map.

Specifically, the implementation process and principle of S304 and S205 are consistent, and are not described herein again.

S305, comparing the difference data with the other difference data to obtain data to be corrected.

After acquiring other difference data of the position information, the server compares the difference data with the other difference data to obtain data to be corrected. For example, the difference data determined by the current operating vehicle is compared with other difference data and mutually verified, and the obtained difference data between the difference data determined by the current operating vehicle and the other difference data is data to be corrected. For example, the difference data determined by the currently operating vehicle is that a road a is newly repaired at the position a, the newly repaired road a at the position a can be obtained from other difference data, or other difference data corresponding to the position is not obtained, and the difference data determined by the currently operating vehicle is accurate and does not need to be corrected, so that the obtained data to be corrected is absent. For another example, if the differential data determined by the current operating vehicle is that a road a is newly repaired at the position a, and a traffic indicator is newly added at the position a and obtained from other differential data, the obtained data to be corrected is that a traffic indicator is newly added at the position a.

And S306, correcting the difference data according to the data to be corrected to obtain target difference data.

And after the data to be corrected is obtained, the server corrects the difference data according to the data to be corrected to obtain target difference data. Specifically, newly adding data to be corrected to the difference data; modifying the data in the data to be modified by using the data to be modified to the corresponding data in the difference data; and deleting the data to be deleted in the data to be corrected, and deleting the corresponding data in the difference data. For example, in S305, the difference data determined by the currently operating vehicle is that a road a is newly repaired at the a position, and a traffic light is newly repaired at the a position and newly added to the other difference data, the data to be repaired is obtained that a traffic light is newly added at the a position, and the traffic light is newly added at the a position to the difference data determined by the currently operating vehicle, so as to obtain the target difference data, which is that a road a is newly repaired at the a position and a traffic light is newly added to the target difference data.

And S307, generating an update package of the current high-precision map according to the target difference data.

And after the target difference data is obtained, generating an update package of the current high-precision map according to the target difference data. In some embodiments, the server may generate a local map from the target difference data, and further make the local map into an update package.

And S308, updating the current high-precision map in real time through the updating package.

After the update package of the current high-precision map is generated, the server updates the current high-precision map in real time through the update package, so that the update period of the high-precision map can be shortened, the update speed of the high-precision map is increased, and the requirement of an automatic driving vehicle on real-time map update is met.

And S309, issuing the updated high-precision map to all vehicles so that all vehicles run based on the high-precision map.

And the server issues the updated high-precision map to all vehicles so that all vehicles run based on the high-precision map. In some embodiments, the server may also send the update package to all vehicles, and all vehicles analyze the update package, so as to obtain the latest high-precision map.

The method and the device for determining the difference between the image data and the current high-precision map comprise the steps of receiving the image data uploaded by the current operating vehicle in real time, comparing the image data with the current high-precision map, and determining the difference between the image data and the current high-precision map. Then, position information corresponding to the difference data is determined, and other difference data of the position information are obtained based on big data, wherein the other difference data are obtained based on comparison between image data uploaded by other operating vehicles and the current high-precision map. And further comparing the difference data with the other difference data to obtain data to be corrected, and correcting the difference data according to the data to be corrected to obtain target difference data. And generating an update package of the current high-precision map according to the target difference data, and updating the current high-precision map in real time through the update package. And issuing the updated high-precision map to all vehicles so that all vehicles run based on the high-precision map. The method has the advantages that non-professional operation vehicles are adopted to replace professional surveying and mapping vehicles to collect data, cost can be greatly reduced, image data collected by the operation vehicles are received in real time, the image data are compared with a current high-precision map, difference data are determined, position information corresponding to the difference data is further determined, other difference data of the position information are obtained based on the large data, the difference data are corrected based on the other difference data, target difference data are obtained, the difference data are corrected through the large data, accuracy of the data can be improved, the current high-precision map is updated in real time based on the target difference data, the updating period of the high-precision map can be shortened, the updating speed of the high-precision map is increased, and the requirement of automatic driving vehicles for updating the map in real time is met. And issuing the updated high-precision map to all vehicles so that all vehicles run based on the high-precision map, thereby better serving automatic driving.

Fig. 4 is a schematic structural diagram of a map updating apparatus according to an embodiment of the present disclosure. The map updating apparatus may be the server as in the above embodiment, or the map updating apparatus may be a component or assembly in the server. The map updating apparatus provided in the embodiment of the present disclosure may execute the processing procedure provided in the embodiment of the map updating method, and as shown in fig. 4, the map updating apparatus 40 includes: a receiving module 41, a determining module 42, an obtaining module 43, and an updating module 44; the receiving module 41 is configured to receive image data uploaded by a current operating vehicle in real time; the determining module 42 is configured to compare the image data with a current high-precision map, and determine difference data between the image data and the current high-precision map; the obtaining module 43 is configured to correct the difference data to obtain target difference data; the update module 44 is configured to update the current high-precision map in real time based on the target difference data.

Optionally, the determining module 42 compares the image data with the current high-precision map, and when determining difference data between the image data and the current high-precision map, is specifically configured to: performing image recognition on the image data to recognize current environment information; and comparing the current environment information with the current high-precision map, and determining the difference data of the current environment information and the current high-precision map.

Optionally, the current environment information includes at least one of the following: position information, surrounding road condition information, surrounding environment information, traffic sign information, lane information, and road safety driving assistance infrastructure.

Optionally, the obtaining module 43 corrects the difference data to obtain target difference data, and is specifically configured to: determining position information corresponding to the difference data; acquiring other difference data of the position information based on big data, wherein the other difference data are obtained based on the comparison between image data uploaded by other operating vehicles and the current high-precision map; and correcting the difference data based on the other difference data to obtain target difference data.

Optionally, the obtaining module 43 corrects the difference data based on the other difference data, and when obtaining the target difference data, is specifically configured to: comparing the difference data with the other difference data to obtain data to be corrected; and correcting the difference data according to the data to be corrected to obtain target difference data.

Optionally, when the update module 44 updates the current high-precision map in real time based on the target difference data, the update module is specifically configured to: generating an update package of the current high-precision map according to the target difference data; and updating the current high-precision map in real time through the update package.

Optionally, the apparatus 40 further includes: a distribution module 45; the issuing module 45 is configured to issue the updated high-precision map to all vehicles, so that all vehicles run based on the high-precision map.

The map updating apparatus shown in fig. 4 can be used to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.

Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. The electronic device may be the electronic device described in the above embodiments. The electronic device provided in the embodiment of the present disclosure may execute the processing procedure provided in the embodiment of the map updating method, and as shown in fig. 5, the electronic device 50 includes: memory 51, processor 52, computer programs and communication interface 53; wherein the computer program is stored in the memory 51 and is configured to be executed by the processor 52 for the map updating method as described above.

In addition, the embodiment of the disclosure also provides a storage medium, on which a computer program is stored, wherein the computer program is executed by a processor to realize the map updating method of the embodiment.

Furthermore, the disclosed embodiments also provide a computer program product comprising a computer program or instructions which, when executed by a processor, implement the map updating method as described above.

It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.

The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to:

receiving image data uploaded by a current operating vehicle in real time;

correcting the difference data to obtain target difference data;

In addition, the electronic device may also perform other steps in the map updating method as described above.

Computer program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software or hardware. Wherein the name of an element does not in some cases constitute a limitation on the element itself.

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.

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

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The previous description is only for the purpose of describing particular embodiments of the present disclosure, so as to enable those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A map updating method, comprising:

receiving image data uploaded by a current operating vehicle in real time;

correcting the difference data to obtain target difference data;

2. The method of claim 1, wherein comparing the image data to a current high-accuracy map and determining difference data between the image data and the current high-accuracy map comprises:

performing image recognition on the image data to recognize current environment information;

3. The method of claim 1, wherein the current environment information comprises at least one of:

4. The method according to claim 1, wherein said correcting said difference data to obtain target difference data comprises:

determining position information corresponding to the difference data;

5. The method of claim 4, wherein said correcting said difference data based on said other difference data to obtain target difference data comprises:

6. The method of claim 1, wherein the updating the current high precision map in real time based on the target difference data comprises:

7. The method of claim 6, wherein after the real-time updating of the current high accuracy map based on the target difference data, the method further comprises:

8. A map updating apparatus, comprising:

9. An electronic device, comprising:

a memory;

a processor; and

a computer program;

wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 1-7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-7.