CN115638799A

CN115638799A - High-precision map updating method and device, electronic equipment and medium

Info

Publication number: CN115638799A
Application number: CN202211339086.1A
Authority: CN
Inventors: 杨坤; 王天宇; 黄杰; 白宇
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2023-01-24

Abstract

The present disclosure provides a high-precision map updating method, device, electronic device, and medium, which relate to the technical field of artificial intelligence, specifically to the technical field of high-precision maps, and can be applied to scenes such as automatic driving, intelligent transportation, smart cities, and the like. The specific implementation scheme is as follows: determining a current map version to be updated, and determining current map element data according to the current map version; according to the current map element data, selecting auxiliary map element data from historical map element data, and acquiring a historical label of the auxiliary map element data; determining a current label of the current map element data according to the historical label of the auxiliary map element data; and updating the high-precision map to obtain the current version map according to the current map element data and the current label of the current map element data. The method and the device can improve the updating efficiency of the high-precision map and reduce the updating cost of the high-precision map.

Description

High-precision map updating method and device, electronic equipment and medium

Technical Field

The present disclosure relates to the field of artificial intelligence technology, and more particularly to the field of high-precision maps, which can be applied to automatic driving, intelligent transportation, smart cities and other scenes.

Background

An electronic map refers to a map that is digitally stored and referred to using computer technology. The map is used to describe element attributes of names, shapes, sizes, spatial positions of natural elements and human elements.

The high-precision map is also called as a high-precision map and is used for an automatic driving automobile. The high-precision map has accurate vehicle position information and abundant road element data information, can help an automobile to predict road surface complex information such as gradient, curvature, course and the like, and can better avoid potential risks. Compared with the common electronic map, the high-precision map has larger data scale, so that higher processing performance and processing efficiency are required to ensure timeliness, accuracy and reliability during updating.

Disclosure of Invention

The disclosure provides a high-precision map updating method, a high-precision map updating device, electronic equipment and a medium.

According to an aspect of the present disclosure, there is provided a high-precision map updating method, including:

determining a current map version to be updated, and determining current map element data according to the current map version;

according to the current map element data, selecting auxiliary map element data from historical map element data, and acquiring a historical label of the auxiliary map element data;

determining a current label of the current map element data according to the historical label of the auxiliary map element data;

and updating the high-precision map to obtain the current version map according to the current map element data and the current label of the current map element data.

According to another aspect of the present disclosure, there is provided a high-precision map updating apparatus including:

the current element determining module is used for determining a current map version to be updated and determining current map element data according to the current map version;

the auxiliary data determining module is used for selecting auxiliary map element data from historical map element data according to the current map element data and acquiring historical labels of the auxiliary map element data;

a current label determining module, configured to determine a current label of the current map element data according to the historical label of the auxiliary map element data;

and the high-precision map updating module is used for updating the high-precision map according to the current map element data and the current label of the current map element data to obtain the current version map.

According to another aspect of the present disclosure, there is provided an electronic device including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a high-precision map updating method according to any one of the embodiments of the present disclosure.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the high precision map updating method according to any one of the embodiments of the present disclosure.

According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the high precision map updating method according to any one of the embodiments of the present disclosure.

According to the technology disclosed by the invention, the updating efficiency of the high-precision map can be improved, and the updating cost of the high-precision map can be reduced.

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

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a flowchart of a high-precision map updating method provided according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of another high precision map updating method provided according to an embodiment of the present disclosure;

FIG. 3 is a flow chart of another high precision map updating method provided in accordance with an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a high-precision map updating device according to an embodiment of the present disclosure;

fig. 5 is a block diagram of an electronic device for implementing a high-precision map updating method according to an embodiment of the present disclosure.

Detailed Description

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

Fig. 1 is a flowchart of a high-precision map updating method provided according to an embodiment of the present disclosure, which is suitable for updating a high-precision map, especially for updating a whole high-precision map. The method can be executed by a high-precision map updating device, the device can be realized in a software and/or hardware mode, and the device can be integrated in electronic equipment bearing a high-precision map updating function. As shown in fig. 1, the high-precision map updating method of the present embodiment may include:

s101, determining a current map version to be updated, and determining current map element data according to the current map version;

s102, selecting auxiliary map element data from historical map element data according to the current map element data, and acquiring historical labels of the auxiliary map element data;

s103, determining a current label of the current map element data according to the historical label of the auxiliary map element data;

and S104, updating the high-precision map to obtain the current version map according to the current map element data and the current label of the current map element data.

The map updating of the high-precision map means that the high-precision map is upgraded from an old map version to a new map version. The current map version to be updated represents the new map version. High-precision maps refer to maps that are stored and referred to digitally using computer technology. The map is used to describe element attributes of names, shapes, sizes, spatial positions of natural elements and human elements. With the transition of the human and natural elements, the high-precision map needs to be updated correspondingly.

Wherein the high-precision map is generated based on the map element data. The map element data refers to original drawing data acquired by data acquisition equipment. The map element data is used to describe natural elements and human elements in a certain area. The map element data may be multimodal, that is, natural elements and human elements within the same area may be described using multiple types of data. For example, the map element data may be point cloud data or image data for describing the same intersection.

It will be appreciated that a complete high-accuracy map covers a large area, which may need to be measured in tens of thousands of kilometers. Accordingly, the volume of data of map element data used for constructing high-precision maps is also considerable. In particular, new map element data needs to be continuously collected to upgrade the map version of the high-precision map as time goes by. In order to facilitate management of the map element data, the map version to which the map element data belongs is added to the map element data. The map element data may be divided into current map element data and historical map element data according to a map version to which the map element data belongs.

The current map element data refers to map element data collected for a current map version, and the high-precision map can be updated from an old map version to the current map version based on the current map element data. The historical map element data is relative to the current map element data, the historical map element data corresponding to the old map version.

Historical map element data has already participated in the cartographic process of old map versions, and corresponding historical labels exist in the historical map element data. The history label of the history map element data refers to label data generated in a drawing process based on the history map element data. The tag data is used for determining element attributes of natural elements and human elements in the map area to which the history map element data belongs. For example, the tag data may be an element type of a human element such as a lane line or a signal light.

And under the condition that the current map version is determined, determining the current map element data according to the current map version, and optionally determining the map element data belonging to the current map version as the current map element data. The current map element data does not participate in the drawing process, and the corresponding label data does not exist in the current map element data.

It will be appreciated that the updating of the high-precision map is performed on the basis of an old map version, and that there is an association between the current map element data and the historical map element data at the belonging map version or the belonging map area.

Selecting auxiliary map element data from the historical map element data according to the current map element data, and optionally determining the historical map element data associated with the current map element data as the auxiliary map element data.

The supplementary map element data is generated in the history element data, and the corresponding tag data exists in the supplementary map element data. And acquiring a history label of the auxiliary map element data, and using the history label of the auxiliary map element data for determining the label data of the current map element data. Therefore, in the process of drawing based on the current map element data, the map elements described by the current map element data do not need to be re-marked, and the map updating efficiency is improved.

Optionally, if the current tags of all the current map element data cannot be determined according to the historical tags of the auxiliary map element data, the map elements described in the current map element data are subjected to supplementary labeling, so that the current tags of the current map element data are perfected.

And under the condition that the current label of the current map element data is determined, updating the high-precision map according to the current map element data and the current label of the current element data to obtain the current version map.

According to the technical scheme, auxiliary map element data related to the current map element data are selected from historical map element data, and historical labels of the auxiliary map element data are acquired. Then, the historical label of the auxiliary map element data is used for determining the current label of the current map element data, so that the historical label of the historical map element data is reused, and the map element described by the current map element data does not need to be re-labeled in the drawing process based on the current map element data, so that the updating efficiency of the high-precision map is improved, and the updating cost of the high-precision map is reduced.

The high-precision map has accurate vehicle position information and abundant road element data information, can help an automobile to predict road surface complex information such as gradient, curvature, course and the like, and can better avoid potential risks. Compared with the common electronic map, the high-precision map has larger data scale, so that higher processing performance and processing efficiency are required to ensure timeliness, accuracy and reliability during updating. And updating the high-precision map, wherein map elements in the high-precision map correspond to traffic elements in the real world. The high-accuracy map may be updated when the traffic element in the real world changes.

The road coverage of the high-precision map is measured in tens of thousands of kilometers, and updating the high-precision map usually involves updating a larger range. In the related art, in the process of updating a high-precision map by using current map element data acquired from an area to be updated, most of map elements described by the current map element data need to be re-marked, so that huge marking cost is often required, and the problems of low map updating efficiency and high map updating cost exist. In this way, it is difficult to complete a full map update of a high-precision map.

The high-precision map updating method provided by the embodiment of the disclosure reuses the history labels of the auxiliary map element data, greatly reduces the map marking cost, improves the map updating efficiency, provides a feasible scheme for the whole map updating of the high-precision map, can improve the timeliness, the accuracy and the reliability of the high-precision map, and is beneficial to improving the perception capability and the decision-making capability of automatic driving.

In an optional embodiment, updating the high-precision map to obtain the current version map according to the current map element data and the current label of the current map element data includes: updating the map base map of the high-precision map according to the current map element data; and updating the label data of the high-precision map based on the current label of the current map element data.

The current map element data is used as map updating data for updating the map base map of the high-precision map. The tag data is used to indicate the element attributes of the map elements in the map base map. The current tag of the current map element data is used to update the tag data of the high-precision map.

The current map element data includes not only map elements that need to be represented in the high-precision map but also other elements. For example, in the case that the high-precision map is a high-precision map, traffic elements including lane lines, signal lights, signboards and the like need to be represented in the high-precision map, and pedestrians, vehicles and the like need not be represented in the current map element data. And updating the map base map of the high-precision map according to the current map element data. Optionally, the current map element data is subjected to screening processing, and current map element data related to the target element is selected from the current map element data, so as to update the map base map. It is worth noting that the supplementary map element data does not participate in updating the map base map of the high-precision map. The history tags of the supplementary map element data provide a reference for updating the tag data of the high-precision map.

According to the technical scheme, the map base map of the high-precision map is updated by using the current map element data, the label data of the high-precision map is updated by using the current label of the current map element data, the map updating process of the high-precision map is simplified, and a feasible high-precision map updating method is provided.

FIG. 2 is a flow chart of another high precision map updating method provided according to an embodiment of the present disclosure; the present embodiment is an alternative proposed on the basis of the above-described embodiments. Specifically, the embodiment of the present disclosure refines the operation "determining the current label of the current map element data according to the history label of the auxiliary map element data".

Referring to fig. 2, the high-precision map updating method provided by the present embodiment includes:

s201, determining a current map version to be updated, and determining current map element data according to the current map version.

And S202, selecting auxiliary map element data from the historical map element data according to the current map element data, and acquiring the historical label of the auxiliary map element data.

And S203, according to the current map element data, adjusting the historical label of the auxiliary map element data to obtain the current label of the auxiliary map element data.

The supplementary map element data is generated in the history map element data, the map version to which the supplementary map element data belongs is different from the map version to which the current map element data belongs, and there is a difference between the data contents of the supplementary map element data and the current map element data. The supplementary map element data cannot be adapted to the current map version, and the history tag of the supplementary map element data cannot be directly used to determine the current tag of the current map element data.

And the current map element data corresponds to the current map version, and the historical label of the auxiliary map element data is adjusted according to the current map element data to adapt to the current map version to obtain the current label of the auxiliary map element data.

The historical label of the auxiliary map element is adapted to the old map version, and the current label of the auxiliary map element is adapted to the current map version.

And S204, determining the current label of the current map element data according to the current label of the auxiliary map element data.

Optionally, the set of elements determined by the map elements described in the current map element data is used as the current element set, and the set of elements determined by the map elements described in the auxiliary map element data is used as the auxiliary element set.

And determining the element intersection of the current element set and the auxiliary element set. And establishing an incidence relation between the current label of the auxiliary map element data and the current label of the current map element data based on the element intersection.

If the auxiliary element set is a proper subset of the current element set, that is, if the map elements in the current element set do not have corresponding current tags, the map elements described by the current map element data are subjected to supplementary labeling, so that the current tags of the current map element data are perfected.

And S205, updating the high-precision map to obtain the current version map according to the current map element data and the current label of the current map element data.

According to the technical scheme, the historical label of the auxiliary map element data is adjusted according to the current map element data to obtain the current label of the auxiliary map element data, so that the current label of the auxiliary map element data can be matched with the current map version, the current label of the current map element data is determined according to the current label of the auxiliary map element data, the accuracy of the current label of the current map element data is guaranteed, and the accuracy of map updating is guaranteed.

In an optional embodiment, adjusting the historical tags of the supplementary map element data according to the current map element data to obtain the current tags of the supplementary map element data includes: performing pose optimization on the current map element data and the auxiliary map element data to obtain the current pose of the auxiliary map element data; determining a pose deviation between a current pose of the supplementary map element data and a historical pose of the supplementary map element data; and adjusting the historical label of the auxiliary map element data to obtain the current label of the auxiliary map element data based on the pose deviation.

It can be understood that under the influence of factors such as data acquisition time, data acquisition equipment and data acquisition angle, the pose of the current map element data and the pose of the auxiliary map element data are prone to have deviation.

The history tags of the supplementary map element data are determined on the basis of the history poses of the supplementary map element data. In order to ensure that the historical tags of the supplementary map element data can be used for determining the current tags of the current map element data, the pose optimization of the current map element data and the supplementary map element data is required to be performed together so as to ensure the consistency of the poses of the current map element data and the supplementary map element data. And correspondingly adjusting the historical labels of the auxiliary map element data based on the pose change of the auxiliary map element data.

Specifically, the history tags of the assist map element data are adjusted based on a pose deviation between a current pose of the assist map element data and a history pose of the assist map element data.

Wherein the pose deviation is used to quantify the pose change of the map-assist element data. The pose deviation can be used as a data reference for adjusting the historical label. Based on the pose deviation, the historical tags of the auxiliary map element data are adjusted to obtain the current tags of the auxiliary map element data.

According to the technical scheme, the position and pose of the current map element data and the auxiliary map element data are optimized to obtain the current position and pose of the auxiliary map element data, and the consistency between the current position and pose of the auxiliary map element data and the current position and pose of the current map element data is ensured. Determining pose deviation between a current pose of the supplementary map element data and a historical pose of the supplementary map element data; and then based on the pose deviation, adjusting the historical tags of the auxiliary map element data to obtain the current tags of the auxiliary map element data, and using the current tags of the auxiliary map element data to determine the current tags of the current map element data, so that the accuracy of the current tags of the current map element data is ensured, and the accuracy of map updating is ensured.

FIG. 3 is a flow chart of another high precision map updating method provided in accordance with an embodiment of the present disclosure; the present embodiment is an alternative proposed on the basis of the above-described embodiments. Specifically, the embodiment of the present disclosure refines the operation "select supplementary map element data from the historical map element data according to the current map element data".

Referring to fig. 3, the high-precision map updating method provided by the present embodiment includes:

s301, determining a current map version to be updated, and determining current map element data according to the current map version.

S302, determining an overlapping area between the map area to which the current map element data belongs and the map area to which the historical map element data belongs.

It is appreciated that updating the high-precision map may be a partial update of the high-precision map, or a full update of the high-precision map. The local update may involve a splicing process between the region to be updated and the updated region. However, when a high-precision map is updated in a whole map, due to the large area coverage of the high-precision map, the high-precision map cannot be updated all at once, a batch updating method is mostly adopted, and different batches of high-precision maps also involve splicing processing between the area to be updated and the updated area.

The splicing process between the area to be updated and the updated area is often based on the overlap area expansion. The overlap region associates the region to be updated with the updated region, while also associating the current map element data with the historical map element data. The determination of the overlapping area between the map area to which the current map element data belongs and the map area to which the history map element data belongs is actually the determination of the area correlation between the history map element data and the current map element data.

S303, selecting the auxiliary map element data from the historical map element data based on the overlapped area, and acquiring the historical label of the auxiliary map element data.

The area correlation between the history map element data corresponding to the overlap area and the current map element data is the strongest. Alternatively, the history map element data corresponding to the overlap area is used as the supplementary map element data.

S304, determining the current label of the current map element data according to the historical label of the auxiliary map element data.

The map region to which the current map element data belongs includes a map region to which the supplementary map element data belongs. Optionally, the current label of the current map element data corresponding to the overlap area is determined according to the history label of the supplementary map element data.

S305, updating the high-precision map according to the current map element data and the current label of the current map element data to obtain the current version map.

According to the map updating method and device, the map area to which the current map element data belongs is determined, the overlapping area between the map area to which the historical map element data belongs and the map area to which the historical map element data belongs is determined, the area correlation between the historical map element data and the current map element data is determined, the auxiliary map element data is determined from the historical map element data based on the area correlation between the historical map element data and the current map element data, and the historical label data of the auxiliary map element data is used for the current label of the current map element data, so that the map updating accuracy can be guaranteed.

In an alternative embodiment, selecting supplementary map element data from historical map element data based on the current map element data comprises: determining a map version to which the historical map element data belongs; selecting the supplementary map element data from the historical map element data based on the current map version and the map version to which the historical map element data belongs.

It will be appreciated that over time, a high-precision map may be subject to multiple version updates, that is, historical map element data may correspond to multiple old map versions. The map element change degree between different map versions is different, and generally speaking, the closer the map version is to the current map version, the smaller the map element change is, and the higher the element correlation between the historical map element data and the current map element data is.

And selecting auxiliary map element data from the historical map element data based on the current map version and the map version to which the historical map element data belongs, and optionally selecting the historical map element data with high element correlation as the auxiliary map element data. For example, the historical map element data belonging to the previous map version may be selected as supplementary map element data in an axial direction of a delay time with the current map version as a time starting point.

According to the technical scheme, the auxiliary map element data are selected from the historical map element data based on the current map version and the map version to which the historical map element data belong, the element correlation between maps of different versions is considered, the auxiliary map element data are determined from the historical map element data based on the element correlation between the map version and the historical map element data, and the historical label data of the auxiliary map element data are used for the current label of the current map element data, so that the map updating accuracy is guaranteed.

The embodiment of the disclosure provides a high-precision map full-map updating process. The road coverage of the high-precision map is measured in tens of thousands of kilometers, and updating the high-precision map usually involves updating a larger range. The high-precision map is updated, especially the high-precision map is updated in a whole map, so that the high-precision map cannot be updated all at once, and batch updating methods are mostly adopted.

And taking the map version corresponding to the middle updating batch as the current map version, taking the map element data belonging to the middle updating batch as the current map element data, and determining the map element data belonging to the last updating batch as historical map element data. Determining an overlapping area between a map area to which the historical map element data belongs and an area to which the current map element data belongs, determining the historical map element data corresponding to the overlapping area as auxiliary map element data, and acquiring historical labels of the auxiliary map element data and historical poses of the auxiliary map element data.

And performing pose optimization on the auxiliary map element data and the current map element data to obtain the current pose of the auxiliary map element data. And determining the pose deviation between the current pose of the auxiliary map element data and the historical pose of the auxiliary map element data, and adjusting the historical label of the auxiliary map element data based on the pose deviation to obtain the current label of the auxiliary map element data. If the current labels of all the current map element data cannot be determined according to the historical labels of the auxiliary map element data, the map elements described by the current map element data are subjected to supplementary labeling, and the current labels of the current map element data are perfected.

And updating the map base map of the high-precision map by using the current map element data and updating the label data of the high-precision map by using the current label of the current map element data.

It is noted that, when the current map element data corresponds to the first update batch, the one closest to the current map version is selected from the old map versions, from which the supplementary map element data is determined.

Fig. 4 is a schematic structural diagram of a high-precision map updating apparatus provided according to an embodiment of the present disclosure. The embodiment of the disclosure is suitable for updating the high-precision map, and particularly for updating the whole high-precision map. The device can be implemented by adopting software and/or hardware, and can implement the high-precision map updating method described in any embodiment of the disclosure. As shown in fig. 4, the high-precision map updating apparatus 400 includes:

a current element determining module 401, configured to determine a current map version to be updated, and determine current map element data according to the current map version;

an auxiliary data determining module 402, configured to select auxiliary map element data from historical map element data according to the current map element data, and obtain a historical tag of the auxiliary map element data;

a current tag determining module 403, configured to determine a current tag of the current map element data according to the historical tag of the auxiliary map element data;

and the high-precision map updating module 404 is configured to update the high-precision map according to the current map element data and the current label of the current map element data to obtain a current version map.

According to the technical scheme, auxiliary map element data related to the current map element data are selected from historical map element data, and historical labels of the auxiliary map element data are acquired. And then, the historical label of the auxiliary map element data is used for determining the current label of the current map element data, so that the reuse of the historical label is realized, the map elements described by the current map element data do not need to be re-labeled in the drawing process based on the current map element data, the updating efficiency of the high-precision map is improved, and the updating cost of the high-precision map is reduced.

Optionally, the current tag determining module 403 includes: the historical label adjusting submodule is used for adjusting the historical label of the auxiliary map element data according to the current map element data to obtain the current label of the auxiliary map element data; and the current label determining submodule is used for determining the current label of the current map element data according to the current label of the auxiliary map element data.

Optionally, the history tag adjusting sub-module includes: the current pose determining unit is used for optimizing the poses of the current map element data and the auxiliary map element data to obtain the current poses of the auxiliary map element data; a pose deviation determination unit for determining a pose deviation between a current pose of the assist map element data and a historical pose of the assist map element data; and the historical label adjusting unit is used for adjusting the historical labels of the auxiliary map element data to obtain the current labels of the auxiliary map element data based on the pose deviation.

Optionally, the auxiliary data determining module 402 includes: an overlap region determination submodule for determining an overlap region between a map region to which the current map element data belongs and a map region to which the history map element data belongs; a first auxiliary data determination submodule for selecting the auxiliary map element data from historical map element data based on the overlap region.

Optionally, the assistance data determining module 402 includes: the map version determining submodule is used for determining the map version to which the historical map element data belongs; a second auxiliary data determination sub-module, configured to select the auxiliary map element data from the historical map element data based on the current map version and a map version to which the historical map element data belongs.

Optionally, the high-precision map updating module 404 includes: the base map updating submodule is used for updating the map base map of the high-precision map according to the current map element data; and the label updating submodule is used for updating the label data of the high-precision map based on the current label of the current map element data.

The high-precision map updating device provided by the embodiment of the disclosure can execute the high-precision map updating method provided by any embodiment of the disclosure, and has corresponding functional modules and beneficial effects for executing the high-precision map updating method.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and the like of the related user information all conform to the regulations of related laws and regulations, and do not violate the customs of the public order.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 5 illustrates a schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 5, the electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic apparatus 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

A number of components in the electronic device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 501 may be a variety of general-purpose and/or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 501 executes the respective methods and processes described above, such as the high-precision map update method. For example, in some embodiments, the high precision map update method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the high precision map updating method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the high-precision map update method by any other suitable means (e.g., by means of firmware).

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

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

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

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

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

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

Artificial intelligence is the subject of research that makes computers simulate some human mental processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), both at the hardware level and at the software level. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, a machine learning/deep learning technology, a big data processing technology, a knowledge map technology and the like.

Cloud computing (cloud computing) refers to a technology system that accesses a flexibly extensible shared physical or virtual resource pool through a network, where resources may include servers, operating systems, networks, software, applications, storage devices, and the like, and may be deployed and managed in a self-service manner as needed. Through the cloud computing technology, high-efficiency and strong data processing capacity can be provided for technical application and model training of artificial intelligence, block chains and the like.

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

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A high precision map update method, the method comprising:

2. The method of claim 1, wherein determining a current label for current map element data from historical labels for the supplementary map element data comprises:

according to the current map element data, adjusting the historical label of the auxiliary map element data to obtain the current label of the auxiliary map element data;

and determining the current label of the current map element data according to the current label of the auxiliary map element data.

3. The method of claim 2, wherein adjusting the historical tags of the supplementary map element data to obtain the current tags of the supplementary map element data according to the current map element data comprises:

performing pose optimization on the current map element data and the auxiliary map element data to obtain the current pose of the auxiliary map element data;

determining a pose deviation between a current pose of the supplementary map element data and a historical pose of the supplementary map element data;

and adjusting the historical label of the auxiliary map element data to obtain the current label of the auxiliary map element data based on the pose deviation.

4. The method of claim 1, wherein selecting supplementary map element data from historical map element data based on the current map element data comprises:

determining an overlapping area between a map area to which the current map element data belongs and a map area to which the historical map element data belongs;

selecting the supplementary map element data from historical map element data based on the overlap region.

5. The method of claim 1, wherein selecting supplementary map element data from historical map element data based on the current map element data comprises:

determining a map version to which the historical map element data belongs;

selecting the supplementary map element data from the historical map element data based on the current map version and the map version to which the historical map element data belongs.

6. The method of claim 1, wherein updating the high-precision map to obtain the current version map according to the current map element data and the current label of the current map element data comprises:

updating the map base map of the high-precision map according to the current map element data;

and updating the label data of the high-precision map based on the current label of the current map element data.

7. A high-precision map updating apparatus, the apparatus comprising:

the current label determining module is used for determining a current label of the current map element data according to the historical label of the auxiliary map element data;

8. The apparatus of claim 7, wherein the current tag determination module comprises:

the historical label adjusting submodule is used for adjusting the historical label of the auxiliary map element data according to the current map element data to obtain the current label of the auxiliary map element data;

and the current label determining submodule is used for determining the current label of the current map element data according to the current label of the auxiliary map element data.

9. The apparatus of claim 8, wherein the historical tag adjustment submodule comprises:

the current pose determining unit is used for optimizing the poses of the current map element data and the auxiliary map element data to obtain the current poses of the auxiliary map element data;

a pose deviation determination unit for determining a pose deviation between a current pose of the assist map element data and a historical pose of the assist map element data;

and the historical label adjusting unit is used for adjusting the historical labels of the auxiliary map element data to obtain the current labels of the auxiliary map element data based on the pose deviation.

10. The apparatus of claim 7, wherein the assistance data determination module comprises:

an overlap area determination submodule for determining an overlap area between a map area to which the current map element data belongs and a map area to which the history map element data belongs;

a first auxiliary data determination submodule for selecting the auxiliary map element data from historical map element data based on the overlap region.

11. The apparatus of claim 7, wherein the assistance data determination module comprises:

the map version determining submodule is used for determining the map version to which the historical map element data belongs;

a second auxiliary data determination submodule configured to select the auxiliary map element data from the historical map element data based on the current map version and a map version to which the historical map element data belongs.

12. The apparatus of claim 7, wherein the high precision map update module comprises:

the base map updating submodule is used for updating the map base map of the high-precision map according to the current map element data;

and the label updating submodule is used for updating the label data of the high-precision map based on the current label of the current map element data.

13. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the high precision map updating method of any one of claims 1-6.

14. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the high precision map updating method according to any one of claims 1 to 6.

15. A computer program product comprising a computer program which, when executed by a processor, implements a high precision map updating method according to any of claims 1-6.