CN116086429A

CN116086429A - Map updating method, device, equipment and computer readable storage medium

Info

Publication number: CN116086429A
Application number: CN202211626603.3A
Authority: CN
Inventors: 何素; 关民杰; 王越豪; 罗健豪
Original assignee: Guangdong Kunpeng Space Information Technology Co ltd
Current assignee: Guangdong Kunpeng Space Information Technology Co ltd
Priority date: 2022-12-16
Filing date: 2022-12-16
Publication date: 2023-05-09

Abstract

The application discloses a map updating method, a map updating device, map updating equipment and a computer readable storage medium; obtaining a map to be updated of a target area, identifying elements to be filled corresponding to the map to be updated, adding the elements to be filled to the map to be updated to obtain an initial map, identifying the layout relation between the basic map elements and the elements to be filled in the initial map, reading basic elevation values of the basic map elements, determining target elevation values of the elements to be filled, and obtaining an updated target map according to the elevation information of the elements to be filled. The method comprises the steps of obtaining a map to be updated of a target area, adding elements to be filled into the map, obtaining an elevation value corresponding to the elements to be filled according to the hooking relation between each map element and a lane line, and updating the map with higher precision; therefore, the information of the environmental elements which are not detected by the sensor is calculated, so that the accuracy of the electronic map is improved, and the driving experience of a user is improved.

Description

Map updating method, device, equipment and computer readable storage medium

Technical Field

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

Background

Along with the rapid development of electronic information technology, electronic navigation maps are widely applied to our lives, particularly in the technical field of automobiles, and provide basic data for the vehicle navigation technology. However, there are uncovered areas in the electronic navigation map, such as in-car parking areas, for which related art can collect environmental information of the area by a sensor of a vehicle and construct a three-dimensional electronic navigation map of the area to provide map base data for navigation functions of the vehicle.

However, when the electronic navigation map is constructed, the related art causes imperfect information in the electronic navigation map due to the existence of some environmental elements which are not detected by the sensor, such as the indication elements of the lane guide lines, the road signs, the direction indication arrows, and the like, which reduces the accuracy of the electronic map information, and causes that some navigation driving functions (such as automatic driving functions) cannot be developed, thereby influencing the driving experience of the user.

Disclosure of Invention

The embodiment of the application provides a map updating method, device, equipment and computer readable storage medium, which can perfect element information in an electronic map so as to improve the accuracy of the electronic map information, be beneficial to the development of navigation driving functions of a vehicle and improve the driving experience of a user.

The embodiment of the application provides a map updating method, which comprises the following steps:

acquiring a map to be updated of a target area, wherein the map to be updated contains basic map elements;

identifying elements to be filled corresponding to the map to be updated, and adding the elements to be filled to the map to be updated to obtain an initial map;

identifying layout relations of the basic map elements and elements to be filled in the initial map;

reading the basic elevation value of the basic map element, and determining the target elevation value of the element to be filled according to the layout relation and the basic elevation value;

and updating the elevation information of the element to be filled according to the target elevation value to obtain an updated target map.

Accordingly, an embodiment of the present application provides a map updating apparatus, including:

the system comprises an acquisition unit, a storage unit and a display unit, wherein the acquisition unit is used for acquiring a map to be updated of a target area, and the map to be updated contains basic map elements;

The filling unit is used for identifying elements to be filled corresponding to the map to be updated and adding the elements to be filled to the map to be updated to obtain an initial map;

the identification unit is used for identifying the layout relation of the basic map elements and the elements to be filled in the initial map;

the determining unit is used for reading the basic elevation value of the basic map element and determining the target elevation value of the element to be filled according to the layout relation and the basic elevation value;

and the updating unit is used for updating the elevation information of the element to be filled according to the target elevation value to obtain an updated target map.

In some embodiments, the identification unit is further configured to:

reading lane communication information in the initial map;

constructing a lane topology network in the initial map according to the lane communication information;

and determining the layout relation between the basic map elements and the elements to be filled and the lane topology network.

In some embodiments, the identification unit is further configured to:

determining a first vehicle road path point with the smallest horizontal distance with the basic map element from the plurality of lane paths, and establishing a first hooking relation between the basic map element and the first vehicle road path point;

Determining a second vehicle road diameter point with the minimum horizontal distance between the element to be filled and the plurality of lane paths, and establishing a second hooking relation between the element to be filled and the second vehicle road diameter point;

and determining the first hooking relation and the second hooking relation as layout relations.

In some embodiments, the determining unit is further configured to:

assigning a value to each vehicle road path in the topological circuit network according to the basic elevation value based on the layout relation to obtain an elevation path with an elevation value;

determining a target elevation path connected with the element to be filled according to the layout relation;

and determining the target elevation value corresponding to the element to be filled according to the elevation value of the target elevation path.

In some embodiments, the determining unit is further configured to:

according to the layout relation, respectively determining a lane path of each basic map element in a hanging manner, and determining a point position value of each basic map element on the lane path in the hanging manner;

determining the basic map elements with the point position values within a preset point position value range as effective basic map elements;

and carrying out elevation value assignment on the articulated lane path based on the point position value and the basic elevation value corresponding to each effective basic map element to obtain an elevation path with the elevation value.

In some embodiments, the determining unit is further configured to:

respectively reading a first elevation value and a second elevation value which are positioned at two ends of the target elevation path;

determining the adjacent point position values of the elements to be filled on the target elevation path;

and determining a target elevation value corresponding to the element to be filled based on the first elevation value, the second elevation value and the adjacent point bit value.

In some embodiments, the determining unit is further configured to:

identifying a target number of valid base map elements articulated on each lane path;

determining a maximum point position value and a minimum point position value according to the point position values of the effective basic map elements, and determining a point position difference value of the maximum point position value and the minimum point position value;

if the target number is greater than a preset number threshold value and the point position difference value is greater than a preset point position difference threshold value, determining a target path point position associated with a point position value corresponding to each effective basic map element on the articulated lane path;

and calculating the elevation value of the target path point according to the point position value and the basic elevation value of each effective basic map element and a linear regression algorithm to obtain an elevation path with the elevation value.

In some embodiments, the determining unit is further configured to:

determining a maximum point position value and a minimum point position value according to the point position values of the effective basic map elements, and respectively determining the point position absolute values of the maximum point position value and the minimum point position value;

if the target quantity is larger than a preset quantity threshold value and the point absolute value is smaller than the preset absolute threshold value, determining a target elevation mean value according to the basic elevation value corresponding to the effective basic map element;

and carrying out elevation value assignment on the hung lane path according to the target elevation mean value to obtain an elevation path with an elevation value.

In addition, the embodiment of the application also provides a computer device, which comprises a processor and a memory, wherein the memory stores a computer program, and the processor is used for running the computer program in the memory to realize the steps in the map updating method provided by the embodiment of the application.

In addition, the embodiment of the application further provides a computer readable storage medium, wherein the computer readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the steps in any map updating method provided by the embodiment of the application.

Furthermore, embodiments of the present application provide a computer program product comprising computer instructions stored on a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in any of the map updating methods provided in the embodiments of the present application.

The method comprises the steps of obtaining a map to be updated of a target area, identifying elements to be filled corresponding to the map to be updated, adding the elements to be filled to the map to be updated to obtain an initial map, identifying layout relations between basic map elements and the elements to be filled in the initial map, reading basic elevation values of the basic map elements, determining target elevation values of the elements to be filled according to the layout relations and the basic elevation values, and updating elevation information of the elements to be filled according to the target elevation values to obtain an updated target map. The method comprises the steps of obtaining a map to be updated corresponding to a target area, determining elements to be filled which need to be perfected in the map to be updated, adding the elements to be filled into the map to be updated, determining the layout relation between basic map elements and the elements to be filled in the map, determining the elevation value of each basic map element, and updating the elevation information of the elements to be filled based on the elevation values of the basic map elements to obtain a target map with accurate and perfected information; therefore, the information elements of the electronic map can be perfected, so that the accuracy of the information of the electronic map is improved, the development of the navigation driving function of the vehicle is facilitated, and the driving experience of a user is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a map updating system according to an embodiment of the present application;

fig. 2 is a schematic flow chart of a map updating method according to an embodiment of the present application;

FIG. 3 is a flowchart illustrating another step of the map updating method according to the embodiment of the present application;

fig. 4 is a schematic view of a scene architecture of an initial map provided in an embodiment of the present application;

FIG. 5 is a schematic diagram of a relationship between a point location of a base map element to a lane path and a nearest neighbor point location of an element to be filled to an elevation path provided in an embodiment of the present application;

fig. 6 is a schematic structural diagram of a map updating apparatus provided in an embodiment of the present application;

fig. 7 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

The embodiment of the application provides a map updating method, a map updating device, map updating equipment and a computer readable storage medium. The embodiments of the present application will be described from the perspective of a map updating apparatus, which may be specifically integrated in a computer device, which may be a terminal device, specifically a terminal device mounted on a vehicle, that is, a vehicle-mounted terminal; in addition, the terminal device may be other types of devices, for example, the terminal may be a device such as a television, a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, and a smart wearable device; further, but not limited thereto.

For example, referring to fig. 1, a schematic view of a map updating system provided in an embodiment of the present application is shown. The scenario includes a terminal or a server.

Specifically, the terminal may be a vehicle-mounted terminal, and is configured to obtain a map to be updated of a target area, identify elements to be filled corresponding to the map to be updated, add the elements to be filled to the map to be updated to obtain an initial map, identify a layout relationship between a basic map element and the elements to be filled in the initial map, read a basic elevation value of the basic map element, determine a target elevation value of the elements to be filled according to the layout relationship and the basic elevation value, and update elevation information of the elements to be filled according to the target elevation value to obtain an updated target map.

When the map updating system includes a server, a communication connection between the vehicle-mounted terminal and the server may be established. The vehicle-mounted terminal can acquire a map to be updated of the target area, the map to be updated contains basic map elements, and the acquired map to be updated is sent to the server. At this time, the server may receive the map to be updated sent by the vehicle-mounted terminal, and according to the map to be updated, the filling element is added to the map to be updated to obtain an initial map; and identifying the layout relation of the basic map elements and the elements to be filled in the initial map, reading the basic elevation values of the basic map elements, and determining the target elevation values of the elements to be filled according to the layout relation and the basic elevation values, wherein at the moment, the server can send target elevation value information and update map strategies or instructions to the vehicle-mounted terminal. After receiving the map updating strategy or instruction from the server, the vehicle-mounted terminal executes the map updating strategy or instruction, and updates the elevation information of the element to be filled according to the target elevation value to obtain an updated target map.

Accordingly, the map updating method may include: obtaining a map to be updated of a target area, identifying layout relations of basic map elements and elements to be filled in an initial map, target elevation values of the elements to be filled, updating the target map and the like.

For easy understanding, the following lane change examples when the vehicle is traveling will describe the embodiments of the present application, specifically as follows:

the target vehicle is provided with a vehicle-mounted terminal, and the vehicle-mounted terminal can acquire a map to be updated of the target area in real time, wherein the map to be updated contains basic map elements. Then, the element to be filled is added to the map to be updated to obtain an initial map, the layout relation of the basic map element and the element to be filled in the initial map is identified, the basic elevation value of the basic map element is read, the elevation value of the lane path is determined according to the layout relation of the basic map element and the lane path in the initial map by utilizing the basic elevation value, the elevation path is obtained, finally, the target elevation value of the element to be filled is calculated according to the layout relation of the element to be filled and the elevation path, and the vehicle-mounted terminal updates the initial map according to the target elevation value of the element to be filled, so that a more accurate target map is obtained.

The following will describe in detail. The following description of the embodiments is not intended to limit the preferred embodiments.

In the embodiments of the present application, description will be made from the viewpoint of a map updating apparatus, which may be integrated in a computer device such as a terminal device or a server in particular. Referring to fig. 2, fig. 2 is a schematic step flow diagram of a map updating method provided in the embodiment of the present application, and taking a terminal device as an example, the terminal device is a terminal carried on a vehicle, and when a processor on the terminal device executes a program corresponding to the map updating method, a specific flow of the map updating method is as follows:

101. And acquiring a map to be updated of the target area, wherein the map to be updated contains basic map elements.

In the embodiment of the application, in order to acquire the information of the environmental elements which are not detected by the sensor, so as to improve the accuracy of the map, the basic map elements in the map to be updated of the target area can be utilized, so that the elevation values of the elements to be filled are calculated in a fitting mode, and the map is more accurate.

The target area may be a specific location, occasion, for example: underground parking, floor parking, intersections, etc.

The map to be updated may be a three-dimensional map with determined elevation information constructed by using an information acquisition device after a large number of environmental elements in a target area are acquired, and it is to be noted that the environmental elements which can be acquired are called basic map elements, and the coordinates of the basic map elements in the map are not necessarily accurate, but are obtained through measurement and have actual measurement basis.

The basic map element can be an environment element with coordinate data (elevation value) in the obtained three-dimensional map after the wheel speed odometer and the pose sensor are combined with the camera and the visual recognition, and the coordinates of the basic map element are not necessarily accurate, but are obtained through measurement, and the three-dimensional map element has actual measurement basis and reference value.

Specifically, firstly, through a wheel speed odometer and a pose sensor, and combining a camera and visual identification, acquiring an environmental element in a target area, identifying elevation information corresponding to the environmental element, establishing a three-dimensional map which can be obtained and comprises a space fluctuation structure, then manually correcting the horizontal position of part of the environmental element in the three-dimensional map, drawing logic elements such as an intersection, a virtual lane line and the like, and finally obtaining a map to be updated, wherein the elements measured by machine identification in the environmental element have corresponding elevation values, and the elements acquired by post-processing have no elevation values.

By the method, the map to be updated of the target area can be obtained, so that the elevation value of the element to be filled can be calculated from the map to be updated in a matching mode, and the three-dimensional map is more accurate.

102. And identifying the elements to be filled corresponding to the map to be updated, and adding the elements to be filled to the map to be updated to obtain an initial map.

In the embodiment of the application, in order to acquire the information of the environmental elements which are not detected by the sensor, and further improve the accuracy of the map, the elements to be filled can be added to the map to be updated first, and then the initial map is obtained, so that the subsequent calculation is more convenient.

The element to be filled in may be an element for manually correcting the horizontal position of a part of the basic map element at the time of post-processing of the map, for example, a drawn lane/path, an intersection, a virtual lane line, or the like. It should be noted that the element to be filled has no elevation information, such as elevation value, which is the basis for actual measurement.

The initial map may be a map including elevation information of a part of the environmental things, and the initial map may be constructed according to the environmental things collected by the sensor of the vehicle and the elevation information of the collected environmental things. For example, taking an indoor parking lot map as an example, the map may include elevation information of physical things such as walls, floors, slopes, guard rails, etc., and the map cannot be represented for environmental things and elements that cannot be collected by the sensing component.

Specifically, after the map to be updated of the target area is obtained, the map to be updated is parsed, and whether missing map elements exist in the map to be updated is determined, and it can be understood that, as environmental information can be collected through a sensor in the map to be updated and a map is constructed, for some environmental elements which are not detected by the sensor, some map elements which cannot be collected are often missing in the map. When missing map elements exist, such as lane guide lines, road signs, direction indication arrows and the like, map elements acquired by the map to be updated are compared with actual environment elements in a target environment to determine missing map elements in the map to be updated, the missing map elements are used as map elements to be filled, a database corresponding to the environment elements is queried through the elements to be filled, the elements to be filled queried in the database are added to corresponding positions in the map to be updated, if the map to be updated of an underground parking lot is obtained, the missing elements to be filled are identified through comparison of the environment elements in the underground parking garage, if logic elements such as lane lines, intersections, virtual lane lines and the like are required to be drawn, and indicating elements such as lane guide lines, road signs, direction indication arrows and the like are required to be drawn, and after the elements to be filled are added to the map to be updated, an initial map with basic map elements and the elements to be filled is obtained.

By the method, the to-be-filled elements corresponding to the map to be updated can be identified, and the to-be-filled elements are added to the map to be updated, so that an initial map with basic map elements and to-be-filled elements is obtained, and the elevation values of the to-be-filled elements are calculated from the initial map in a fitting mode, so that the three-dimensional map is more accurate.

103. The layout relationship of the base map element and the element to be filled in the initial map is identified.

In the embodiment of the application, in order to acquire the information of the environmental elements which are not detected by the sensor, so as to improve the accuracy of the map, the layout relationship between the basic map elements and the elements to be filled in the map in the initial map can be identified, and then the elevation values of the elements to be filled are obtained by utilizing the elevation values of the basic map elements in the follow-up process, so that the accuracy of the map is updated.

Specifically, after the map to be updated of the target area is obtained, the unidentified elements in the target area are identified and are used as elements to be filled into the map to be updated to obtain an initial map, then the positions of the basic map elements and the elements to be filled in the initial map are obtained, the initial map is taken as a core, the layout relationship between the basic map elements and the elements to be filled in the initial map is identified, for example, the No. 1 road mark is taken as the basic map element, the No. 2 road mark is taken as the element to be filled, the initial map is a map of an underground parking lot, the underground parking lot has two layers in total and is parallel, wherein the No. 1 road mark is arranged on a first layer, the No. 2 road mark is arranged on a second layer, and the connection between the No. 1 road mark and the No. 2 road mark is better perpendicular to the ground, so that the layout relationship between the No. 1 road mark and the No. 2 road mark in the initial map can be identified.

Thus, in some embodiments, a lane topology network may be established according to the lane connectivity relationship in the initial map, so as to determine the layout relationship of the basic map element and the element to be filled in the initial map, as in step 103, may include:

(103.1) reading lane communication information in an initial map;

(103.2) constructing a lane topology network in the initial map according to the lane communication information;

(103.3) determining a layout relationship between the base map element and the element to be filled and the lane topology network.

The lane communication information may be information representing a communication relationship between lanes in the target area, which may reflect a communication or non-communication condition between different lanes in the target area, that is, a communication condition of each lane and each path in the initial map, for example, the initial map has 3 lanes, and the 3 lanes are connected end to end, which may be referred to as lane communication information of the initial map.

The lane topology network may be a path network formed by connecting a plurality of lane paths, which is shown in a map, specifically, in order to make each lane in the map have an elevation value, a path (link) corresponding to each lane is added in the map, and adjacent lane paths are connected according to lane communication information, so as to obtain the lane topology network covering each zone of the whole target area. For example, taking a map of an underground parking garage as an example, by adding corresponding paths to each lane in the map and connecting the lane paths according to a lane communication relationship, a lane topology network is formed so as to reflect the lane structure in the entire underground parking garage scene.

Specifically, after a map to be updated of a target area is obtained, elements to be filled are added into the map to be updated, an initial map is obtained, lane line information in the initial map is read, lane connection information is obtained, lane connection information is determined, all lanes are connected in a line segment mode, a line segment connection relation between lanes/paths is established, a lane topology network is established in the initial map based on the connection relation, a layout relation between basic map elements and elements to be filled and the lane topology network is determined, for example, the lane topology network of an underground parking lot is to be established, and lane line segments which are connected with each other are required to be drawn based on the initial map of the underground parking lot and the connection condition of the lanes. The method can be represented by link, if the lanes are connected, the link is communicated with each other, a three-dimensional lane topology network of the underground parking garage is established, and then the layout relationship between the lane guide lines, road signs, direction indication arrows and other basic map elements and the elements to be filled and the lane topology network is determined.

In some embodiments, determining the layout relationship between the base map element and the element to be filled and the lane topology network according to the horizontal distance between the base map element and the element to be filled in the initial map and each lane path in the lane topology network, as in step (103.3) may include:

(103.3.1) determining a first vehicle road path point from the plurality of lane paths having a minimum horizontal distance from the base map element and establishing a first hooking relationship between the base map element and the first vehicle road path point;

(103.3.2) determining a second road path point from the plurality of lane paths having the smallest horizontal distance to the element to be filled, and establishing a second hooking relationship between the element to be filled and the second road path point;

(103.3.3) determining the first hooking relationship and the second hooking relationship as layout relationships.

The first vehicle road path point may be a path point with the smallest (closest) distance from the current basic map element on the horizontal plane in the corresponding lane path.

The second road path point may be a path point with the smallest (closest) distance from the current element to be filled in the horizontal plane in the corresponding lane path.

The first hooking relation may be a layout relation between the basic map element and a lane path in the lane topology network.

The second hooking relation can be a layout relation between the element to be filled and a lane path in the lane topology network.

Specifically, for any basic map element in the initial map, firstly, determining a lane path point having an intersection relationship with the basic map element on a horizontal plane, and acquiring a horizontal distance between the basic map element and the lane path, wherein a lane path connection point with the minimum horizontal distance is used as a first lane path point of the current basic map element, so that a first hooking relationship between the basic map element and the first lane path point is established. Similarly, a lane path point having an intersecting relationship with the element to be filled on a horizontal plane is determined, thereby establishing a second hooking relationship between the base map element and the first lane path point.

By way of example, taking an initial map of an underground parking garage as an example, there are two ascending paths with an angle of 30 degrees in the initial map, namely a path A and a path B, and the two ascending paths are in a parallel state in the initial map, in the horizontal connecting line of the two ascending paths, there is a lane marker (basic map element) with a horizontal distance of 20m to the path A and a horizontal distance of 10m to the path B, and it can be judged that the horizontal distance of the lane marker to the path B is shorter than the horizontal distance to the path A, then the connection point of the lane marker to the path B on the path B is the first vehicle road path point, and the relationship between the lane marker and the path B is the first hooking relationship.

For a basic map element and an element to be filled in a map, horizontal distances between the basic map element and the element to be filled and a plurality of lane paths in a lane topological network are obtained, after comparison, the lane path which has the shortest horizontal distance with the basic map element and the element to be filled is found, the basic map element and the lane path are established to be connected as a first connection relation, a perpendicular connection is made between the basic map element and the lane path, the connection point is used as a first path point, a second connection relation and a second vehicle path point can be obtained for the element to be filled in the map in the same way, and then the first connection relation and the second connection relation are determined to be the layout relation between the basic map element and the lane topological network.

Taking an initial map of an underground parking garage as an example, in the map, a road sign 1 is taken as a basic map element, 3 lane paths are shared in a lane topological network, wherein the horizontal distance from the road sign 1 to the lane path 1 is 10cm, the horizontal distance from the road sign 1 to the lane path 2 is 20cm, and the horizontal distance from the road sign 3 to the lane path is 30cm, the horizontal distances of the road sign 1 and the lane path 1 are the shortest, so that a hooking relationship is established between the road sign 1 and the lane path 1, and the hooking relationship is established as a layout relationship.

By the method, the relation between the basic map element and the element to be filled in the initial map can be obtained by identifying the layout relation between the basic map element and the element to be filled in the initial map, so that the elevation value of the element to be filled can be calculated from the relation in the initial map in a matching mode, and the three-dimensional map is more accurate.

104. And reading the basic elevation value of the basic map element, and determining the target elevation value of the element to be filled according to the layout relation and the basic elevation value.

The base elevation value may be information representing the height of the base map element in the map, and may represent the height of the base map element in the three-dimensional map as important data of the three-dimensional map.

The target elevation value may be information representing the height of the element to be filled in the map, and may represent the height of the element to be filled in the three-dimensional map as important data for perfecting the three-dimensional map.

Specifically, if the map to be updated is obtained by the element to be filled, the layout relationship of the basic map element and the element to be filled in the initial map is identified, and the basic elevation value of the basic map element is used as a parameter to obtain the target elevation value of the element to be filled because the layout relationship is the hooking relationship, the basic elevation value of the basic map element in the initial map is firstly read, and then the target elevation value of the element to be filled with the same hooking relationship is determined according to the hooking relationship and the basic elevation value of the basic map element.

Taking an initial map of an underground parking garage as an example, in the initial map, a number 1 road sign is taken as a basic map element, a number 2 road sign is taken as an element to be filled, the number 1 road sign and the number 2 road sign both determine a hooking relationship with a lane line A, and if the positions where the number 1 road sign and the number 2 road sign are hooked are at the same point, the elevation value of the number 1 road sign is 1m, and the elevation value of the number 2 road sign which is also hooked with the lane line A and has the same hooking point can be calculated to be 1m.

In some embodiments, the assigning may be performed on each vehicle path in the topological circuit network corresponding to the initial map according to the basic elevation value, and the determining the elevation path may further determine the target elevation value corresponding to the element to be filled, where step 104 "determining the target elevation value of the element to be filled according to the layout relation and the basic elevation value" may include:

(104.1) assigning a value to each vehicle path in the topological circuit network according to the basic elevation value based on the layout relation to obtain an elevation path with an elevation value;

(104.2) determining a target elevation path connected with the element to be filled according to the layout relation;

and (104.3) determining the target elevation value corresponding to the element to be filled according to the elevation value of the target elevation path.

The elevation path may be a lane path with an elevation value obtained after assigning an original lane path without an elevation value.

The target elevation path is a lane path which is connected with the element to be filled in a hanging mode.

Specifically, after the layout relation between the basic map elements and the elements to be filled and the initial map is identified, the lane paths where each basic map element is hung in the initial map are determined based on the layout relation between the basic map elements and the elements to be filled and the initial map, and because the basic map elements and the corresponding lane paths are horizontally hung, that is, the hanging points of each basic map element and the corresponding lane paths are parallel, the height of each basic map element represents the height of each hanging point, it can be understood that each lane path may be hung with a plurality of basic map elements, so that the basic elevation values of the plurality of basic map elements are read, and all the hanging points on the corresponding lane paths are assigned with a plurality of elevation values, so that the lane paths which are provided with a plurality of hanging basic map elements and have the elevation values are the elevation paths. In an elevation path, not only the basic map element but also the element to be filled are hung, so that an elevation path hung with the element to be filled is determined, the elevation path hung with the element to be filled is called as a target elevation path, and further, the elevation value of the corresponding hung element to be filled, namely the target elevation value, can be obtained based on the target elevation path due to the fact that the target elevation path has the elevation value.

In some embodiments, the method may further include assigning an elevation value to the lane path according to the point position value of the base map element on the articulated lane path and the base elevation value, so as to obtain an elevation path with the elevation value, where step (104.1) may include:

(104.1.1) respectively determining a lane path of each basic map element in a hitching manner according to the layout relation, and determining a point position value of each basic map element on the hitching lane path;

(104.1.2) determining a base map element having a point location value within a preset point location value range as a valid base map element;

(104.1.3) assigning an elevation value to the articulated lane path based on the point position value and the basic elevation value corresponding to each effective basic map element, and obtaining an elevation path with the elevation value.

The point position value may be a position of the basic map element on the corresponding articulated lane path, as shown in fig. 5, where the length of the lane path is a position in the lane path of a point of a horizontal distance line between a 1.0,2 point (basic map element) and the lane path, and as can be seen from the figure, the point position value of a 2 point (basic map element) on the lane path is 0.2.

The preset point location value range is a judging condition reflecting whether the basic map element can be used as a reference point for calculating the elevation path.

Specifically, after the layout relationship between the basic map elements and the elements to be filled and the initial map is identified, the lane path where each basic map element is hung is determined based on the layout relationship between the basic map elements and the elements to be filled and the initial map, each lane path is extracted separately, the basic map elements with the hanging relationship on the lane path are determined, the point position value of each basic map element on the lane path is calculated, and the elevation value of the lane path is to be estimated, so that the basic map elements with the point positions far from the lane path too large cannot be taken. For the basic map elements hung on the lane path, the basic map elements with the point position values in the preset point position value range are determined to be effective basic map elements, for example, the preset point position value range is 0.5-1.5, so long as the basic map elements with the point position values in the range can reflect the elevation values of the hung lane path, namely, the basic map elements with the point position values in the preset point position value range are classified to be effective basic map elements hung on the lane path. And finally, assigning a value to each hanging point on the lane path by utilizing the point position value and the basic elevation value corresponding to the effective basic map element to which the effective basic map element is connected, so as to obtain the lane path with the elevation value, namely the elevation path.

Thus, in some embodiments, the determining the target elevation value of the corresponding element to be clipped according to the elevation values at the two ends of the elevation path and the adjacent point positions of the corresponding element to be clipped on the elevation path, as in step (104.2) may include:

(104.2.1) respectively reading a first elevation value and a second elevation value at both ends of the target elevation path;

(104.2.2) determining adjacent point bit values of the element to be filled on the target elevation path;

(104.2.3) determining a target elevation value corresponding to the element to be filled based on the first elevation value, the second elevation value, and the adjacent point bit value.

The first elevation value may be an elevation value indicating a start endpoint of the line segment in two ends of the elevation path.

The second elevation value may be an elevation value indicating an end point of the line segment in both ends of the elevation path.

The adjacent point bit value may be a position of the element to be filled on the corresponding hanging elevation path, as shown in fig. 5, where the length of the elevation path is 1, the two end points are 0.0 and 1.0, respectively, for the elevation path, the nearest point to the line segment of the elevation path of the element to be filled 1 is the left end point, and then the nearest adjacent point bit value of the element to be filled is 0.0.

Specifically, after the layout relation between the basic map elements and the elements to be filled and the initial map is identified, the lane path where each basic map element is hung is respectively determined based on the basic map elements and the layout relation between the elements to be filled and the initial map, after the elevation path with the elevation value is obtained, the elevation values at two ends of the elevation path are obtained according to all the elevation values on the elevation path by a weighted average method, wherein the weight is the number of the effective basic map elements, then the elevation values at two end points of the elevation path are respectively read, namely a first elevation value and a second elevation value, then the nearest adjacent point position value of the elements to be filled on the elevation path is determined for the elements to be filled which are hung on the elevation path, and finally the target elevation value corresponding to the elements to be filled which are hung on the elevation path is determined based on the first elevation value, the second elevation value and the adjacent point position value, and the specific expression is as follows: h=hs+rn (He-Hs);

in the expression, H is a target elevation value, hs is a first elevation value, he is a second elevation value, and RN is a neighboring point bit value.

Taking an example of an elevation path a corresponding to a lane of the underground parking garage as an example, a first elevation value of a is 0.0m, a second elevation value of a is 1.0m, a lane arrow is an element to be filled hung on a, and a nearest neighbor point value of the lane arrow on a is 0.5, then the target elevation value H of the lane arrow is 0.5m according to the expression of the target elevation value.

In some embodiments, the elevation value of the articulated lane path may be calculated according to the effective basic map element articulated on each lane path and the difference between the maximum point position value and the minimum point position value, so that the target elevation value of the element to be filled may be calculated later, and the step (104.1.3) may include:

(104.1.3.a.1) identifying a target number of valid base map elements that are articulated on each lane path;

(104.1.3.a.2) determining a maximum point value and a minimum point value according to the point values of the effective basic map elements, and determining a point difference value of the maximum point value and the minimum point value;

(104.1.3.a.3) if the target number is greater than a preset number threshold value and the point position difference value is greater than a preset point position difference threshold value, determining a target path point position associated with the point position value corresponding to each effective basic map element on the articulated lane path;

and (104.1.3.a.4) calculating the elevation value of the target path point according to the point position value and the basic elevation value of each effective basic map element and a linear regression algorithm to obtain the elevation path with the elevation value.

Wherein the target number may be the number of valid base map elements that are articulated on each lane path.

Specifically, firstly, based on a preset point position value range, the number of the effective basic map elements hung on each lane path is identified, then, the point position values of the effective basic map elements are counted, the maximum point position value and the minimum point position value are selected after comparison, and then, the difference value between the maximum point position value and the minimum point position value is obtained through subtraction operation. For example, referring to fig. 5, 4 basic map elements are hung on a lane path altogether, the preset point position value range is-0.5 to 1.5, 4 of the 4 effective basic map elements are respectively a number 1 road mark, a number 2 road mark, a number 3 road mark and a number 4 road mark, the point position value of the number 1 road mark on the lane path is-0.4,2 road mark on the lane path is 0.2,3 road mark on the lane path is 0.7,4 road mark on the lane path is 1.3, then the maximum point position value on the lane path is 1.3 of the point position value of the number 4 road mark, the minimum point position value is-0.4 of the point position value of the number 1, and the difference value between the maximum point position value and the minimum point position value is 1.7. In a lane path, if the number of the effective basic map elements is greater than a preset number threshold value and the difference between the maximum point position value and the minimum point position value is also greater than a preset point position difference threshold value, determining the point position of each effective basic map element on the lane path, namely, the intersection point position of the effective basic map element making perpendicular lines and the lane path, then regarding the lane path as a linear function according to the point position value and the basic elevation value of each effective basic map element, calculating the elevation value of the point of each effective basic map element on the lane path by utilizing a linear regression algorithm to obtain the point position of the point, and finally forming the lane path possibly provided with a plurality of elevation values, namely, the elevation path. After the elevation path is obtained, noise values may occur due to excessive sample data, e.g., hundreds or thousands of valid base map elements may be attached to a lane path, at which time the noise may be processed using various noise reduction methods, e.g., using the glabra criterion, which is a method of discriminating normal samples or near normal sample outliers with unknown overall standard deviation. The specific expression of the linear function of the elevation path calculation is as follows: h=k×r+h; wherein H is the elevation value of the effective basic map element, k is the slope of the linear function, R is the point position value of the effective basic map element, and H is the elevation value of the corresponding point position on the lane path.

In some embodiments, the elevation value of the articulated lane path may be calculated according to the effective basic map element articulated on each lane path and the absolute values of the maximum point position value and the minimum point position value, so that the target elevation value of the element to be filled may be calculated later, for example, step (104.1.3) may include:

(104.1.3.b.1) identifying a target number of valid base map elements that are articulated on each lane path;

(104.1.3.b.2) determining a maximum point position value and a minimum point position value according to the point position values of the effective basic map elements, and respectively determining the point position absolute values of the maximum point position value and the minimum point position value;

(104.1.3.b.3) if the target number is greater than the preset number threshold and the point absolute value is less than the preset absolute threshold, determining a target elevation mean value according to the base elevation value corresponding to the effective base map element;

and (104.1.3.b.4) carrying out elevation value assignment on the articulated lane path according to the target elevation mean value to obtain an elevation path with an elevation value.

Specifically, firstly, based on a preset point position value range, the number of the effective basic map elements hung on each lane path is identified, then, the point position values of the effective basic map elements are counted, the maximum point position value and the minimum point position value are selected after comparison, and then, the absolute values of the maximum point position value and the minimum point position value are obtained through absolute value operation. For example, 5 basic map elements are suspended on a lane path, wherein 4 effective basic map elements are respectively a number 1 road mark, a number 2 road mark, a number 3 road mark and a number 4 road mark, and among the 4 effective basic map elements, the point position value of the number 1 road mark on the lane path is-0.2,2 road mark on the lane path is 0.5, the point position value of the number 3 road mark on the lane path is 0.6,4 road mark on the lane path is 1.2, then the maximum point position value on the lane path is 1.2 of the point position value of the number 4 road mark, the minimum point position value is-0.2 of the point position value of the number 1 road mark, then the absolute value of the maximum point position value is 1.2, and the absolute value of the minimum point position value is 0.2. In a lane path, if the number of the effective basic map elements is greater than a preset number threshold value, and the absolute values of the maximum point position value and the minimum point position value are smaller than a preset point position difference threshold value, determining the point position of each effective basic map element on the lane path, namely the intersection point position of the effective basic map element perpendicular and the lane path, adding up the basic elevation values of the effective basic map elements, and then averaging the elevation values of each point position on the lane path to be the average. It should be noted that, since the initial map includes a large number of basic map elements and elements to be filled, if only one effective basic map element is hung in one lane path, it is indicated that the lane path is sufficiently short, and the elevation value of the lane path can be regarded as the elevation value of the effective basic map element.

By the method, the basic elevation values of the basic map elements can be read, and the target elevation values of the elements to be filled can be determined according to the layout relation and the basic elevation values, so that the map can be perfected by using the target elevation values of the elements to be filled later, and the three-dimensional map is more accurate.

105. And updating the elevation information of the element to be filled according to the target elevation value to obtain an updated target map.

The target map may be a more accurate map obtained by updating the target map based on the initial map by taking the elevation value of the element to be filled as a parameter.

Specifically, after the target elevation value of the element to be filled is calculated, the map is updated based on the initial map of the original target area, so as to obtain a target map, for example, the height of a certain lane mark in the initial map is 1m originally, the actual height of the lane mark in the target area is 1.2m, the elevation value of the element to be filled beside the lane mark is used as a reference, the height of the lane mark in the target map is adjusted to 1.8m, and compared with the height of the original initial map, the height of the lane mark in the target map is closer to the actual height of the lane mark.

By the method, the elevation information of the element to be filled can be updated according to the elevation value of the target, so that the updated target map is obtained, and the updated three-dimensional map is more accurate.

By implementing any one implementation mode or combination of implementation modes of the embodiment of the application, the application scene of the map updating process can be realized.

As can be seen from the foregoing, the embodiments of the present application may obtain a map to be updated of a target area, identify an element to be filled corresponding to the map to be updated, add the element to be filled to the map to be updated, obtain an initial map, identify a layout relationship between a basic map element and the element to be filled in the initial map, read a basic elevation value of the basic map element, determine a target elevation value of the element to be filled according to the layout relationship and the basic elevation value, and update elevation information of the element to be filled according to the target elevation value, thereby obtaining an updated target map. The method comprises the steps of firstly obtaining a map to be updated of a target area, adding elements to be filled into the map, obtaining elevation values of corresponding lane line segments according to the hooking relation between each map element and a lane line, and finally calculating the elevation values of the elements to be filled with the hooking relation according to the elevation values of each lane line segment, and updating the map with higher precision; therefore, the information of the environmental elements which are not detected by the sensor is calculated, so that the accuracy of the electronic map is improved, and the driving experience of a user is improved.

According to the method described in the above embodiments, examples are described in further detail below.

The map updating device is taken as an example in the embodiment of the application, and the map updating method provided in the embodiment of the application is further described. Fig. 3 is a flow chart illustrating another step of the map updating method provided in the embodiment of the present application, fig. 4 is a scene architecture diagram of the initial map provided in the embodiment of the present application, and fig. 5 is a schematic diagram illustrating a relationship between a point location of a base map element to a lane path and a nearest neighbor point location of an element to be filled to an elevation path provided in the embodiment of the present application. For ease of understanding, embodiments of the present application are described in connection with fig. 3-5.

In the embodiments of the present application, description will be made from the viewpoint of a map updating apparatus, which may be integrated in a computer device such as a vehicle-mounted terminal. When a processor on the vehicle-mounted terminal executes a program instruction corresponding to the data transmission method, the specific flow of the map updating method is as follows:

201. and the vehicle-mounted terminal acquires a map to be updated of the target area.

202. And the vehicle-mounted terminal identifies the elements to be filled corresponding to the map to be updated, and adds the elements to be filled to the map to be updated to obtain an initial map.

203. The vehicle-mounted terminal determines a first vehicle road diameter point with the smallest horizontal distance between the vehicle-mounted terminal and the basic map element in the plurality of lane paths and a second vehicle road diameter point with the smallest horizontal distance between the vehicle-mounted terminal and the element to be filled.

Specifically, for any basic map element in the initial map, firstly, determining a lane path point having an intersecting relation with the basic map element on a horizontal plane, acquiring a horizontal distance between the basic map element and the lane path, taking a lane path connecting point with the minimum horizontal distance as a first lane path point of the current basic map element, and similarly, determining a lane path point having an intersecting relation with the element to be filled on the horizontal plane. For example, in an initial map for an underground parking garage, there are two ascending paths with an angle of 30 ° which are respectively a path a and a path B, and in the initial map, there is a lane marker (basic map element) which has a horizontal distance of 20m to the path a and a horizontal distance of 10m to the path B, and it can be determined that the horizontal distance of the lane marker to the path B is shorter than the horizontal distance to the path a, and then the point of connection of the lane marker to the path B on the path B is the first vehicle road path point.

204. The vehicle-mounted terminal establishes a first hooking relation between the basic map element and the first vehicle road diameter point and a second hooking relation between the element to be filled and the second vehicle road diameter point.

Specifically, for a basic map element and an element to be filled in a map, horizontal distances between the basic map element and the element to be filled and a plurality of lane paths in a lane topological network are obtained, after comparison, the lane path which has the shortest horizontal distance with the basic map element and the element to be filled is found, and a connecting point between the basic map element and the lane path is established, namely, a first connecting relation is established between the basic map element and a first lane path point, and a second connecting relation between a second lane path point on a horizontal plane and the element to be filled is determined in the same way.

205. The vehicle-mounted terminal determines the point position value of the basic map element on the corresponding articulated lane path, and determines the effective basic map element on the lane path according to the point position value.

Specifically, the vehicle-mounted terminal determines the lane path to which each basic map element is attached, extracts each lane path individually, determines the basic map element with the attachment relation on the lane path, calculates the point position value of each basic map element on the lane path, and because the elevation value of the lane path is to be deduced, the basic map element with the point position too large from the lane path cannot be taken, and it is noted that although the lane path is a segment of line, the elevation value of the lane path is deduced, the lane path can be regarded as an extended straight line, and the position value of the basic map element point attached on the straight line is likely to exceed the length of the lane path, so that the basic map element can be determined as an effective basic map element as long as the point position value of the basic map element is within the preset point position value range.

For example, as shown in fig. 5, if the length of the lane path is 1.0, the point values on the line segment of the lane path are 0.0-1.0, and the point values of the base map elements connected with the line segment are-0.4, 0.2, 0.7 and 1.3, respectively. For the base map elements hung on the lane path, the base map elements with the point position values within the preset point position value range are determined to be effective base map elements, for example, the preset point position value range is-0.25-1.25, so long as the base map elements with the point position values within the range can reflect the elevation values of the hung lane path, namely, the No. 2 base map element and the No. 3 base map element are effective base map elements.

206. And the vehicle-mounted terminal carries out elevation value assignment on the hung lane path according to the point position value and the basic elevation value corresponding to each effective basic map element, so as to obtain an elevation path with the elevation value.

Specifically, after the layout relation between the basic map elements and the elements to be filled and the initial map is identified, the lane paths where each basic map element is hung in the initial map are determined based on the layout relation between the basic map elements and the elements to be filled and the initial map, and because the basic map elements and the corresponding lane paths are horizontally hung, that is, the hanging points of each basic map element and the corresponding lane paths are parallel, the height of each basic map element represents the height of the hanging point, it can be understood that each day of lane path may be hung with a plurality of basic map elements, so that the basic elevation values of the plurality of basic map elements are read, and all the hanging points on the corresponding lane paths are assigned with a plurality of elevation values, so that the lane paths with a plurality of hanging basic map elements and with elevation values are the elevation paths.

It should be noted that, for different situations of different lane paths, there is a corresponding specific calculation method, in the first case, if the number of the effective basic map elements in a lane path is greater than a preset number threshold value, and the difference between the maximum point position value and the minimum point position value is also greater than a preset point position difference threshold value, determining the point position of each effective basic map element on the lane path, that is, the intersection point position of the effective basic map element perpendicular to the lane path, then regarding the lane path as a linear function according to the point position value and the basic elevation value of each effective basic map element, calculating the point elevation value of each effective basic map element on the lane path by using a linear regression algorithm to obtain the point position of the point, and finally forming the lane path possibly having a plurality of elevation values, that is, the elevation path. After the elevation path is obtained, noise values may occur due to excessive sample data, e.g., hundreds or thousands of valid base map elements may be attached to a lane path, at which time the noise may be processed using various noise reduction methods, e.g., using the glabra criterion, which is a method of discriminating normal samples or near normal sample outliers with unknown overall standard deviation. The specific expression of the linear function of the elevation path calculation is as follows: h=k×r+h, where H is an elevation value of the effective base map element, k is a slope of the linear function, R is a point location value of the effective base map element, and H is an elevation value of a corresponding point location on the lane path.

Further, the second case is: in a lane path, if the number of the effective basic map elements is greater than a preset number threshold value, and the absolute values of the maximum point position value and the minimum point position value are smaller than a preset point position difference threshold value, determining the point position of each effective basic map element on the lane path, namely the intersection point position of the effective basic map element perpendicular and the lane path, adding up the basic elevation values of the effective basic map elements, and then averaging the elevation values of each point position on the lane path to be the average. It should be noted that, since the initial map includes a large number of basic map elements and elements to be filled, if only one effective basic map element is hung in one lane path, it is indicated that the lane path is sufficiently short, and the elevation value of the lane path can be regarded as the elevation value of the effective basic map element.

207. The vehicle-mounted terminal respectively reads a first elevation value and a second elevation value which are positioned at two ends of the target elevation path, and determines adjacent point position values of elements to be filled on the target elevation path.

Specifically, after the layout relation between the basic map elements and the elements to be filled and the initial map is identified, the lane path hung by each basic map element is respectively determined based on the basic map elements and the layout relation between the elements to be filled and the initial map, after the elevation path with the elevation value is obtained, the elevation values at the two ends of the elevation path are obtained according to all the elevation values on the elevation path by a weighted average method, wherein the weight is the number of the effective basic map elements, then the elevation values at the two end points of the elevation path are respectively read, namely the first elevation value and the second elevation value, and then the nearest adjacent point position value of the elements to be filled on the elevation path is determined according to the elevation values at the two ends of the elevation path. For example, taking fig. 5 as an example, 4 elements to be filled are hung on an elevation path altogether, namely, a number 1 road sign, a number 2 road sign, a number 3 road sign and a number 4 road sign, and among the 4 elements to be filled, the nearest neighbor position of the number 1 road sign on the elevation path is 0.0,2 road sign, the nearest neighbor position of the number 0.2,3 road sign on the elevation path is 0.7,4 road sign, and the nearest neighbor position on the elevation path is 1.0.

208. And the vehicle-mounted terminal determines a target elevation value corresponding to the element to be filled according to the first elevation value, the second elevation value and the adjacent point bit value corresponding to the element to be filled of the elevation path.

Specifically, after the first elevation value and the second elevation value corresponding to the two ends of the elevation path are obtained, the target elevation value corresponding to the element to be filled, which is hung on the elevation path, is determined by combining the nearest neighbor bit value of the element to be filled, which is hung on the elevation path, and the specific expression is as follows: h=hs+rn (he—hs), where H is the target elevation value, hs is the first elevation value, he is the second elevation value, and RN is the adjacent point bit value.

209. And the vehicle-mounted terminal updates the elevation information of the element to be filled according to the target elevation value to obtain an updated target map.

Through the application scene example, the following effects can be achieved: when the electronic navigation map is constructed, the environmental elements detected by the sensor are utilized to acquire the information of partial environmental elements which are not detected by the sensor, so that the element information in the electronic navigation map is more perfect, the accuracy of the electronic map information is improved, the navigation driving function of the vehicle is more favorably developed, and the driving experience of a user is improved.

The method comprises the steps that a map to be updated corresponding to a target area can be obtained, so that elements to be filled which need to be perfected in the map to be updated are determined, the elements to be filled are added into the map to be updated, then, the layout relation between basic map elements and the elements to be filled in the map is determined, the elevation value of each basic map element is determined, and finally, the elevation information of the elements to be filled is updated based on the elevation values of the basic map elements, so that a target map with accurate and perfected information is obtained; therefore, the information elements of the electronic map can be perfected, so that the accuracy of the information of the electronic map is improved, the development of the navigation driving function of the vehicle is facilitated, and the driving experience of a user is improved.

In order to better implement the above method, the embodiment of the application also provides a map updating device, which can be integrated in a computer device, such as a vehicle-mounted terminal.

For example, as shown in fig. 6, the map updating apparatus may include an acquisition unit 301, a filling determination unit 302, an identification determination unit 303, a determination unit 304, and an updating unit 305.

An obtaining unit 301, configured to obtain a map to be updated of the target area, where the map to be updated includes a basic map element;

The filling unit 302 is configured to identify elements to be filled corresponding to the map to be updated, and add the elements to be filled to the map to be updated to obtain an initial map;

an identifying unit 303 for identifying a layout relationship of the basic map element and the element to be filled in the initial map;

a determining unit 304, configured to read a basic elevation value of a basic map element, and determine a target elevation value of an element to be filled according to a layout relationship and the basic elevation value;

and the updating unit 305 is configured to update the elevation information of the element to be filled according to the target elevation value, and obtain an updated target map.

In some embodiments, the identifying unit 303 is further configured to:

reading lane communication information in an initial map;

and determining the layout relation between the basic map elements and the elements to be filled and the lane topological network.

In some embodiments, the identifying unit 303 is further configured to:

determining a first vehicle road diameter point with the minimum horizontal distance between the first vehicle road diameter point and the basic map element from a plurality of lane paths, and establishing a first hooking relation between the basic map element and the first vehicle road diameter point;

The first hooking relationship and the second hooking relationship are determined as layout relationships.

In some embodiments, the determining unit 304 is further configured to:

assigning a value to each vehicle road path in the topological circuit network according to the basic elevation value based on the layout relation to obtain an elevation path with the elevation value;

and determining a target elevation value corresponding to the element to be filled according to the elevation value of the target elevation path.

In some embodiments, the determining unit 304 is further configured to:

according to the layout relation, respectively determining a lane path of each basic map element in a hitching way, and determining a point position value of each basic map element on the hitching lane path;

determining a basic map element with a point position value within a preset point position value range as an effective basic map element;

and carrying out elevation value assignment on the hung lane path based on the point position value and the basic elevation value corresponding to each effective basic map element to obtain an elevation path with the elevation value.

In some embodiments, the determining unit 304 is further configured to:

respectively reading a first elevation value and a second elevation value which are positioned at two ends of a target elevation path;

Determining adjacent point bit values of elements to be filled on a target elevation path;

In some embodiments, the determining unit 304 is further configured to:

If the target number is greater than a preset number threshold and the point absolute value is smaller than the preset absolute threshold, determining a target elevation mean value according to the basic elevation value corresponding to the effective basic map element;

As can be seen from the above, the present solution may obtain a map to be updated corresponding to a target area, so as to determine elements to be filled in the map to be updated, and add the elements to be filled into the map to be updated, then determine a layout relationship between a basic map element and the elements to be filled in the map, and determine an elevation value of each basic map element, and finally update elevation information of the elements to be filled based on the elevation values of the basic map elements, so as to obtain a target map with accurate and complete information; therefore, the information elements of the electronic map can be perfected, so that the accuracy of the information of the electronic map is improved, the development of the navigation driving function of the vehicle is facilitated, and the driving experience of a user is improved.

The specific implementation of each operation above may be referred to the previous embodiments, and will not be described herein.

The embodiment of the application further provides a computer device, as shown in fig. 7, which shows a schematic structural diagram of the computer device according to the embodiment of the application, specifically:

The computer device may include one or more processors 401 of a processing core, memory 402 of one or more computer readable storage media, a power supply 403, and an input unit 404, among other components. Those skilled in the art will appreciate that the computer device structure shown in FIG. 7 is not limiting of the computer device and may include more or fewer components than shown, or may be combined with certain components, or a different arrangement of components. Wherein:

the processor 401 is a control center of the computer device, connects various parts of the entire computer device using various interfaces and lines, and performs various functions of the computer device and processes data by running or executing software programs and/or modules stored in the memory 402, and calling data stored in the memory 402, thereby performing overall monitoring of the computer device. Optionally, processor 401 may include one or more processing cores; preferably, the processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, an application program, etc., and the modem processor mainly processes wireless communication. It will be appreciated that the modem processor described above may not be integrated into the processor 401.

The memory 402 may be used to store software programs and modules, and the processor 401 executes various functional applications and map updates by running the software programs and modules stored in the memory 402. The memory 402 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data created according to the use of the computer device, etc. In addition, memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

The computer device further comprises a power supply 403 for supplying power to the various components, preferably the power supply 403 may be logically connected to the processor 401 by a power management system, so that functions of charge, discharge, and power consumption management may be performed by the power management system. The power supply 403 may also include one or more of any of a direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.

The computer device may also include an input unit 404, which input unit 404 may be used to receive input numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

Although not shown, the computer device may further include a display unit or the like, which is not described herein. In particular, in this embodiment, the processor 401 in the computer device loads executable files corresponding to the processes of one or more application programs into the memory 402 according to the following instructions, and the processor 401 executes the application programs stored in the memory 402, so as to implement various functions as follows:

obtaining a map to be updated of a target area, identifying elements to be filled corresponding to the map to be updated, adding the elements to be filled to the map to be updated to obtain an initial map, identifying the layout relation between the basic map elements and the elements to be filled in the initial map, reading basic elevation values of the basic map elements, determining target elevation values of the elements to be filled according to the layout relation and the basic elevation values, and updating elevation information of the elements to be filled according to the target elevation values to obtain an updated target map.

The specific implementation of each operation may be referred to the previous embodiments, and will not be described herein.

As can be seen from the foregoing, in the embodiment of the present application, a map to be updated corresponding to a target area may be obtained first to determine elements to be filled in the map to be updated, and the elements to be filled are added into the map to be updated, then, a layout relationship between a basic map element and the elements to be filled in the map is determined, and an elevation value of each basic map element is determined, and finally, elevation information of the elements to be filled is updated based on the elevation values of the basic map elements, so as to obtain a target map with accurate and complete information; therefore, the information elements of the electronic map can be perfected, so that the accuracy of the information of the electronic map is improved, the development of the navigation driving function of the vehicle is facilitated, and the driving experience of a user is improved.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.

To this end, embodiments of the present application provide a computer readable storage medium having stored therein a plurality of instructions capable of being loaded by a processor to perform steps in any of the map updating methods provided by embodiments of the present application. For example, the instructions may perform the steps of:

Wherein the computer-readable storage medium may comprise: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like.

The present application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the map updating method provided in the various alternative implementations of the above-described embodiments.

Because the instructions stored in the computer readable storage medium may execute the steps in any map updating method provided in the embodiments of the present application, the beneficial effects that any map updating method provided in the embodiments of the present application may be achieved, which are detailed in the previous embodiments and are not described herein.

The foregoing has described in detail the methods, apparatuses, devices and computer readable storage medium provided by the embodiments of the present application, and specific examples have been applied to illustrate the principles and embodiments of the present application, where the foregoing examples are provided to assist in understanding the methods and core ideas of the present application; meanwhile, as those skilled in the art will vary in the specific embodiments and application scope according to the ideas of the present application, the contents of the present specification should not be construed as limiting the present application in summary.

Claims

1. A map updating method, characterized by comprising:

2. The method of claim 1, wherein the identifying the layout relationship of the base map element and the element to be filled in the initial map comprises:

reading lane communication information in the initial map;

3. The method according to claim 2, wherein the lane topology network is formed by connecting a plurality of lane paths, and the determining the layout relationship between the basic map element and the element to be filled and the lane topology network includes:

Determining a second vehicle road diameter point with the minimum horizontal distance between the vehicle road diameter point and the element to be filled from the plurality of lane paths, and establishing a second hooking relation between the element to be filled and the second vehicle road diameter point;

4. The method of claim 1, wherein the determining the target elevation value of the element to be filled from the layout relationship and the base elevation value comprises:

based on the layout relation, according to the basic elevation value, each topological circuit network is provided with a plurality of topological circuit networks

Performing assignment on the lane path to obtain an elevation path with an elevation value;

5. The method of claim 4, wherein assigning each vehicle path in the topology line network according to the base elevation value based on the layout relationship results in a plurality of elevation paths having elevation values, comprising:

6. The method of claim 4, wherein determining the target elevation value corresponding to the element to be filled according to the elevation value of the target elevation path comprises:

7. The method of claim 5, wherein assigning the elevation value to the articulated lane path based on the point location value and the base elevation value corresponding to each valid base map element, comprises:

according to the point position value and the basic elevation value of each effective basic map element, according to linear regression calculation

And calculating the elevation value of the target path point by using the method to obtain an elevation path with the elevation value.

8. The method of claim 5, wherein assigning the elevation value to the articulated lane path based on the point location value and the base elevation value corresponding to each valid base map element, comprises:

9. A map updating apparatus, characterized by comprising:

10. A computer device comprising a processor and a memory, the memory storing a computer program, the processor being configured to execute the computer program in the memory to perform the steps of the map updating method of any of claims 1 to 8.

11. A computer readable storage medium, characterized in that the computer readable storage medium is computer readable and stores a plurality of instructions adapted to be loaded by a processor for performing the steps in the map updating method of any of claims 1 to 8.