CN116578663A

CN116578663A - Dynamic map processing method and device, storage medium and electronic equipment

Info

Publication number: CN116578663A
Application number: CN202310855067.2A
Authority: CN
Inventors: 施隆海
Original assignee: China Telecom Corp Ltd
Current assignee: China Telecom Corp Ltd
Priority date: 2023-07-12
Filing date: 2023-07-12
Publication date: 2023-08-11

Abstract

The disclosure provides a dynamic map processing method and device, a storage medium and electronic equipment, and relates to the technical field of spatial information. The method comprises the following steps: determining dynamic map tile local data in the dynamic map local data; when the terminal is determined to be in a mobile mode, determining an observation range corresponding to the terminal; uploading a first machine vision characteristic value corresponding to the local data of the dynamic map tiles outside the observation range to a server, so that the server judges whether the local data of the dynamic map tiles outside the observation range need to be updated or not based on the first machine vision characteristic value, and determines updating information of the local data of the dynamic map tiles outside the observation range when the local data of the dynamic map tiles outside the observation range need to be updated; and receiving the update information sent by the server, and processing the local data of the dynamic map according to the update information to obtain the processed dynamic map. According to the method and the device, under the condition that the dynamic map is not changed greatly outside the observation range, the terminal is not required to download the latest dynamic map from the server, and the data downloading amount is reduced.

Description

Dynamic map processing method and device, storage medium and electronic equipment

Technical Field

The disclosure relates to the technical field of spatial information, and in particular relates to a dynamic map processing method and device, a storage medium and electronic equipment.

Background

Dynamic maps are widely used because they can reflect various changes in an area in real time. Generally, information acquisition devices, such as road side acquisition devices and acquisition terminals installed on different vehicles, acquire and process map related information in an acquisition range, then upload the map related information to a server, the server generates a dynamic map in real time based on the map related information, and after receiving a dynamic map downloading request of a user, the server transmits a dynamic map corresponding to the dynamic map downloading request to the user. Because the dynamic map changes in real time, the user needs to download the dynamic map from the server in real time if he wants to obtain an accurate dynamic map, or the dynamic map needs to be downloaded again from the server once the dynamic map changes.

However, the coverage of the dynamic map is larger, so that the user is not concerned about the change condition of a long distance from the user, and the normal use of the user is not influenced even if the user is not aware. Once the remote change occurs, the user needs to download the dynamic map from the server again, so that the downloaded data volume is too large, and the normal use of the user is affected.

It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The disclosure provides a dynamic map processing method and device, a storage medium and an electronic device, which at least overcome the problems that once long-distance variation occurs in a dynamic map in the related art, a user needs to download the dynamic map from a server again, so that the volume of downloaded data is overlarge and normal use of the user is affected.

Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.

According to a first aspect of the present disclosure, there is provided a dynamic map processing method, applied to a terminal, including: acquiring dynamic map local data of the terminal, and determining dynamic map tile local data in the dynamic map local data; when the terminal is determined to be in a mobile mode, determining an observation range corresponding to the terminal; the observation range is used for dividing the dynamic map tile local data in the dynamic map local data into dynamic map tile local data outside the observation range and dynamic map tile local data in the observation range; uploading a first machine vision characteristic value corresponding to the dynamic map tile local data outside the observation range to a server, so that the server judges whether the dynamic map tile local data outside the observation range needs to be updated or not based on the first machine vision characteristic value, and determines updating information of the dynamic map tile local data outside the observation range when the dynamic map tile local data outside the observation range needs to be updated; and receiving the update information of the local data of the dynamic map tiles outside the observation range, which is sent by the server, and processing the local data of the dynamic map according to the update information to obtain the processed dynamic map.

In some embodiments of the present disclosure, a dynamic map processing method is provided, further including: acquiring real-time data of the dynamic map tiles in the observation range; and processing the local data of the dynamic map according to the updated information to obtain a processed dynamic map, wherein the processing comprises the following steps: and processing the local data of the dynamic map according to the updated information and the real-time data of the tiles of the dynamic map in the observation range to obtain the processed dynamic map.

In some embodiments of the present disclosure, a dynamic map processing method is provided, further including: comparing the real-time data of the dynamic map tiles in the observation range with the local data of the dynamic map tiles in the observation range to obtain difference data between the real-time data and the local data; and sending the difference data to the server.

In some embodiments of the present disclosure, a dynamic map processing method is provided, further including: when the terminal is determined to be in a static mode, a dynamic map downloading request is sent to the server; receiving dynamic map tile cloud data which are transmitted by the server and are outside the observation range; and processing the local data of the dynamic map based on the cloud data of the tiles of the dynamic map outside the observation range to obtain the processed dynamic map.

In some embodiments of the present disclosure, a dynamic map processing method is provided, further including: acquiring real-time data of the dynamic map tiles in the observation range; the processing the local data of the dynamic map based on the real-time data of the dynamic map tiles outside the observation range to obtain a processed dynamic map comprises the following steps: and processing the local data of the dynamic map based on the cloud data of the dynamic map tiles outside the observation range and the real-time data of the dynamic map tiles in the observation range to obtain the processed dynamic map.

In some embodiments of the present disclosure, a dynamic map processing method is provided, further including: determining the static duration of a dynamic object in the local data of the dynamic map; the dynamic object is located outside the observation range, the historical running state of the dynamic object is changed from dynamic state to static state, and the static duration exceeds a first preset threshold; determining the transparency of the dynamic object corresponding to the static duration based on an association relation between the preset static duration and the transparency; and adjusting the processed dynamic map according to the transparency of the dynamic object to obtain an adjusted dynamic map.

According to a second aspect of the present disclosure, there is provided a dynamic map processing method, applied to a server, including: when a terminal is in a mobile mode, receiving a first machine vision characteristic value corresponding to dynamic map tile local data outside an observation range corresponding to the terminal, wherein the first machine vision characteristic value is transmitted by the terminal; acquiring the cloud data of the dynamic map tiles outside the observation range; generating a second machine vision characteristic value corresponding to the dynamic map tile cloud data outside the observation range; comparing the first machine vision characteristic value with the second machine vision characteristic value, judging whether the local data of the dynamic map tiles outside the observation range need to be updated or not based on the comparison result, and generating updating information of the local data of the dynamic map tiles outside the observation range when the local data of the dynamic map tiles outside the observation range need to be updated; and sending the update information to the terminal.

In some embodiments of the disclosure, comparing the first machine vision feature value and the second machine vision feature value, determining whether updating of the dynamic map tile local data outside the viewing range is required based on the comparison result includes: comparing the first machine vision characteristic value with the second machine vision characteristic value to obtain a difference value between the first machine vision characteristic value and the second machine vision characteristic value; if the difference value is smaller than or equal to a second preset threshold value, updating the local data of the dynamic map tiles outside the observation range is not needed; if the difference value is greater than the second preset threshold value, updating the local data of the dynamic map tiles outside the observation range is needed.

In some embodiments of the present disclosure, a dynamic map processing method is provided, further including: when the terminal is in a static mode, receiving a dynamic map downloading request sent by the terminal; determining dynamic map tile cloud data outside the observation range according to the dynamic map downloading request; and sending the cloud data of the dynamic map tiles outside the observation range to the terminal.

According to a third aspect of the present disclosure, there is also provided a dynamic map processing apparatus, applied to a terminal, including: the dynamic map tile local data determining module is used for acquiring dynamic map local data of the terminal and determining dynamic map tile local data in the dynamic map local data; the observation range determining module is used for determining the observation range corresponding to the terminal when the terminal is determined to be in the mobile mode; the observation range is used for dividing the dynamic map tile local data in the dynamic map local data into dynamic map tile local data outside the observation range and dynamic map tile local data in the observation range; the first machine vision characteristic value uploading module is used for uploading a first machine vision characteristic value corresponding to the dynamic map tile local data outside the observation range to a server, so that the server judges whether the dynamic map tile local data outside the observation range needs to be updated or not based on the first machine vision characteristic value, and determines updating information of the dynamic map tile local data outside the observation range when the dynamic map tile local data outside the observation range needs to be updated; and the dynamic map updating processing module is used for receiving the updating information of the local data of the dynamic map tiles outside the observation range, which is sent by the server, and processing the local data of the dynamic map according to the updating information to obtain the processed dynamic map.

According to a fourth aspect of the present disclosure, there is also provided a dynamic map processing apparatus, applied to a server, including: the system comprises a first machine vision characteristic value receiving module, a second machine vision characteristic value receiving module and a first machine vision characteristic value processing module, wherein the first machine vision characteristic value receiving module is used for receiving a first machine vision characteristic value corresponding to dynamic map tile local data which is transmitted by a terminal and is outside an observation range corresponding to the terminal when the terminal is in a mobile mode; the dynamic map tile cloud data acquisition module is used for acquiring dynamic map tile cloud data outside the observation range; the second machine vision characteristic value generation module is used for generating a second machine vision characteristic value corresponding to the dynamic map tile cloud data outside the observation range; the feature value comparison module is used for comparing the first machine vision feature value with the second machine vision feature value, judging whether the local data of the dynamic map tiles outside the observation range need to be updated or not based on the comparison result, and generating updating information of the local data of the dynamic map tiles outside the observation range when the local data of the dynamic map tiles outside the observation range need to be updated; and the update information sending module is used for sending the update information to the terminal.

According to a fifth aspect of the present disclosure, there is also provided an electronic device including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the dynamic map processing method of any one of the first and second aspects above via execution of the executable instructions.

According to a sixth aspect of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the dynamic map processing method of any one of the above first and second aspects.

According to a seventh aspect of the present disclosure, there is also provided a computer program product comprising a computer program which when executed by a processor implements the dynamic map processing method of any one of the above first and second aspects.

According to the dynamic map processing method provided by the embodiment of the disclosure, when the terminal is in the mobile mode, the observation range corresponding to the terminal is determined, so that the observation range with high requirement precision for the changing situation and the observation range with low requirement precision for the changing situation are defined, the first machine vision characteristic value corresponding to the dynamic map tile local data outside the observation range is uploaded to the server, and the server determines whether the dynamic map tile local data of the terminal need to be updated or not, and the processed dynamic map is obtained. Under the condition that the dynamic map is not changed greatly outside the observation range, the terminal is not required to download the latest dynamic map from the server, the data downloading amount is reduced, and the use feeling of a user is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.

FIG. 1 illustrates a schematic diagram of a dynamic map processing system architecture in an embodiment of the present disclosure;

FIG. 2 shows a flow chart of a dynamic map processing method applied to a terminal in an embodiment of the disclosure;

FIG. 3 illustrates a flow chart of a dynamic map processing method applied to a terminal in some embodiments of the present disclosure;

FIG. 4 illustrates another dynamic map processing method flow diagram applied to a terminal in some embodiments of the present disclosure;

FIG. 5 illustrates a flow chart of a dynamic map processing method applied to a server in some embodiments of the present disclosure;

FIG. 6 is a schematic diagram illustrating the implementation of S508 in some embodiments of the disclosure;

FIG. 7 is a schematic diagram of an implementation process of the high-definition dynamic map downloading scheme in an embodiment of the disclosure;

fig. 8 is a schematic diagram of a dynamic map processing apparatus applied to a terminal in an embodiment of the present disclosure;

FIG. 9 is a schematic diagram of a dynamic map processing device applied to a server in an embodiment of the present disclosure; and

fig. 10 shows a block diagram of an electronic device in an embodiment of the disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.

The following detailed description of embodiments of the present disclosure refers to the accompanying drawings.

FIG. 1 illustrates a schematic diagram of a dynamic map processing system architecture in which embodiments of the present disclosure may be applied. As shown in fig. 1, the system architecture may include: a terminal 10 and a server 20. The two devices in the system are connected through a network, typically a wireless network.

Optionally, the network connection described above uses standard communication techniques and/or protocols. The network is typically the Internet, but may be any network including, but not limited to, a local area network (Local Area Network, LAN), metropolitan area network (Metropolitan Area Network, MAN), wide area network (Wide Area Network, WAN), mobile or wireless network, private network, or any combination of virtual private networks. In some embodiments, data exchanged over the network is represented using techniques and/or formats including HyperText Mark-up Language (HTML), extensible markup Language (Extensible Markup Language, XML), and the like. All or some of the links may also be encrypted using conventional encryption techniques such as secure sockets layer (Secure Socket Layer, SSL), transport layer security (Transport Layer Security, TLS), virtual private network (Virtual Private Network, VPN), internet protocol security (Internet Protocol Security, IPSec), and the like. In other embodiments, custom and/or dedicated data communication techniques may also be used in place of or in addition to the data communication techniques described above.

The terminal 10 may be mounted On a vehicle, and may be an On-board terminal, for example, an OBU (On board Unit); the mobile phone can also be various electronic terminal devices, such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart sound box, a smart watch and the like, which move along with the movement of a vehicle.

The server 20 may be a server capable of performing functions such as cloud aggregation, transportation, and downloading of a dynamic map, and may be a dynamic map server located on an MEC (Mobile Edge Computing ).

In some embodiments, the terminal 10 is configured to obtain local dynamic map local data stored locally, and determine local dynamic map tile data in the local dynamic map data; when the terminal 10 is determined to be in the mobile mode, determining a corresponding observation range of the terminal 10; the observation range is used for dividing the dynamic map tile local data in the dynamic map local data into dynamic map tile local data outside the observation range and dynamic map tile local data in the observation range; uploading a first machine vision characteristic value corresponding to the dynamic map tile local data outside the observation range to the server 20; and receiving the update information of the local data of the dynamic map tiles outside the observation range sent by the server 20, and processing the local data of the dynamic map according to the update information to obtain the processed dynamic map.

The dynamic map local data refers to dynamic map data stored locally in the terminal 10, and may be history data stored in the terminal 10, or may be dynamic map data obtained by applying a dynamic map of an area to the server 20 when the terminal 10 enters a map unit area, for example, an area of 100 square kilometers, and storing the dynamic map data in the terminal 10 after acquisition, and the dynamic map data is always used as dynamic map local data of the terminal 10 during the period in which the terminal 10 is located. Because the dynamic map includes multiple layers of map tiles, including, for example, map tiles of landform, street view, and dynamic map, the dynamic map tiles represent layers of the dynamic map that may change, such as objects including vehicles, pedestrians, and temporary road blocks, the dynamic map after change can be obtained by focusing on the change of the dynamic map tile data in the dynamic map. Based on the dynamic map local data, dynamic map tile local data in the dynamic map local data can be determined. The server 20 performs machine vision feature extraction VCM (Video Coding for Machines) and feature compression on the dynamic map tile layers in all dynamic maps to generate corresponding machine vision feature values, so that the dynamic map of the area acquired by the terminal 10 further includes the machine vision feature values corresponding to the dynamic map of the area.

It should be noted that, in the embodiment of the present disclosure, the observation range refers to a range that the video processing unit in the terminal 10 can directly or indirectly observe, and the direct observation range refers to an area where a person or an image acquisition device on a vehicle can directly observe, for example, a range that includes an on-vehicle sensor and a laser radar can directly detect and observe; the range of indirect observation refers to a range that can be detected by means of a visible light detection device equipped on the vehicle, such as a telescope. The observation range in different geographic environments is different, for example, in a flat region, the observation range may be a circular region with a radius of 7 km centered on the vehicle; in the case of fog, the field of view may be a circular area with a radius of 3 km centered on the vehicle. It will be appreciated by those skilled in the art that the foregoing is by way of example only and is not intended to limit the scope of the observation scope in the embodiments of the present disclosure.

In some embodiments, the server 20 is configured to receive, when the terminal 10 is in the mobile mode, a first machine vision feature value corresponding to dynamic map tile local data outside an observation range corresponding to the terminal 10 sent by the terminal 10; acquiring cloud data of the dynamic map tiles outside the observation range; generating a second machine vision characteristic value corresponding to the dynamic map tile cloud data outside the observation range; comparing the first machine vision characteristic value with the second machine vision characteristic value, judging whether the local data of the dynamic map tiles outside the observation range need to be updated or not based on the comparison result, and generating updating information of the local data of the dynamic map tiles outside the observation range when the local data of the dynamic map tiles outside the observation range need to be updated; the update information is transmitted to the terminal 10.

It should be noted that, the server 20 stores a real-time dynamic map, which is called dynamic map cloud data, so that dynamic map tile cloud data outside the observation range is obtained, the dynamic map cloud data stored on the server 20 is called by the server 20 to determine dynamic map tile cloud data outside the observation range, and the dynamic map tile cloud data is determined by machine vision characteristic values, compared with the machine vision characteristic values uploaded by the terminal 10, and whether to update the dynamic map tile local data outside the observation range stored on the terminal 10 is determined based on the comparison result.

It should be noted that, when the terminal 10 is in the mobile mode, the influence of the variation outside the observation range on the terminal 10 is weak and can be ignored, so the terminal 10 can upload the first machine vision characteristic value corresponding to the local data of the dynamic map tile outside the locally stored observation range to the server 20, so the server 20 can judge whether the variation of the dynamic map outside the observation range compared with the dynamic map stored in the terminal 10 is larger, if the variation is larger, the terminal 10 can download a new dynamic map to update the local data, otherwise, the update is not needed to be downloaded, so the data downloading amount is reduced on the premise that the dynamic map presented by the terminal 10 does not influence the use of the user. In particular, the current dynamic map is a high-definition dynamic map, the data download amount of which is large, the network connection state between the terminal 10 and the server 20 may be difficult to be stabilized at a good level during the moving process of the vehicle, if a large amount of data is downloaded at extremely short time intervals, the terminal may be jammed when displaying the dynamic map to the user, and the updated details may not be significant to the user, or may even be ignored by the user, resulting in discomfort of the user in use.

While for the observation range, the terminal 10 does not need to rely on the knowledge of the dynamic map, and can directly rely on the vehicle to directly collect real-time images, so as to update the dynamic map. Accordingly, in some embodiments, the terminal 10 is also configured to obtain dynamic map tile real-time data within the field of view.

If the terminal 10 determines that the dynamic map in the observation range has a variation compared with the locally stored dynamic map, not only the dynamic map presented on the terminal 10 needs to be updated, but also the variation needs to be uploaded to the server 20 so that the variation is known, and accordingly, the terminal 10 is also used for comparing the real-time data of the dynamic map tile in the observation range with the local data of the dynamic map tile in the observation range to obtain difference data between the two; the difference data is sent to the server 20.

In some embodiments, the server 20 is further configured to receive difference data between the real-time data of the dynamic map tile within the observation range and the local data of the dynamic map tile within the observation range, which are transmitted by the terminal 10; and updating the cloud data of the dynamic map tiles in the observation range according to the difference data.

In some embodiments, the terminal 10 may be in a stationary mode, i.e., the vehicle is in a creeping (very low speed, e.g., less than 5Km/h per hour) or stationary state, due to traffic jams, parking, or vehicle failure, etc., and the user may need to change conditions at a distance. For example, if the vehicle is blocking, the user is concerned about the road condition that cannot be observed in front, and at this time, a real-time dynamic map with high accuracy needs to be provided for the user. Thus, in some embodiments, the terminal 10 is further configured to send a dynamic map download request to the server 20 upon determining that the terminal 10 is in the static mode; receiving dynamic map tile cloud data outside the observation range transmitted by the server 20; and processing the local data of the dynamic map based on the cloud data of the dynamic map tiles outside the observation range to obtain the processed dynamic map so as to provide an accurate real-time dynamic map for a user and meet the user requirements. Further, the terminal 10 is further configured to obtain real-time data of the dynamic map tile within the observation range, and process local data of the dynamic map based on the cloud data of the dynamic map tile outside the observation range and the real-time data of the dynamic map tile within the observation range, so as to obtain a processed dynamic map.

In some embodiments, the server 20 is further configured to receive a dynamic map download request sent by the terminal 10 when the terminal 10 is in the static mode; determining dynamic map tile cloud data outside an observation range according to a dynamic map downloading request; and sending the cloud data of the dynamic map tiles outside the observation range to the terminal 10.

Since the dynamic map local data of the terminal 10 is acquired from the server 20, the dynamic map formed by the server 20 may not be accurate. Because the formation of the dynamic map of a certain area depends on the collection of vehicles passing through the area and the fixed collection of the road side, the dynamic map of the area is inaccurate and inconsistent with the actual situation possibly caused by the failure of the fixed collection of the road side, or the condition that the collected data is not updated in time, or the last vehicle passing through the area leaves too long, and the like, so that the reliability of the dynamic map obtained by the terminal 10 from the server 20 is not high. For this case, in some embodiments of the present disclosure, the terminal 10 is further configured to determine a static duration of the dynamic object in the dynamic map local data; the method comprises the steps that a dynamic object is located outside an observation range, the historical running state of the dynamic object is changed from dynamic state to static state, and the duration of the static state exceeds a first preset threshold; determining the transparency of the dynamic object corresponding to the static duration based on the association relation between the preset static duration and the transparency; and adjusting the processed dynamic map according to the transparency of the dynamic object to obtain an adjusted dynamic map.

As shown in fig. 1, an interaction method of a dynamic map processing system in some embodiments of the present disclosure includes:

s102, the terminal 10 acquires a dynamic map from the server 20 when the terminal 10 enters an area;

s104, the terminal 10 determines dynamic map tile local data in the dynamic map local data;

s106, when the terminal 10 is determined to be in the mobile mode, determining the corresponding observation range of the terminal 10;

s108, the terminal 10 uploads a first machine vision characteristic value corresponding to the local data of the dynamic map tile outside the observation range to the server 20;

s110, the server 20 locally acquires the cloud data of the dynamic map tiles outside the observation range from the server, and generates a second machine vision characteristic value corresponding to the cloud data of the dynamic map tiles outside the observation range;

s112, the server 20 compares the first machine vision characteristic value with the second machine vision characteristic value, judges whether the local data of the dynamic map tile outside the observation range needs to be updated based on the comparison result, and generates updating information of the local data of the dynamic map tile outside the observation range when the local data of the dynamic map tile outside the observation range needs to be updated;

s114 the server 20 transmits the update information to the terminal 10;

S116, the terminal 10 processes the local data of the dynamic map according to the updated information to obtain a processed dynamic map, and updates the local data of the dynamic map stored on the terminal 10;

s118, the terminal 10 acquires real-time data of the dynamic map tiles in the observation range, compares the real-time data of the dynamic map tiles in the observation range with local data of the dynamic map tiles in the observation range, and obtains difference data between the two;

s120, the terminal 10 sends the difference data to the server 20;

s122, the server 20 updates the cloud data of the dynamic map tiles in the observation range according to the difference data.

Those skilled in the art will appreciate that the number of terminals 10 and application servers 20 in fig. 1 is merely illustrative and that any number of terminals, terminal middleware, data sink nodes, and application servers may be provided as desired. The embodiments of the present disclosure are not limited in this regard. The execution sequence of steps S102 to S122 is not limited, for example, steps S118 to S122 may be performed simultaneously with steps S108 to S116 or performed before steps S108 to S116, and embodiments of the disclosure are not limited herein.

It should be noted that, in the embodiment of the present disclosure, the physical position of the observation range in the actual environment varies with the change of the terminal position, generally, the terminal 10 may repeatedly perform S104 to S122 at a fixed time interval, for example, 5 seconds, 10 seconds, 15 seconds, or other update periods meeting the user' S requirement, so that the user can quickly learn the dynamic map meeting the current requirement.

Under the system architecture, a dynamic map processing method is provided in the embodiments of the present disclosure, and in some embodiments, the dynamic map processing method provided in the embodiments of the present disclosure may be implemented by a terminal; in some embodiments, the dynamic map processing method provided in the embodiments of the present disclosure may be implemented by interaction between a terminal and a server.

As shown in fig. 2, a dynamic map processing method applied to a terminal provided in an embodiment of the present disclosure includes the following steps S202 to S208.

S202, acquiring dynamic map local data of a terminal, and determining dynamic map tile local data in the dynamic map local data.

When the dynamic map is acquired from the server, the server determines the map unit in which the current geographic position is located according to the geographic position sent to the server, and sends the dynamic map of the map unit in which the current geographic position is located or the map units adjacent to the map unit including the map unit in which the current geographic position is located to the user. The terminal generally moves with the vehicle, and in some embodiments of the present disclosure, obtaining dynamic map local data for the terminal includes: when the terminal enters a region marked by a certain map unit, a request is sent to a server to acquire a dynamic map of the region. And the server downloads the latest dynamic map at the request moment containing the machine vision characteristic value corresponding to the dynamic map tile data to the terminal. After the terminal acquires, the terminal is stored locally as dynamic map local data of the terminal. In some embodiments of the present disclosure, the terminal is still in an area marked by a map unit, and the terminal does not detect entering the area marked by a new map unit, and only needs to directly obtain the dynamic map local data from the local storage at this time, where the obtained dynamic map local data may be the dynamic map local data after one or more updates based on the initial dynamic map local data issued by the server, or may be the initial dynamic map local data issued by the server.

The map tiles in the dynamic map represent layers possibly changed, for example, objects such as vehicles, pedestrians, temporary roadblocks and the like, and are the map tiles in the dynamic map which are most concerned.

S204, when the terminal is determined to be in the mobile mode, determining the corresponding observation range of the terminal.

It should be noted that, when the terminal is in the mobile mode, that means that the vehicle in which the terminal is located is in a running state, and the mobile speed of the terminal or the vehicle in which the terminal is located may be set to exceed a preset speed value, for example, 10Km/h, the terminal is considered to be in the mobile mode. The observation range is used for dividing dynamic map tile local data in the dynamic map local data into dynamic map tile local data outside the observation range and dynamic map tile local data within the observation range. In particular, the observation range may be considered as a range that can be directly or indirectly observed by a video processing unit installed on a vehicle in which the terminal is located, the observation range refers to a range that can be directly or indirectly observed by the video processing unit in the terminal 10, and the direct observation range refers to an area that can be directly observed by a person or an image acquisition device on the vehicle, for example, includes a range that can be directly detected and observed by an on-vehicle sensor or a laser radar; the range of indirect observation refers to a range that can be detected by means of a visible light detection device equipped on the vehicle, such as a telescope.

S206, uploading a first machine vision characteristic value corresponding to the local data of the dynamic map tiles outside the observation range to the server, so that the server judges whether the local data of the dynamic map tiles outside the observation range need to be updated based on the first machine vision characteristic value, and determines updating information of the local data of the dynamic map tiles outside the observation range when the local data of the dynamic map tiles outside the observation range need to be updated.

And S208, receiving update information of the local data of the dynamic map tiles outside the observation range sent by the server, and processing the local data of the dynamic map according to the update information to obtain the processed dynamic map.

The update processing is performed on the local data of the dynamic map according to the update information, so as to obtain new local data of the dynamic map, and the new local data of the dynamic map is stored in the local terminal to be used as the local data of the dynamic map which is acquired subsequently. And generating a new dynamic map based on the new dynamic map local data, and displaying the new dynamic map to the user. If the server judges that the updating is not needed, the updating information is not issued to the terminal, the terminal maintains the local data of the dynamic map unchanged, and the dynamic map displayed to the user is not needed to be changed.

In some embodiments of the present disclosure, the terminal may continuously perform S202 to S208 at preset time intervals to obtain a dynamic map that may be presented to the user in real time. The time interval is generally set according to the refresh requirement or the use requirement of the user, and may be 1 second, 5 seconds, 10 seconds, or the like, which is not limited herein.

As can be seen from the above steps, in the dynamic map processing method provided in the embodiments of the present disclosure, when the terminal is determined to be in the mobile mode, the observation range corresponding to the terminal is determined, so that the observation range with high accuracy required for the changing situation and the observation range with low accuracy required for the changing situation are defined, and the first machine vision characteristic value corresponding to the local data of the dynamic map tile outside the observation range is uploaded to the server, so that the server determines whether to update the local data of the dynamic map tile of the terminal, and the processed dynamic map is obtained. The method and the device have the advantages that under the condition that the dynamic map is not changed greatly outside the observation range, the terminal is not required to download the latest dynamic map from the server, the data downloading amount is reduced, and therefore the waiting time of a user during map updating is reduced and the use feeling of the user is improved on the premise that the use of the user is not influenced.

For the area where the terminal outside the observation range cannot directly acquire the situation, the server can judge whether to update the local data of the dynamic map tiles outside the observation range based on the first machine vision characteristic value by uploading the first machine vision characteristic value corresponding to the local data of the dynamic map tiles outside the observation range, so that the dynamic map meeting the user needs is displayed to the user. For the area where the terminal outside the observation range can directly acquire the situation, the terminal can directly acquire the real-time data of the dynamic map tiles in the observation range by means of the information acquisition equipment of the terminal or the vehicle, such as a sensor, a vehicle recorder or an image acquisition device. Some embodiments of the present disclosure provide a dynamic map processing method, further including: acquiring real-time data of a dynamic map tile in an observation range; correspondingly, according to the updated information, processing the local data of the dynamic map to obtain a processed dynamic map, which comprises the following steps: and processing the local data of the dynamic map according to the updated information and the real-time data of the tiles of the dynamic map in the observation range to obtain the processed dynamic map. That is, based on the update information, the part outside the observation range in the local data of the dynamic map is updated, based on the real-time data of the dynamic map tiles in the observation range, the part in the observation range in the local data of the dynamic map is updated, the updated local data of the dynamic map is obtained, and the updated local data of the dynamic map is converted into a new accurate dynamic map to be displayed to the user.

Further, if the terminal finds that there is a change in the area within the observation range when acquiring the real-time data of the tile of the dynamic map within the observation range, in order to share the change in time, it is ensured that the dynamic map generated in the server is most accurate, and the terminal needs to report the change to the server in time so as to share the change to the server and other terminals. In some embodiments of the present disclosure, a dynamic map processing method is provided, further including: comparing the real-time data of the dynamic map tiles in the observation range with the local data of the dynamic map tiles in the observation range to obtain difference data between the two; and sending the difference data to a server.

In some embodiments of the present disclosure, the terminal may be in a static mode, that is, the terminal or the vehicle in which the terminal is located is in a static or creeping state (the moving speed is lower than a preset speed value, for example, 5 Km/h), where the dynamic map processing method provided by the present disclosure, as shown in fig. 3, further includes, on the basis of fig. 2, the following steps:

s302, when the terminal is determined to be in a static mode, a dynamic map downloading request is sent to a server;

s304, receiving dynamic map tile cloud data outside an observation range sent by a server;

S306, processing the local data of the dynamic map based on the cloud data of the tiles of the dynamic map outside the observation range to obtain the processed dynamic map.

When the terminal is in a static mode, traffic jam, parking due to emergency conditions, vehicle faults and the like may occur, at this time, a user wants to know comprehensively about the area conditions outside the observation range, at this time, a dynamic map downloading request needs to be sent to a server to obtain real-time dynamic map tile cloud data outside the observation range, the dynamic map local data is updated based on the dynamic map tile cloud data outside the observation range, the updated dynamic map local data is stored locally, and the dynamic map displayed to the user is updated to provide a real-time dynamic map with higher user precision, so that the current requirements of the user are met, and the user experience is improved.

Accordingly, the dynamic map processing method provided in the embodiment shown in fig. 3 further includes: and acquiring real-time data of the dynamic map tiles in the observation range. Correspondingly, based on the real-time data of the dynamic map tiles outside the observation range, the local data of the dynamic map is processed to obtain the processed dynamic map, which comprises the following steps: and processing the local data of the dynamic map based on the cloud data of the dynamic map tiles outside the observation range and the real-time data of the dynamic map tiles in the observation range to obtain the processed dynamic map. That is, based on the cloud data of the dynamic map tiles outside the observation range, the part outside the observation range in the local data of the dynamic map is updated, based on the real-time data of the dynamic map tiles within the observation range, the part within the observation range in the local data of the dynamic map is updated, the updated local data of the dynamic map is obtained, and the updated local data of the dynamic map is converted into the most accurate dynamic map to be displayed to the user.

In some embodiments of the present disclosure, because the dynamic map formed in the server depends on the vehicle acquisition and the road side fixed acquisition in the calibration area of the map unit, a road side fixed acquisition fault may occur, or the acquired data is not updated in time, or the last vehicle passing through the area leaves too long, which causes the problem that the dynamic map of the calibration area of the map unit is inaccurate and inconsistent with the actual situation, so that the reliability of the dynamic map acquired by the terminal from the server is not high, that is, the reliability of the local data of the dynamic map acquired by the terminal is not high. In order to solve this problem, a dynamic map processing method is also provided, as shown in fig. 4, further comprising the following steps S402 to S406 on the basis of fig. 2.

S402, determining the static duration of the dynamic object in the local data of the dynamic map.

It should be noted that, the dynamic object is located outside the observation range, and the historical running state of the dynamic object is changed from dynamic state to static state, and the duration of the static state exceeds the first preset threshold. For the objects in the observation range, the terminal can directly acquire whether the objects exist or not without presumption, so that the terminal only aims at the objects which can be in dynamic state outside the observation range, such as vehicles parked at the roadside, pedestrians at the road junction, temporary roadblocks and other objects, the objects possibly rest at a certain position and leave the current position, the objects can have some influence on the running of the vehicles, and the historical running states are changed from dynamic state to static state and continue to static state for a period of time, and the first preset threshold value is exceeded. The stationary objects such as the road trees, the traffic lights or the signs at the roadsides are not considered, so that the data processing capacity is reduced on the premise of fitting the actual conditions.

It will be appreciated by those skilled in the art that the above-mentioned first preset threshold value is preset and associated with a dynamic object, and the first preset threshold values corresponding to different dynamic objects are generally different and are set according to actual needs, for example, the first preset threshold value corresponding to a vehicle parked at a roadside may be 2 hours, and the first preset threshold value corresponding to a pedestrian at an intersection may be 5 minutes, which is merely for example and not intended to limit the protection scope of the present disclosure.

S404, determining the transparency of the dynamic object corresponding to the static duration based on the association relation between the preset static duration and the transparency.

It should be noted that, for the dynamic object, the applicant finds that, as the static duration increases to a position where the static object leaves its static state after a certain period of time, for example, a vehicle parked at a roadside may leave after 8 hours, 10 hours or 24 hours, a pedestrian at a road junction may leave the current intersection after 15 minutes, a temporary barrier may be removed after traffic jam alleviation, traffic accident handling or heavy fog removal, and different dynamic objects may have different vanishing rules. The association relation between the static duration time and the vanishing probability of different types of dynamic objects can be obtained by linear research on a large number of samples of the dynamic objects, the vanishing probability is mapped into the transparency in the map, and the larger the vanishing probability is, the higher the transparency is; the smaller the vanishing probability, the lower the transparency, and when the vanishing probability reaches 100%, the transparency is always 100%, that is, the full transparency. Therefore, the association relation between the preset static duration and the transparency can be obtained, and on the basis, the transparency of the dynamic object corresponding to the static duration can be determined only by determining the static duration of the dynamic object.

The static duration is obtained by subtracting the static time from the current time, the static time is known based on the data recorded by the server, and the server marks the time when the dynamic object in the dynamic map is reported to be dynamic for the last time or the time when the dynamic object is reported to exist for the first time. For example, the last time a roadside parked vehicle is reported to be in motion is its stationary time; the first time a temporary barrier is reported to exist is its resting time.

And S406, adjusting the processed dynamic map according to the transparency of the dynamic object to obtain an adjusted dynamic map.

And adjusting the transparency of the dynamic object at the corresponding position of the processed dynamic map according to the obtained transparency of the dynamic object, so as to obtain an adjusted dynamic map.

Under the system architecture shown in fig. 1, the embodiment of the present disclosure further provides a dynamic map processing method applied to a server, as shown in fig. 5, including steps S502 to S510.

S502, when the terminal is in a mobile mode, receiving a first machine vision characteristic value corresponding to the local data of the dynamic map tile outside the observation range corresponding to the terminal sent by the terminal.

And S504, acquiring the cloud data of the dynamic map tiles outside the observation range.

It should be noted that, the server may generate the latest dynamic map in real time based on the data reported by the plurality of terminals, and store the latest dynamic map in the server local, and the server obtains the cloud data of the dynamic map tiles outside the observation range from the local storage.

S506, generating a second machine vision characteristic value corresponding to the dynamic map tile cloud data outside the observation range.

In the implementation, the server performs feature extraction of machine vision coding based on the dynamic map tile cloud data outside the observation range, and compresses the extracted features to obtain a second machine vision feature value.

S508, comparing the first machine vision characteristic value with the second machine vision characteristic value, judging whether the local data of the dynamic map tiles outside the observation range need to be updated or not based on the comparison result, and generating updating information of the local data of the dynamic map tiles outside the observation range when the local data of the dynamic map tiles outside the observation range need to be updated.

And S510, transmitting the update information to the terminal.

In some embodiments of the present disclosure, the implementation process of S508 is specifically shown in fig. 6, and includes the following steps:

S602, comparing the first machine vision characteristic value with the second machine vision characteristic value to obtain a difference value between the first machine vision characteristic value and the second machine vision characteristic value;

s604, if the difference value is smaller than or equal to a second preset threshold value, the local data of the dynamic map tiles outside the observation range do not need to be updated;

s606, if the difference value is larger than a second preset threshold value, updating the local data of the dynamic map tiles outside the observation range is needed.

It should be noted that, obtaining a difference value between the first machine vision characteristic value and the second machine vision characteristic value, comparing the difference value with a second preset threshold value, if the difference value exceeds or is equal to the second preset threshold value, the explanation condition has large variation, and the user needs to be informed of knowing, so as to generate update information of the local data of the dynamic map tile outside the observation range; if not, the description case has small variation and the user is not required to be informed. It will be appreciated by those skilled in the art that the second preset threshold is set as needed, and the embodiments of the present disclosure are not limited herein, but the second preset threshold increases with the distance between the position where the variation occurs and the terminal, that is, the farther the distance the variation, the larger the variation is, and the user needs to know the same.

In some embodiments of the present disclosure, the dynamic map processing method provided further includes, on the basis of the illustration in fig. 5: receiving difference data between real-time data of the dynamic map tiles in an observation range and local data of the dynamic map tiles in the observation range, which are sent by a terminal; and updating the cloud data of the dynamic map tiles in the observation range according to the difference data, so that the dynamic map generated and stored in the server is the most accurate.

In some embodiments of the present disclosure, the dynamic map processing method provided further includes, on the basis of the illustration in fig. 5: when the terminal is in a static mode, receiving a dynamic map downloading request sent by the terminal; determining dynamic map tile cloud data outside an observation range according to a dynamic map downloading request; and sending the cloud data of the dynamic map tiles outside the observation range to the terminal so as to enable the terminal to update the local data of the dynamic map.

In order to better explain the dynamic map processing method provided by the embodiment of the present disclosure, a specific example is given to further explain, as shown in fig. 7, a scheme for downloading a high-definition dynamic map is designed for the dynamic map processing method provided by the embodiment of the present disclosure, where the scheme is provided with a high-definition dynamic map downloading system, and the system mainly includes: and the vehicle-mounted high-definition map system on the terminal and the high-definition map downloading server are positioned on the edge computing platform.

The high-definition map downloading server is used for receiving map updating data sent by a plurality of terminals in real time, forming a high-definition dynamic map containing multiple layers, encoding the high-definition dynamic map based on machine vision, and generating characteristic values of dynamic map tiles. And carrying out operation and maintenance on the high-definition dynamic map, receiving high-definition map data uploaded by the road side terminal and the vehicle-mounted terminal in the driving route, and maintaining the high-definition dynamic map formed by a large number of layers.

Comparing the local stored characteristic value of the server with the characteristic value uploaded by the terminal, and judging whether the server needs to be updated or not. Providing a high definition map download service: and determining whether the data need to be downloaded to the terminal by taking the difference value between the characteristic values as a judgment basis so as to update the high-definition dynamic map by the terminal. And as the distance between the terminal and the remote location increases, the download threshold is increased, and a download service is provided for the download request meeting the download threshold. For example, if the actual distance between the position A1 of the map identifier and the terminal is 50Km and the actual distance between the position A2 of the map identifier and the terminal is 80Km, the value of the download threshold for determining whether the position A2 of the map identifier needs to be updated is larger than the value of the download threshold for determining whether the position A1 of the map identifier needs to be updated, so as to ensure that the change closer to the terminal can be updated to the user more timely.

The high-definition map downloading server is also connected with other servers or cloud ends through a core network, can interact information with the traffic management cloud ends, provides data support for the server of the customized service, provides data support for the server of the content service, or performs information interaction with other cloud servers. The high-definition map download server is connected with road management equipment (signal lamp, indication board and the like), road test sensors (cameras, radars and the like), RSU (PC 5) and eNB/gNB (Uu) through an access network so as to acquire information required by maps transmitted by the equipment. RSU (Road Side Unit) is a DSRC road side unit, which consists of a high-gain directional beam control read-write antenna and a radio frequency controller. RSU (PC 5) refers to the PC5 interface of RSU. The eNB/gNB (Uu) refers to a 4G/5G base station using a Uu interface.

The vehicle-mounted high-definition map system is mounted on a vehicle, and the vehicle is further provided with OBU, radar, sensors and other devices. The vehicle-mounted high-definition map system can provide a vehicle-mounted high-definition map data downloading service: and uploading the characteristic value of the existing dynamic map tile locally stored by the terminal, sending a downloading request to a high-definition map downloading server, and acquiring corresponding downloading data from the high-definition map downloading server. The method is also used for displaying the high-definition dynamic map locally stored by the terminal, when the high-definition dynamic map is displayed, the dynamic object gradually becomes transparent along with the decrease of the confidence coefficient of the dynamic object, and the dynamic object is thoroughly blanked after the life cycle of the dynamic object is finished, and the high-definition dynamic map is not displayed any more, so that the problem that the high-definition dynamic map is not updated timely is solved.

It should be noted that, the confidence is used to characterize the probability that the dynamic object may exist, and the confidence can be obtained based on the probability of disappearance of the dynamic object. A life cycle refers to a period of time that a dynamic object has, typically from a stationary time to a time when the confidence level drops to 0, beyond which the dynamic object will be cleared in a high definition dynamic map.

It can be known from this specific example that, since the data volume downloaded by the high-definition map is large, if the data volume is updated in real time, the downloading is too frequent, and the data downloading amount is too large for the terminal, which affects the terminal performance. The dynamic high definition map is machine vision encoded and further compressed into feature values. The server evaluates the download request of the terminal in a mobile state based on the characteristic value, and only the download service starts the download process when the characteristic difference value exceeds the download threshold, thereby reducing the data download amount. Moreover, since no accurate information is acquired, some dynamic objects are always kept in place in the high-definition dynamic map, but the actual situation is that the dynamic objects are already away. Aiming at the problem, by defining the life cycle and the confidence coefficient of the dynamic object, the display inaccuracy caused by untimely data updating is solved by setting that the transparency of the dynamic object display is increased along with the decrease of the confidence coefficient and blanking is carried out when the life cycle is exceeded.

It should be noted that, in the technical scheme of the present disclosure, the acquisition, storage, use, processing, etc. of the data all conform to relevant regulations of national laws and regulations.

Based on the same inventive concept, a dynamic map processing device is also provided in the embodiments of the present disclosure, as described in the following embodiments. Since the principle of solving the problem of the embodiment of the device is similar to that of the embodiment of the method, the implementation of the embodiment of the device can be referred to the implementation of the embodiment of the method, and the repetition is omitted.

Fig. 8 shows a schematic diagram of a dynamic map processing apparatus according to an embodiment of the disclosure, the apparatus includes:

the dynamic map tile local data determining module 801 is configured to obtain dynamic map local data of a terminal, and determine dynamic map tile local data in the dynamic map local data;

an observation range determining module 802, configured to determine an observation range corresponding to the terminal when determining that the terminal is in the mobile mode; the observation range is used for dividing the dynamic map tile local data in the dynamic map local data into dynamic map tile local data outside the observation range and dynamic map tile local data in the observation range;

the first machine vision feature value uploading module 803 is configured to upload a first machine vision feature value corresponding to the local data of the dynamic map tile outside the observation range to the server, so that the server determines whether the local data of the dynamic map tile outside the observation range needs to be updated based on the first machine vision feature value, and determines update information of the local data of the dynamic map tile outside the observation range when the local data of the dynamic map tile outside the observation range needs to be updated; and

the dynamic map update processing module 804 is configured to receive update information of local data of a dynamic map tile outside an observation range sent by a server, and process the local data of the dynamic map according to the update information to obtain a processed dynamic map.

It should be noted that, the above dynamic map tile local data determining module 801, the observation range determining module 802, the first machine vision characteristic value uploading module 803, and the dynamic map updating processing module 804 correspond to S202 to S208 in the method embodiment, and the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the above method embodiment. It should be noted that the modules described above may be implemented as part of an apparatus in a computer system, such as a set of computer-executable instructions.

In some embodiments of the present disclosure, a dynamic map processing apparatus is provided, further including, on the basis of the apparatus shown in fig. 8: and the real-time data acquisition module in the first range is used for acquiring the real-time data of the dynamic map tiles in the observation range. Accordingly, the dynamic map update processing module 804 is specifically configured to: and processing the local data of the dynamic map according to the updated information and the real-time data of the tiles of the dynamic map in the observation range to obtain the processed dynamic map.

Further, in some embodiments of the present disclosure, a dynamic map processing apparatus is provided, further comprising: the difference data uploading module is used for: comparing the real-time data of the dynamic map tiles in the observation range with the local data of the dynamic map tiles in the observation range to obtain difference data between the two; and sending the difference data to a server.

In some embodiments of the present disclosure, a dynamic map processing apparatus is provided, further including, on the basis of the apparatus shown in fig. 8: a static mode processing module for: when the terminal is determined to be in a static mode, a dynamic map downloading request is sent to a server; receiving dynamic map tile cloud data outside an observation range sent by a server; and processing the local data of the dynamic map based on the cloud data of the dynamic map tiles outside the observation range to obtain the processed dynamic map.

Further, in some embodiments of the present disclosure, a dynamic map processing apparatus is provided, further comprising: and the second-range real-time data acquisition module is used for acquiring the real-time data of the dynamic map tiles in the observation range. Accordingly, the dynamic map update processing module 804 is specifically configured to: and processing the local data of the dynamic map based on the cloud data of the dynamic map tiles outside the observation range and the real-time data of the dynamic map tiles in the observation range to obtain the processed dynamic map.

In some embodiments of the present disclosure, a dynamic map processing apparatus is provided, further including, on the basis of the apparatus shown in fig. 8: a dynamic object processing module, configured to: determining the static duration of a dynamic object in the local data of the dynamic map; the method comprises the steps that a dynamic object is located outside an observation range, the historical running state of the dynamic object is changed from dynamic state to static state, and the duration of the static state exceeds a first preset threshold; determining the transparency of a dynamic object corresponding to the static duration based on an association relation between the preset static duration and the transparency; and adjusting the processed dynamic map according to the transparency of the dynamic object to obtain an adjusted dynamic map.

Fig. 9 shows a schematic diagram of a dynamic map processing apparatus applied to a server in an embodiment of the disclosure, as shown in fig. 9, the apparatus includes:

the first machine vision feature value receiving module 901 is configured to receive, when the terminal is in a mobile mode, a first machine vision feature value corresponding to dynamic map tile local data outside an observation range corresponding to the terminal sent by the terminal;

the dynamic map tile cloud data acquisition module 902 is configured to acquire dynamic map tile cloud data outside an observation range;

the second machine vision feature value generation module 903 is configured to generate a second machine vision feature value corresponding to the cloud data of the dynamic map tile outside the observation range;

the feature value comparison module 904 is configured to compare the first machine vision feature value with the second machine vision feature value, determine whether update of the local data of the dynamic map tile outside the observation range is required based on the comparison result, and generate update information of the local data of the dynamic map tile outside the observation range when update of the local data of the dynamic map tile outside the observation range is required; and

The update information sending module 905 is configured to send the update information to the terminal.

It should be noted that, the first machine vision feature value receiving module 901, the dynamic map tile cloud data obtaining module 902, the second machine vision feature value generating module 903, the feature value comparing module 904 and the update information sending module 905 correspond to S502 to S510 in the method embodiment, and the modules are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the method embodiment. It should be noted that the modules described above may be implemented as part of an apparatus in a computer system, such as a set of computer-executable instructions.

In some embodiments of the present disclosure, the feature value comparison module 904 is specifically configured to: comparing the first machine vision characteristic value with the second machine vision characteristic value to obtain a difference value between the first machine vision characteristic value and the second machine vision characteristic value; if the difference value is smaller than or equal to a second preset threshold value, the local data of the dynamic map tiles outside the observation range do not need to be updated; if the difference value is larger than a second preset threshold value, the local data of the dynamic map tiles outside the observation range need to be updated.

In some embodiments of the present disclosure, a dynamic map processing apparatus is provided, further including, on the basis of fig. 9: the difference data receiving module is used for: receiving difference data between real-time data of the dynamic map tiles in an observation range and local data of the dynamic map tiles in the observation range, which are sent by a terminal; and updating the cloud data of the dynamic map tiles in the observation range according to the difference data.

In some embodiments of the present disclosure, a dynamic map processing apparatus is provided, further including, on the basis of fig. 9: the static mode download processing module is used for receiving a dynamic map download request sent by the terminal when the terminal is in a static mode; determining dynamic map tile cloud data outside an observation range according to a dynamic map downloading request; and sending the cloud data of the dynamic map tiles outside the observation range to the terminal.

Those skilled in the art will appreciate that the various aspects of the present disclosure may be implemented as a system, method, or program product. Accordingly, various aspects of the disclosure may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.

An electronic device 1000 according to such an embodiment of the present disclosure is described below with reference to fig. 10. The electronic device 1000 shown in fig. 10 is merely an example and should not be construed as limiting the functionality and scope of use of the disclosed embodiments.

As shown in fig. 10, the electronic device 1000 is embodied in the form of a general purpose computing device. Components of electronic device 1000 may include, but are not limited to: the at least one processing unit 1010, the at least one memory unit 1020, and a bus 1030 that connects the various system components, including the memory unit 1020 and the processing unit 1010.

Wherein the storage unit stores program code that is executable by the processing unit 1010 such that the processing unit 1010 performs steps according to various exemplary embodiments of the present disclosure described in the above section of the present specification. For example, the processing unit 1010 may perform the following steps of the method embodiment described above:

acquiring dynamic map local data of a terminal, and determining dynamic map tile local data in the dynamic map local data;

when the terminal is determined to be in a mobile mode, determining an observation range corresponding to the terminal; the observation range is used for dividing the dynamic map tile local data in the dynamic map local data into dynamic map tile local data outside the observation range and dynamic map tile local data in the observation range;

uploading a first machine vision characteristic value corresponding to the local data of the dynamic map tiles outside the observation range to a server, so that the server judges whether the local data of the dynamic map tiles outside the observation range need to be updated or not based on the first machine vision characteristic value, and determines updating information of the local data of the dynamic map tiles outside the observation range when the local data of the dynamic map tiles outside the observation range need to be updated;

And receiving update information of the local data of the dynamic map tiles outside the observation range sent by the server, and processing the local data of the dynamic map according to the update information to obtain the processed dynamic map.

Or when the terminal is in a mobile mode, receiving a first machine vision characteristic value corresponding to the local data of the dynamic map tile outside the observation range corresponding to the terminal sent by the terminal;

acquiring cloud data of the dynamic map tiles outside the observation range;

generating a second machine vision characteristic value corresponding to the dynamic map tile cloud data outside the observation range;

comparing the first machine vision characteristic value with the second machine vision characteristic value, judging whether the local data of the dynamic map tiles outside the observation range need to be updated or not based on the comparison result, and generating updating information of the local data of the dynamic map tiles outside the observation range when the local data of the dynamic map tiles outside the observation range need to be updated;

and sending the updated information to the terminal.

The memory unit 1020 may include readable media in the form of volatile memory units such as Random Access Memory (RAM) 10201 and/or cache memory unit 10202, and may further include Read Only Memory (ROM) 10203.

The storage unit 1020 may also include a program/utility 10204 having a set (at least one) of program modules 10205, such program modules 10205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

Bus 1030 may be representing one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 1000 can also communicate with one or more external devices 1040 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 1000, and/or with any device (e.g., router, modem, etc.) that enables the electronic device 1000 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 1050. Also, electronic device 1000 can communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 1060. As shown, the network adapter 1060 communicates with other modules of the electronic device 1000 over the bus 1030. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with the electronic device 1000, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.

In particular, according to embodiments of the present disclosure, the process described above with reference to the flowcharts may be implemented as a computer program product comprising: a computer program which, when executed by a processor, implements the dynamic map processing method described above.

In an exemplary embodiment of the present disclosure, a computer-readable storage medium, which may be a readable signal medium or a readable storage medium, is also provided. On which a program product is stored which enables the implementation of the method described above of the present disclosure. In some possible implementations, various aspects of the disclosure may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the disclosure as described in the "exemplary methods" section of this specification, when the program product is run on the terminal device.

More specific examples of the computer readable storage medium in the present disclosure may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

In this disclosure, a computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Alternatively, the program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

In particular implementations, the program code for carrying out operations of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).

It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.

Furthermore, although the steps of the methods in the present disclosure are depicted in a particular order in the drawings, this does not require or imply that the steps must be performed in that particular order or that all illustrated steps be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.

From the description of the above embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a mobile terminal, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims

1. The dynamic map processing method is characterized by being applied to a terminal and comprising the following steps of:

acquiring dynamic map local data of the terminal, and determining dynamic map tile local data in the dynamic map local data;

uploading a first machine vision characteristic value corresponding to the dynamic map tile local data outside the observation range to a server, so that the server judges whether the dynamic map tile local data outside the observation range needs to be updated or not based on the first machine vision characteristic value, and determines updating information of the dynamic map tile local data outside the observation range when the dynamic map tile local data outside the observation range needs to be updated;

and receiving the update information of the local data of the dynamic map tiles outside the observation range, which is sent by the server, and processing the local data of the dynamic map according to the update information to obtain the processed dynamic map.

2. The dynamic map processing method according to claim 1, characterized by further comprising:

acquiring real-time data of the dynamic map tiles in the observation range;

and processing the local data of the dynamic map according to the updated information to obtain a processed dynamic map, wherein the processing comprises the following steps:

and processing the local data of the dynamic map according to the updated information and the real-time data of the tiles of the dynamic map in the observation range to obtain the processed dynamic map.

3. The dynamic map processing method according to claim 2, characterized by further comprising:

comparing the real-time data of the dynamic map tiles in the observation range with the local data of the dynamic map tiles in the observation range to obtain difference data between the real-time data and the local data;

and sending the difference data to the server.

4. The dynamic map processing method according to claim 1, characterized by further comprising:

when the terminal is determined to be in a static mode, a dynamic map downloading request is sent to the server;

receiving dynamic map tile cloud data which are transmitted by the server and are outside the observation range;

and processing the local data of the dynamic map based on the cloud data of the tiles of the dynamic map outside the observation range to obtain the processed dynamic map.

5. The dynamic map processing method according to claim 4, characterized by further comprising:

acquiring real-time data of the dynamic map tiles in the observation range;

the processing the local data of the dynamic map based on the real-time data of the dynamic map tiles outside the observation range to obtain a processed dynamic map comprises the following steps:

and processing the local data of the dynamic map based on the cloud data of the dynamic map tiles outside the observation range and the real-time data of the dynamic map tiles in the observation range to obtain the processed dynamic map.

6. The dynamic map processing method according to claim 1, characterized by further comprising:

determining the static duration of a dynamic object in the local data of the dynamic map; the dynamic object is located outside the observation range, the historical running state of the dynamic object is changed from dynamic state to static state, and the static duration exceeds a first preset threshold;

determining the transparency of the dynamic object corresponding to the static duration based on an association relation between the preset static duration and the transparency;

and adjusting the processed dynamic map according to the transparency of the dynamic object to obtain an adjusted dynamic map.

7. A dynamic map processing method, applied to a server, comprising:

when a terminal is in a mobile mode, receiving a first machine vision characteristic value corresponding to dynamic map tile local data outside an observation range corresponding to the terminal, wherein the first machine vision characteristic value is transmitted by the terminal;

acquiring the cloud data of the dynamic map tiles outside the observation range;

and sending the update information to the terminal.

8. The method of dynamic map processing of claim 7, wherein comparing the first machine vision feature value and the second machine vision feature value, and determining whether update of the dynamic map tile local data outside the observation range is required based on the comparison result, comprises:

Comparing the first machine vision characteristic value with the second machine vision characteristic value to obtain a difference value between the first machine vision characteristic value and the second machine vision characteristic value;

if the difference value is smaller than or equal to a second preset threshold value, updating the local data of the dynamic map tiles outside the observation range is not needed;

if the difference value is greater than the second preset threshold value, updating the local data of the dynamic map tiles outside the observation range is needed.

9. The dynamic map processing method according to claim 7, characterized by further comprising:

receiving difference data between the real-time data of the dynamic map tiles in the observation range and the local data of the dynamic map tiles in the observation range, which are sent by the terminal;

and updating the cloud data of the dynamic map tiles in the observation range according to the difference data.

10. The dynamic map processing method according to claim 7, characterized by further comprising:

when the terminal is in a static mode, receiving a dynamic map downloading request sent by the terminal;

determining dynamic map tile cloud data outside the observation range according to the dynamic map downloading request;

and sending the cloud data of the dynamic map tiles outside the observation range to the terminal.

11. A dynamic map processing apparatus, applied to a terminal, comprising:

the dynamic map tile local data determining module is used for acquiring dynamic map local data of the terminal and determining dynamic map tile local data in the dynamic map local data;

the observation range determining module is used for determining the observation range corresponding to the terminal when the terminal is determined to be in the mobile mode; the observation range is used for dividing the dynamic map tile local data in the dynamic map local data into dynamic map tile local data outside the observation range and dynamic map tile local data in the observation range;

the first machine vision characteristic value uploading module is used for uploading a first machine vision characteristic value corresponding to the dynamic map tile local data outside the observation range to a server, so that the server judges whether the dynamic map tile local data outside the observation range needs to be updated or not based on the first machine vision characteristic value, and determines updating information of the dynamic map tile local data outside the observation range when the dynamic map tile local data outside the observation range needs to be updated; and

And the dynamic map updating processing module is used for receiving the updating information of the local data of the dynamic map tiles outside the observation range, which is sent by the server, and processing the local data of the dynamic map according to the updating information to obtain the processed dynamic map.

12. A dynamic map processing apparatus, characterized by being applied to a server, comprising:

the system comprises a first machine vision characteristic value receiving module, a second machine vision characteristic value receiving module and a first machine vision characteristic value processing module, wherein the first machine vision characteristic value receiving module is used for receiving a first machine vision characteristic value corresponding to dynamic map tile local data which is transmitted by a terminal and is outside an observation range corresponding to the terminal when the terminal is in a mobile mode;

the dynamic map tile cloud data acquisition module is used for acquiring dynamic map tile cloud data outside the observation range;

the second machine vision characteristic value generation module is used for generating a second machine vision characteristic value corresponding to the dynamic map tile cloud data outside the observation range;

the feature value comparison module is used for comparing the first machine vision feature value with the second machine vision feature value, judging whether the local data of the dynamic map tiles outside the observation range need to be updated or not based on the comparison result, and generating updating information of the local data of the dynamic map tiles outside the observation range when the local data of the dynamic map tiles outside the observation range need to be updated; and

And the updating information sending module is used for sending the updating information to the terminal.

13. An electronic device, comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to perform the dynamic map processing method of any one of claims 1 to 10 via execution of the executable instructions.

14. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the dynamic map processing method according to any one of claims 1 to 10.