CN117109606A - Map data acquisition method and electronic equipment - Google Patents
Map data acquisition method and electronic equipment Download PDFInfo
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- CN117109606A CN117109606A CN202311100223.0A CN202311100223A CN117109606A CN 117109606 A CN117109606 A CN 117109606A CN 202311100223 A CN202311100223 A CN 202311100223A CN 117109606 A CN117109606 A CN 117109606A
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- 238000000034 method Methods 0.000 title claims abstract description 72
- 238000012795 verification Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000012545 processing Methods 0.000 description 31
- 238000012217 deletion Methods 0.000 description 24
- 230000037430 deletion Effects 0.000 description 24
- 238000004891 communication Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 239000000284 extract Substances 0.000 description 5
- 238000013480 data collection Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012358 sourcing Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000012550 audit Methods 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3885—Transmission of map data to client devices; Reception of map data by client devices
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- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The application provides a map data acquisition method and electronic equipment. The method comprises the following steps: the vehicle stores the running track of the vehicle and corresponding map data, the running track is sent to a cloud server in real time, the cloud server performs matching of the coincident track according to the running track and the pre-acquisition order, a first uploading instruction is generated when matching is successful, the vehicle is controlled to upload the corresponding map data, a prompt message is generated when matching fails, the vehicle is controlled to generate a re-matching request according to the prompt message, the pre-acquisition order is updated according to the re-matching request, then a second uploading instruction is generated after matching is successful based on the updated pre-acquisition order matching track, the vehicle uploads the map data, the cloud server checks and modifies the pre-acquisition order state after acquiring the map data, and then the vehicle deletes the map data. The method saves the transmission and storage cost and improves the efficiency and accuracy of data acquisition and updating.
Description
Technical Field
The present application relates to data acquisition technologies, and in particular, to a method and an electronic device for acquiring map data.
Background
The updating of map data has important influence on people's daily life, and in the early stage of traditional navigation development, data acquisition personnel, surveying equipment, collection car etc. that need a large amount of specialty carry out data acquisition, and the surveying car can make a round trip to gather many times when surveying and mapping a road generally to ensure the accuracy of data.
At present, map data are collected in a professional collection mode, wherein the map professional collection comprises collection of crowdsourcing map data, namely, the on-board sensors of a large number of non-professional crowdsourcing vehicles running on roads are utilized to monitor environmental changes in real time, and the monitoring data are uploaded to a cloud platform, so that quick update of the map data is realized.
However, the crowdsourcing vehicles are large in scale, the driving track has disorder, so that more invalid data acquisition exists, storage resources are wasted, the requirements of users are difficult to be precisely matched, and the data updating efficiency is reduced.
Disclosure of Invention
The application provides a method for collecting map data and electronic equipment, which are used for improving the updating efficiency and accuracy of the map data and saving the storage and communication cost of the map data.
In a first aspect, the present application provides a method for collecting map data, where the method is applied to a vehicle, and the method includes:
Controlling equipment in a vehicle to collect map data of surrounding environment of the vehicle in the running process of the vehicle, and storing a running track and the map data collected on the running track; the map data comprise image data acquired by a camera and point clouds acquired by a sensor, and the running track comprises a plurality of running track points;
transmitting the driving track of the vehicle to a cloud server; matching the cloud server according to the running track of the vehicle and the acquisition track in each pre-acquisition order;
receiving a first uploading instruction sent by a cloud server, wherein the first uploading instruction is sent when the cloud server determines that one acquisition track is matched with a running track in a pre-acquisition order, and the first uploading instruction comprises the matched running track;
and uploading map data corresponding to the matched driving track to a cloud server, wherein the cloud server is used for storing the uploaded map data after carrying out integrity check and modifying the state of the pre-acquisition order corresponding to the matched acquisition track.
Optionally, the method further comprises:
receiving a first deleting instruction sent by a cloud server, wherein the first deleting instruction is sent by the cloud server when determining that one acquisition track is not matched with a driving track in a pre-acquisition order;
And deleting the stored running track and map data corresponding to the running track according to the first deleting instruction.
Optionally, the method further comprises:
receiving prompt information sent by a cloud server, wherein the prompt information is used for prompting a pre-acquired order which is not matched with a vehicle;
generating a re-matching request before the stored travel track and map data corresponding to the stored travel track are covered, wherein the re-matching request comprises the travel track; the re-matching request is used for enabling the cloud server to update the pre-acquisition order, and the updated pre-acquisition order is used for matching with the driving track;
receiving a second uploading instruction sent by the cloud server, wherein the second uploading instruction is sent when the cloud server determines that one acquisition track is matched with the running track in the updated pre-acquisition order, and the second uploading instruction comprises the matched running track;
and uploading map data corresponding to the matched driving track to a cloud server, wherein the cloud server is used for storing the uploaded map data after carrying out integrity check and modifying the state of the pre-acquisition order corresponding to the matched acquisition track.
Optionally, the method further comprises:
Receiving a second deleting instruction sent by the cloud server, wherein the second deleting instruction is sent by the cloud server when determining that one acquisition track is not matched with the running track in the updated pre-acquisition order;
and deleting the stored running track and map data corresponding to the running track according to the second deleting instruction.
In a second aspect, the present application provides a method for collecting map data, where the method is applied to a cloud server, and the method includes:
receiving a running track of a vehicle sent by the vehicle, storing the running track and map data acquired on the running track on the vehicle, and controlling equipment in the vehicle to acquire map data of the surrounding environment of the vehicle in the running process of the vehicle; the map data comprise image data acquired by a camera and point clouds acquired by a sensor, and the running track comprises a plurality of running track points;
matching is carried out according to the running track of the vehicle and the acquisition track in each pre-acquisition order; determining that a first uploading instruction is generated when one acquisition track is matched with a running track in the pre-acquisition order;
a first uploading instruction is sent to the vehicle, wherein the first uploading instruction comprises a matched running track, so that the vehicle uploads map data corresponding to the matched running track to a cloud server;
And storing the uploaded map data after integrity verification, and modifying the state of the pre-acquisition order corresponding to the matched acquisition track.
Optionally, the method further comprises:
determining that a first deleting instruction is generated when one acquisition track is not matched with the running track in the pre-acquisition order;
and sending a first deleting instruction to the vehicle, wherein the first deleting instruction is used for deleting the stored running track and map data corresponding to the running track.
Optionally, the method further comprises:
generating prompt information when the fact that the acquisition track is matched with the driving track does not exist in the pre-acquisition order is determined, wherein the prompt information is used for prompting the pre-acquisition order which is not matched with the vehicle;
the method comprises the steps of sending prompt information to a vehicle, and enabling the vehicle to generate a re-matching request before a stored running track and map data corresponding to the stored running track are covered, wherein the re-matching request comprises the running track;
receiving a re-matching request sent by a vehicle, updating a pre-acquisition order, and matching the updated pre-acquisition order with a running track;
generating a second uploading instruction when it is determined that one acquisition track is matched with the running track in the updated pre-acquisition order, wherein the second uploading instruction comprises the matched running track;
A second uploading instruction is sent to the vehicle, so that the vehicle uploads map data corresponding to the matched driving track to the cloud server;
and storing the uploaded map data after integrity verification, and modifying the state of the pre-acquisition order corresponding to the matched acquisition track.
Optionally, the method further comprises:
generating a second deleting instruction when it is determined that one acquisition track is not matched with the running track in the updated pre-acquisition order;
and sending a second deleting instruction to the vehicle, wherein the second deleting instruction is used for enabling the vehicle to delete the stored running track and map data corresponding to the running track.
Optionally, determining that the acquisition track matches the driving track specifically includes:
the occupation ratio of the coincidence track between the acquisition track and the running track to the acquisition track is larger than a preset threshold value.
In a third aspect, the present application provides a map data acquisition apparatus, including:
the first processing module is used for controlling a sensor in the vehicle to collect map data of the surrounding environment of the vehicle in the running process of the vehicle and storing the running track and the map data collected on the running track;
the first sending module is used for sending the running track of the vehicle to the cloud server; matching the cloud server according to the running track of the vehicle and the acquisition track in each pre-acquisition order;
The first receiving module is used for receiving a first uploading instruction sent by the cloud server, wherein the first uploading instruction is sent when the cloud server determines that one acquisition track is matched with the running track in the pre-acquisition order, and the first uploading instruction comprises the matched running track;
the first processing module is further used for uploading map data corresponding to the matched driving track to the cloud server, and the cloud server is used for storing the uploaded map data after integrity verification and modifying the state of the pre-acquisition order corresponding to the matched acquisition track.
Optionally, the first receiving module is further configured to receive a first deletion instruction sent by the cloud server, where the first deletion instruction is sent by the cloud server when it is determined that there is no matching between an acquisition track and a driving track in the pre-acquisition order;
the first processing module is further used for deleting the stored running track and map data corresponding to the running track according to the first deleting instruction.
Optionally, the first receiving module is further configured to receive a prompt message sent by the cloud server, where the prompt message is used to prompt that the vehicle has no matched pre-acquired order;
the first processing module is further used for generating a re-matching request before the driving track of the landing disc and map data corresponding to the driving track are covered, wherein the re-matching request comprises the driving track; the re-matching request is used for enabling the cloud server to update the pre-acquisition order, and the updated pre-acquisition order is used for matching with the driving track;
The first receiving module is further configured to receive a second uploading instruction sent by the cloud server, where the second uploading instruction is sent when the cloud server determines that one acquisition track is matched with the running track in the updated pre-acquisition order, and the second uploading instruction includes the matched running track;
the first processing module is further used for uploading map data corresponding to the matched driving track to the cloud server, and the cloud server is used for storing the uploaded map data after integrity verification and modifying the state of the pre-acquisition order corresponding to the matched acquisition track.
Optionally, the first receiving module is further configured to receive a second deletion instruction sent by the cloud server, where the second deletion instruction is sent when the cloud server determines that there is no matching between an acquisition track and a driving track in the updated pre-acquisition order;
the first processing module is further used for deleting the stored running track and map data corresponding to the running track according to the second deleting instruction.
In a fourth aspect, the present application provides a map data acquisition apparatus, including:
the second receiving module is used for receiving the running track of the vehicle sent by the vehicle, the running track and the map data acquired on the running track are stored on the vehicle, and the vehicle is also used for controlling the sensors in the vehicle to acquire the map data of the surrounding environment of the vehicle in the running process of the vehicle;
The second processing module is used for matching the running track of the vehicle with the acquisition track in each pre-acquisition order; determining that a first uploading instruction is generated when one acquisition track is matched with a running track in the pre-acquisition order;
the second sending module is used for sending a first uploading instruction to the vehicle, wherein the first uploading instruction comprises a matched running track, so that the vehicle uploads map data corresponding to the matched running track to the cloud server;
the second processing module is further used for storing the uploaded map data after integrity check and modifying the state of the pre-acquisition order corresponding to the matched acquisition track.
Optionally, the second processing module is further configured to determine that the first deletion instruction is generated when there is no matching between the acquisition track and the driving track in the pre-acquisition order;
the second sending module is further used for sending a first deleting instruction to the vehicle, wherein the first deleting instruction is used for deleting the stored running track and map data corresponding to the running track.
Optionally, the second processing module is further configured to generate a prompt message when it is determined that there is no match between the acquisition track and the driving track in the pre-acquired order, where the prompt message is used to prompt the vehicle that there is no match with the pre-acquired order;
The second sending module is further used for sending prompt information to the vehicle, so that the vehicle generates a re-matching request before the driving track of the landing disc and map data corresponding to the driving track are covered, wherein the re-matching request comprises the driving track;
the second receiving module is also used for receiving a re-matching request sent by the vehicle, updating the pre-acquisition order and matching the updated pre-acquisition order with the running track;
the second processing module is further used for generating a second uploading instruction when one acquisition track is determined to be matched with the running track in the updated pre-acquisition order, wherein the second uploading instruction comprises the matched running track;
the second processing module is further used for sending a second uploading instruction to the vehicle, so that the vehicle uploads map data corresponding to the matched driving track to the cloud server;
the second processing module is further used for storing the uploaded map data after integrity check and modifying the state of the pre-acquisition order corresponding to the matched acquisition track.
Optionally, the second processing module is further configured to generate a second deletion instruction when it is determined that there is no matching between the acquisition track and the driving track in the updated pre-acquisition order;
The second sending module is further configured to send a second deletion instruction to the vehicle, where the second deletion instruction is used to cause the vehicle to delete the stored running track and map data corresponding to the running track.
Optionally, the second processing module is further configured to determine that the acquisition track matches the driving track, and specifically includes:
the occupation ratio of the coincidence track between the acquisition track and the running track to the acquisition track is larger than a preset threshold value.
In a fifth aspect, the present application provides an electronic device, comprising: a processor, a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the methods according to the first and second aspects.
In a sixth aspect, the present application provides a computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the methods as referred to in the first and second aspects above.
According to the method for acquiring the map data and the electronic equipment, the running track of the vehicle and the acquired map data are stored, the running track is sent to the cloud server in real time, so that the cloud server performs track matching according to the proportion of the overlapping track of the running track and the acquisition track in the pre-acquisition order to the acquisition track, when the track matching is successful, a first uploading instruction is generated, the vehicle is controlled to extract the corresponding map data and upload the map data, after the cloud server acquires the map data, the integrity check is performed on the map data and the acquisition track of the pre-acquisition order, the state of the pre-acquisition order is stored and modified after the check is successful, and whether the map data need to be transmitted or not is determined only by transmitting the running track, so that transmission resources are saved; when the track matching fails, the cloud server also generates prompt information, so that the vehicle generates a re-matching request according to the pre-acquisition order which is not matched and provided by the prompt information, and sends the re-matching request to the cloud server, so that the cloud server updates the initial pre-acquisition order according to the re-matching request, carries out secondary track matching on the running track in the re-matching request according to the updated pre-acquisition order, generates a second uploading instruction when the matching is successful, and controls the vehicle to extract and upload corresponding map data. After the cloud server acquires the map data, the integrity of the map data and the acquisition track of the updated pre-acquisition order are checked, the state of the updated pre-acquisition order is stored and modified after the check is successful, effective re-matching measures are acquired when matching fails to improve updating efficiency, and uploading instructions are issued when the running track is determined to be the acquisition track for many times, so that the accuracy of the acquisition and updating of the map data is improved. And when the track matching fails, generating a first deleting instruction or a second deleting instruction to enable the vehicle to delete the stored map data so as to save storage resources.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
Fig. 1 is an application scenario diagram of a map data acquisition method provided by an embodiment of the present application;
fig. 2 is a flowchart of a method for collecting map data according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a track matching scenario provided in an embodiment of the present application;
fig. 4 is a flowchart of a method for collecting map data according to an embodiment of the present application;
fig. 5 is a flowchart of a method for collecting map data according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a map data collecting device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of another map data collecting apparatus according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or fully authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region, and provide corresponding operation entries for the user to select authorization or rejection.
For the collection of map data, the collection can be performed by a large number of specialized data collection personnel, or by a large number of collection vehicles and/or collection devices. The map data is acquired through a large number of acquisition vehicles and/or acquisition devices, so that the acquisition efficiency and accuracy of the map data are improved, and the map data are obtained through the method.
Currently, crowd sourcing or crowd sourcing is by a large number of collection vehicles and/or collection devices to collect map data including: the map updating task is given to a large number of non-professional acquisition vehicles (such as actual operation vehicles) running on the road, road data are monitored in real time by using a vehicle-mounted sensor and are compared with the map data, when the road data change (such as road change from traffic to sealing) is found, the road data are uploaded to a cloud server, data fusion is carried out on the cloud server, updating of the map data is achieved, and the updated map data are issued to other user vehicles for data updating, so that quick updating of the map data is achieved.
However, when the collection vehicle is used for collecting map data (especially high-precision map data), a large number of collection vehicles are needed, a large number of unordered tracks are generated when the collection vehicle runs on a road, the tracks matched with the collection tasks needed for map updating are filtered according to the large number of unordered tracks, time and labor are wasted, a large number of invalid map data irrelevant to the collection tasks are stored in the vehicle of the vehicle, storage space is greatly occupied, and cost of storage and data transmission is increased.
According to the method, map data and corresponding running tracks in the running process of the vehicle are obtained through the vehicle, the map data and the corresponding running tracks are stored, the running tracks are uploaded to the cloud server, so that the cloud server performs track matching, a first uploading instruction is successfully sent after the matching, the vehicle is controlled to upload the map data corresponding to the running tracks, the communication cost is saved, and the state of a pre-acquired order is updated to complete record after uploading is completed; when the track matching fails, the cloud server can generate a first deleting instruction to control the vehicle to delete the stored running track and map data, so that the storage space is cleaned in time, and the storage cost is reduced; and prompt information can be generated, so that a re-matching request is generated before the stored data of the vehicle is covered, the cloud server is enabled to update the pre-acquisition order, and finally, the data is uploaded according to the updated acquisition order, so that the updating efficiency and accuracy of the map data are improved, the data are deleted after uploading, and the storage of related data is reduced.
Fig. 1 is an application scenario diagram of a map data acquisition method provided by an embodiment of the present application, where, as shown in fig. 1, an application scenario of a map data acquisition method provided by an embodiment of the present application includes: the cloud server 11 and the vehicle 12, wherein the vehicle 12 includes N vehicles in total, a middle-sized vehicle 121, a large-sized vehicle 122 and a small-sized vehicle 123, wherein N is a positive integer. The cloud server 11 is in communication connection with vehicles of each of the vehicles 12 for transmitting related instructions and data. Wherein the vehicle is used for controlling the running of the corresponding vehicle.
Fig. 2 is a flowchart of a map data collection method according to an embodiment of the present application, where, as shown in fig. 2, an application scenario provided in this embodiment is based on the application scenario shown in fig. 1, and the map data collection method includes the following steps:
and S201, the vehicle collects map data and stores the running track and the map data.
More specifically, during running of the vehicle, the device in the vehicle acquires a running track of the vehicle, and at the same time, controls the device in the vehicle to acquire map data of the surrounding environment of the vehicle, and stores the running track and the map data acquired on the running track to the vehicle or the storage device.
In general, a vehicle is provided with a GNSS positioning device, so that a driving track of the vehicle can be acquired; a camera can be arranged for acquiring pictures and video data around the vehicle; radar sensors may also be provided for acquiring a cloud of relevant points of the road. The map data includes image data of the surroundings of the vehicle, including picture data and/or video data, and a point cloud of the road.
As one acquisition scenario, the map data acquisition is performed after the vehicle takes a certain pre-acquisition order, and as another acquisition scenario, the vehicle does not take any pre-acquisition order.
If the vehicle takes a certain pre-acquisition order, the vehicle needs to upload the map data after the vehicle acquires the map data. There may be a situation that the vehicle does not perform map data collection according to the collection track in the collected pre-collection order, and if the vehicle does not pass the audit, the map data is uploaded, so that the cloud server receives a large amount of invalid map data.
If the vehicle does not pick up any pre-collected order, after the vehicle collects the map data, if the map data is directly uploaded, there may be a situation that the cloud server does not need to collect the map data, for example: if the section of map data is uploaded by other vehicles, the map data is uploaded without verification, and a cloud server can receive a large amount of invalid map data.
Based on the method, after the vehicle collects map data, the running track of the vehicle in the collected map data is uploaded to the cloud server, the cloud server matches the collected track in the pre-collected order with the running track, if so, the cloud server informs the vehicle to upload the map data, and if not, uploading is not needed.
S202, the vehicle sends a driving track to a cloud server.
More specifically, the vehicle transmits the stored travel track of the vehicle to the cloud server in real time or periodically, or when the data amount reaches a threshold value.
More specifically, the vehicle comprises a communication module, wherein the communication module is in communication connection with the cloud server in the vehicle, and the communication module is used for sending the driving track to the cloud server.
The communication module may be part of the vehicle or may be located in a control system of the vehicle, which is not limited herein.
S203, the cloud server performs track matching and generates a first uploading instruction.
More specifically, the cloud server receives a running track of a vehicle where the vehicle is located, and performs track matching according to the running track of the vehicle and the acquisition track in each pre-acquisition order, and when the cloud server determines that one acquisition track matches the running track, a first uploading instruction is generated. Wherein the pre-acquisition order includes a plurality of acquisition tracks of the target map within the target administrative area.
Optionally, the cloud server determines whether one acquisition track is matched with the running track in the pre-acquisition order by judging whether the ratio of the coincidence track between the acquisition track and the running track to the acquisition track is larger than a preset threshold value. The preset threshold is set by user, for example, the preset threshold is 0.5.
In one possible embodiment, the acquisition trajectory is determined to match the travel trajectory when a ratio of a coincident trajectory between the acquisition trajectory and the travel trajectory to the acquisition trajectory is greater than a preset threshold.
In one possible embodiment, it is determined that the acquisition trajectory does not match the travel trajectory when a ratio of a coincident trajectory between the acquisition trajectory and the travel trajectory to the acquisition trajectory is less than a preset threshold.
For example: fig. 3 is a schematic view of a track matching scenario provided in an embodiment of the present application, as shown in fig. 3, the schematic view of the track matching scenario includes a vehicle 12, an acquisition track 13 and a driving track 14, where a start end of the driving track of the vehicle 12 coincides with a start end of the acquisition track, but when a preset threshold is 0.5, a ratio of the overlapping track of the driving track and the acquisition track to the acquisition track is significantly smaller than 0.5, that is, the driving track is not matched with the acquisition track.
S204, the cloud server sends a first uploading instruction.
More specifically, the cloud server sends a first uploading instruction to the vehicle, wherein the first uploading instruction comprises the matched driving track.
S205, the vehicle extracts map data.
More specifically, a first uploading instruction sent by a cloud server is received, and map data corresponding to the driving track is extracted according to the driving track matched in the first uploading instruction.
S206, uploading map data by the vehicle.
More specifically, the vehicle uploads map data corresponding to the matched travel track to the cloud server.
S207, the cloud server performs verification and storage, and modifies the pre-acquisition order state.
More specifically, the cloud server acquires map data, performs integrity verification on the uploaded map data, stores the map data, and modifies the state of a pre-acquisition order corresponding to the matched acquisition track.
Optionally, the cloud server performs integrity check according to the uploaded map data and the acquisition track in the pre-acquisition order, determines whether the map data corresponding to the acquisition track is complete, stores the map data after confirming the completion, and modifies the state of the pre-acquisition order corresponding to the successfully matched acquisition track.
Optionally, after storing the map data, the cloud server also generates modification success information, so that the vehicle deletes the stored map data uploaded according to the modification success information.
In the method for collecting map data provided by the embodiment of the application, the vehicle stores the running track and the collected map data, only transmits the running track to the cloud server in real time, and the cloud server performs track matching according to the track coincidence proportion of the running track and the collecting track, and generates the first uploading instruction after the matching is successful, so that the vehicle extracts and uploads the map data according to the first uploading instruction, the probability that the uploaded map data is invalid data is reduced, the collection updating efficiency is improved, and the data transmission cost is reduced; the cloud server also carries out integrity confirmation according to the map data and stores the map data, and deletes the map data after modifying the state of the pre-collected order, so that whether the map data are stored for multiple times is confirmed, the accuracy of collecting and updating the map data is improved, and the storage cost of the cloud server and the vehicle is saved.
Fig. 4 is a flowchart of a method for collecting map data according to an embodiment of the present application, as shown in fig. 4, when track matching fails, the method for collecting map data includes the following steps:
s401, performing track matching by the cloud server, and generating a first deleting instruction.
More specifically, the cloud server determines that a first deletion instruction is generated when there is no one acquisition track in the pre-acquisition order that matches the travel track.
In a possible embodiment, the cloud server determines that five acquisition tracks are included in the pre-acquisition order, provides for matching the running track with the five acquisition tracks, respectively judges whether the ratio of the overlapping track of the running track and each acquisition track to the corresponding acquisition track is greater than a preset threshold, and if the ratio of the overlapping track to the corresponding acquisition track is smaller than the preset threshold, the track matching fails, and generates a first deletion instruction.
S402, the cloud server sends a first deleting instruction.
More specifically, the cloud server sends a first deletion instruction to the vehicle.
S403, the vehicle deletes the stored travel track and map data.
More specifically, the vehicle deletes the stored travel track and map data corresponding to the travel track according to the first deletion instruction.
In the map data acquisition method provided by the embodiment of the application, when the track matching of the cloud server fails, a first deletion instruction is generated, so that the vehicle deletes the stored running track and the corresponding map data according to the first deletion instruction, the storage space is increased, and a basis is provided for the acquisition and storage of the next map data.
Fig. 5 is a flowchart of a method for collecting map data according to an embodiment of the present application, as shown in fig. 5, when track matching fails, the method for collecting map data includes the following steps:
s501, the cloud server performs track matching and generates prompt information.
More specifically, the cloud server determines that track matching fails when one acquisition track is not matched with the driving track in the pre-acquisition order, and generates prompt information for prompting that the vehicle does not match the pre-acquisition order.
S502, the cloud server sends prompt information.
More specifically, a prompt message is sent to the vehicle to cause the vehicle to generate a re-match request before the already stored travel track and map data corresponding to the travel track are overlaid, wherein the re-match request includes the travel track.
S503, the vehicle generates a re-matching request.
More specifically, the vehicle acquires the prompt information and generates a re-matching request according to the prompt information before the already stored travel track and map data corresponding to the travel track are covered, wherein the re-matching request includes the currently stored travel track.
S504, the vehicle sends a re-matching request.
More specifically, the vehicle sends a re-match request to the cloud server.
S505, the cloud server updates the pre-acquisition order and performs track matching again to generate a second uploading instruction.
More specifically, the cloud server receives a re-matching request sent by the vehicle, updates a pre-acquisition order according to the re-matching request, and matches the updated pre-acquisition order with the driving track. When the cloud server determines that one acquisition track in the updated pre-acquisition order is successfully matched with the running track, a second uploading instruction is generated, and the second uploading instruction comprises the matched running track.
S506, the cloud server sends a second uploading instruction.
More specifically, the cloud server sends a second upload instruction to the vehicle.
S507, the vehicle extracts map data.
More specifically, the vehicle acquires the second uploading instruction, and extracts corresponding map data according to the successfully matched driving track in the second uploading instruction.
S508, uploading map data by the vehicle.
More specifically, the vehicle uploads the extracted corresponding map data to the cloud server.
S509, the cloud server performs verification and storage, and modifies the pre-acquisition order state.
More specifically, the cloud server acquires map data, performs integrity verification on the uploaded map data, stores the map data, and modifies the state of a pre-acquisition order corresponding to the matched acquisition track.
In the map data acquisition method provided by the embodiment of the application, after the track matching of the cloud server fails, the cloud server also generates the prompt information to prompt the pre-acquisition order of the vehicle for failure matching, so that the vehicle generates and extracts the current running track according to the prompt information to generate a re-matching request, and the cloud server generates a second uploading instruction according to the re-matching request, thereby acquiring the map data uploaded by the vehicle, and modifying the pre-acquisition order information after the integrity check and the disc placement error storage are carried out. And after the track matching fails, the map data is uploaded for the second time through the re-matching request, and compared with the new running track of the vehicle, the map data is obtained by re-matching, so that the efficiency of collecting and updating the map data is improved.
Optionally, when determining that there is no matching between one acquisition track and the driving track in the updated pre-acquisition order, the cloud server further generates a second deletion instruction, and sends the second deletion instruction to the vehicle. And the vehicle receives a second deleting instruction sent by the cloud server, and deletes the stored running track and map data corresponding to the running track according to the second deleting instruction. The storage space is improved by deleting the data storage in time, so that a foundation is provided for the subsequent collection and storage of a large amount of data.
The application provides a map data acquisition device, a schematic structure diagram of the map data acquisition device is shown in fig. 6, and the map data acquisition 600 comprises:
the first processing module 601 controls equipment in a vehicle to collect map data of the surrounding environment of the vehicle during the running process of the vehicle, and stores a running track and the map data collected on the running track; the map data comprise image data acquired by a camera and point clouds acquired by a sensor, and the running track comprises a plurality of running track points;
the first sending module 602 is configured to send a driving track of the vehicle to the cloud server; matching the cloud server according to the running track of the vehicle and the acquisition track in each pre-acquisition order;
The first receiving module 603 is configured to receive a first upload instruction sent by the cloud server, where the first upload instruction is sent when the cloud server determines that there is a matching between an acquisition track and a driving track in the pre-acquisition order, and the first upload instruction includes the matched driving track;
the first processing module 601 is further configured to upload map data corresponding to the matched driving track to a cloud server, where the cloud server is configured to store the uploaded map data after performing integrity check, and modify a state of a pre-acquired order corresponding to the matched acquisition track.
Optionally, the first receiving module is further configured to receive a first deletion instruction sent by the cloud server, where the first deletion instruction is sent by the cloud server when it is determined that there is no matching between an acquisition track and a driving track in the pre-acquisition order;
the first processing module is further used for deleting the stored running track and map data corresponding to the running track according to the first deleting instruction.
Optionally, the first receiving module is further configured to receive a prompt message sent by the cloud server, where the prompt message is used to prompt that the vehicle has no matched pre-acquired order;
The first processing module is further used for generating a re-matching request before the driving track of the landing disc and map data corresponding to the driving track are covered, wherein the re-matching request comprises the driving track; the re-matching request is used for enabling the cloud server to update the pre-acquisition order, and the updated pre-acquisition order is used for matching with the driving track;
the first receiving module is further configured to receive a second uploading instruction sent by the cloud server, where the second uploading instruction is sent when the cloud server determines that one acquisition track is matched with the running track in the updated pre-acquisition order, and the second uploading instruction includes the matched running track;
the first processing module is further used for uploading map data corresponding to the matched driving track to the cloud server, and the cloud server is used for storing the uploaded map data after integrity verification and modifying the state of the pre-acquisition order corresponding to the matched acquisition track.
Optionally, the first receiving module is further configured to receive a second deletion instruction sent by the cloud server, where the second deletion instruction is sent when the cloud server determines that there is no matching between an acquisition track and a driving track in the updated pre-acquisition order;
The first processing module is further used for deleting the stored running track and map data corresponding to the running track according to the second deleting instruction.
The present application provides another map data acquisition apparatus, a schematic structure diagram of which is shown in fig. 7, and the map data acquisition apparatus 700 includes:
a second receiving module 701, configured to receive a driving track of a vehicle sent by the vehicle, where the driving track and map data collected on the driving track are stored on the vehicle, and control a device in the vehicle to collect map data of an environment around the vehicle during driving of the vehicle; the map data comprise image data acquired by a camera and point clouds acquired by a sensor, and the running track comprises a plurality of running track points;
the second processing module 702 is configured to match the driving track of the vehicle with the acquisition track in each pre-acquisition order; determining that a first uploading instruction is generated when one acquisition track is matched with a running track in the pre-acquisition order;
the second sending module 703 is configured to send a first upload instruction to the vehicle, where the first upload instruction includes a matched driving track, so that the vehicle uploads map data corresponding to the matched driving track to the cloud server;
The second processing module 702 is further configured to store the uploaded map data after integrity checking, and modify a state of the pre-acquisition order corresponding to the matched acquisition track.
Optionally, the second processing module is further configured to determine that the first deletion instruction is generated when there is no matching between the acquisition track and the driving track in the pre-acquisition order;
the second sending module is further used for sending a first deleting instruction to the vehicle, wherein the first deleting instruction is used for deleting the stored running track and map data corresponding to the running track.
Optionally, the second processing module is further configured to generate a prompt message when it is determined that there is no match between the acquisition track and the driving track in the pre-acquired order, where the prompt message is used to prompt the vehicle that there is no match with the pre-acquired order;
the second sending module is further used for sending prompt information to the vehicle, so that the vehicle generates a re-matching request before the stored running track and map data corresponding to the stored running track are covered, wherein the re-matching request comprises the running track;
the second receiving module is also used for receiving a re-matching request sent by the vehicle, updating the pre-acquisition order and matching the updated pre-acquisition order with the running track;
The second processing module is further used for generating a second uploading instruction when one acquisition track is determined to be matched with the running track in the updated pre-acquisition order, wherein the second uploading instruction comprises the matched running track;
the second processing module is further used for sending a second uploading instruction to the vehicle, so that the vehicle uploads map data corresponding to the matched driving track to the cloud server;
the second processing module is further used for storing the uploaded map data after integrity check and modifying the state of the pre-acquisition order corresponding to the matched acquisition track.
Optionally, the second processing module is further configured to generate a second deletion instruction when it is determined that there is no matching between the acquisition track and the driving track in the updated pre-acquisition order;
the second sending module is further configured to send a second deletion instruction to the vehicle, where the second deletion instruction is used to cause the vehicle to delete the stored running track and map data corresponding to the running track.
Optionally, the second processing module is further configured to determine that the acquisition track matches the driving track, and specifically includes:
the occupation ratio of the coincidence track between the acquisition track and the running track to the acquisition track is larger than a preset threshold value.
As shown in fig. 8, an embodiment of the present application provides an electronic device 800, the electronic device 800 including a memory 801 and a processor 802.
Wherein the memory 801 is used for storing computer instructions executable by the processor;
the processor 802, when executing computer instructions, implements the various steps of the methods in the embodiments described above. Reference may be made in particular to the relevant description of the embodiments of the method described above.
Alternatively, the memory 801 may be separate or integrated with the processor 802. When the memory 801 is provided separately, the electronic device further includes a bus for connecting the memory 801 and the processor 802.
The embodiment of the application also provides a computer readable storage medium, wherein computer instructions are stored in the computer readable storage medium, and when the processor executes the computer instructions, the steps of the method in the embodiment are realized.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A method of collecting map data, the method being applied to a vehicle, the method comprising:
controlling equipment in a vehicle to collect map data of the surrounding environment of the vehicle in the running process of the vehicle, and storing a running track and the map data collected on the running track; the map data comprise image data acquired by a camera and point clouds acquired by a sensor, and the running track comprises a plurality of running track points;
transmitting the driving track of the vehicle to a cloud server; matching the cloud server according to the running track of the vehicle and the acquisition track in each pre-acquisition order;
receiving a first uploading instruction sent by the cloud server, wherein the first uploading instruction is sent when the cloud server determines that one acquisition track is matched with the running track in a pre-acquisition order, and the first uploading instruction comprises the matched running track;
And uploading map data corresponding to the matched driving track to a cloud server, wherein the cloud server is used for storing the uploaded map data after integrity verification and modifying the state of the pre-acquired order corresponding to the matched acquisition track.
2. The method of acquisition according to claim 1, characterized in that the method further comprises:
receiving a first deleting instruction sent by the cloud server, wherein the first deleting instruction is sent by the cloud server when determining that one acquisition track does not exist in a pre-acquisition order to be matched with the driving track;
and deleting the stored running track and map data corresponding to the running track according to the first deleting instruction.
3. The method of acquisition according to claim 1, characterized in that the method further comprises:
receiving prompt information sent by the cloud server, wherein the prompt information is used for prompting a pre-acquired order which is not matched with a vehicle;
generating a re-matching request before an already stored running track and map data corresponding to the already stored running track are covered, wherein the re-matching request comprises the running track; the re-matching request is used for enabling the cloud server to update the pre-acquisition order, and the updated pre-acquisition order is used for matching with the running track;
Receiving a second uploading instruction sent by the cloud server, wherein the second uploading instruction is sent when the cloud server determines that one acquisition track is matched with the running track in the updated pre-acquisition order, and the second uploading instruction comprises the matched running track;
and uploading map data corresponding to the matched driving track to a cloud server, wherein the cloud server is used for storing the uploaded map data after integrity verification and modifying the state of the pre-acquired order corresponding to the matched acquisition track.
4. A method of acquisition according to claim 3, characterized in that the method further comprises:
receiving a second deleting instruction sent by the cloud server, wherein the second deleting instruction is sent by the cloud server when determining that one acquisition track does not exist in the updated pre-acquisition order to be matched with the driving track;
and deleting the stored running track and map data corresponding to the running track according to the second deleting instruction.
5. A method for collecting map data, wherein the method is applied to a cloud server, and the method comprises the following steps:
Receiving a running track of a vehicle sent by the vehicle, wherein the running track and map data acquired on the running track are stored on the vehicle, and equipment in the vehicle is controlled to acquire map data of the surrounding environment of the vehicle in the running process of the vehicle; the map data comprise image data acquired by a camera and point clouds acquired by a sensor, and the running track comprises a plurality of running track points;
matching is carried out according to the running track of the vehicle and the acquisition track in each pre-acquisition order; determining that a first uploading instruction is generated when one acquisition track in the pre-acquisition order is matched with the running track;
the first uploading instruction is sent to the vehicle, wherein the first uploading instruction comprises a matched running track, so that the vehicle uploads map data corresponding to the matched running track to a cloud server;
and storing the uploaded map data after integrity verification, and modifying the state of the pre-acquisition order corresponding to the matched acquisition track.
6. The method of acquisition according to claim 5, characterized in that the method further comprises:
determining that a first deleting instruction is generated when one acquisition track is not matched with the running track in the pre-acquisition order;
And sending a first deleting instruction to the vehicle, wherein the first deleting instruction is used for deleting the stored running track and map data corresponding to the running track.
7. The method of acquisition according to claim 5, characterized in that the method further comprises:
generating prompt information when the fact that the acquisition track is not matched with the driving track in the pre-acquisition order is determined, wherein the prompt information is used for prompting the pre-acquisition order which is not matched with the vehicle;
sending prompt information to the vehicle, and enabling the vehicle to generate a re-matching request before the stored running track and map data corresponding to the stored running track are covered, wherein the re-matching request comprises the running track;
receiving a re-matching request sent by the vehicle, updating a pre-acquisition order, and matching the updated pre-acquisition order with the running track;
generating a second uploading instruction when it is determined that one acquisition track is matched with the running track in the updated pre-acquisition order, wherein the second uploading instruction comprises the matched running track;
a second uploading instruction is sent to the vehicle, so that the vehicle uploads map data corresponding to the matched driving track to a cloud server;
And storing the uploaded map data after integrity verification, and modifying the state of the pre-acquisition order corresponding to the matched acquisition track.
8. The method of acquisition of claim 7, further comprising:
generating a second deleting instruction when it is determined that one acquisition track does not exist in the updated pre-acquisition order and is matched with the running track;
and sending a second deleting instruction to the vehicle, wherein the second deleting instruction is used for enabling the vehicle to delete the stored running track and map data corresponding to the running track.
9. The method of claim 5, wherein determining that the acquisition trajectory matches the travel trajectory comprises:
the ratio of the overlapping track between the acquisition track and the running track to the acquisition track is larger than a preset threshold.
10. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1 to 4, or any one of claims 5 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311100223.0A CN117109606A (en) | 2023-08-29 | 2023-08-29 | Map data acquisition method and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311100223.0A CN117109606A (en) | 2023-08-29 | 2023-08-29 | Map data acquisition method and electronic equipment |
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| CN117109606A true CN117109606A (en) | 2023-11-24 |
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| CN202311100223.0A Pending CN117109606A (en) | 2023-08-29 | 2023-08-29 | Map data acquisition method and electronic equipment |
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