CN117270913B

CN117270913B - Map updating method, device, electronic equipment and storage medium

Info

Publication number: CN117270913B
Application number: CN202311476230.0A
Authority: CN
Inventors: 于冲
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2023-11-08
Filing date: 2023-11-08
Publication date: 2024-02-27
Anticipated expiration: 2043-11-08
Also published as: CN117270913A

Abstract

The application discloses a map updating method, a map updating device, electronic equipment and a storage medium; the embodiment of the application relates to the map field, and can acquire road change information, wherein the road change information comprises change confidence coefficient of a road section to be checked, and the change confidence coefficient of the road section to be checked is associated with the latest change condition of the road section to be checked; determining a change state corresponding to the target road section according to the change confidence coefficient of the target road section; if the change state reflects the change of the target road section, acquiring a candidate road section connected with the target road section in the map, and determining a topology change road section from the candidate road section according to the target road section, wherein the topology change road section refers to the candidate road section influenced by the change state corresponding to the target road section; and determining a change area in the map according to the topology change road segments and the target road segments. In the embodiment of the application, the change area in the map can be rapidly determined according to the topology change road section and the target road section which are acquired in time. Therefore, the map updating efficiency can be improved by the scheme.

Description

Map updating method, device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of computers, and in particular, to a map updating method, a map updating device, an electronic device, and a storage medium.

Background

Updating map data in time according to real world changes is the basis and core of map services. At present, a street sweeping blind collection mode is often adopted to collect road networks of the whole city at regular intervals, and a map is updated according to collected road network information, wherein street sweeping blind collection means that collection equipment is used in the city, a specific route does not need to be planned in advance, and continuous and coherent data collection work is carried out on roads in the city range.

However, since the road traffic conditions often change and the frequency of collecting the roads is limited, the map often cannot be updated in time.

Disclosure of Invention

The embodiment of the application provides a map updating method, a map updating device, electronic equipment and a storage medium, which can improve map updating efficiency.

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

obtaining road change information, wherein the road change information comprises change confidence coefficient of a road section to be checked, and the change confidence coefficient of the road section to be checked is associated with the latest change condition of the road section to be checked;

according to the change confidence of the target road section, determining a change state corresponding to the target road section, wherein the target road section is any road section to be checked;

If the change state reflects that the target road section changes, acquiring a candidate road section connected with the target road section in the map, and determining a topology change road section from the candidate road section according to the target road section, wherein the topology change road section refers to the candidate road section influenced by a change area corresponding to the target road section;

and updating the map according to the topology change road section and the target road section.

The embodiment of the application also provides a map updating device, which comprises:

the road change information comprises the change confidence coefficient of the road section to be checked, and the change confidence coefficient of the road section to be checked is associated with the latest change condition of the road section to be checked;

the state determining unit is used for determining the change state corresponding to the target road section according to the change confidence coefficient of the target road section, wherein the target road section is any road section to be checked;

the topology unit is used for acquiring a candidate road section connected with the target road section in the map if the change state reflects the change of the target road section, determining a topology change road section from the candidate road section according to the target road section, wherein the topology change road section refers to the candidate road section influenced by a change area corresponding to the target road section;

and the map updating unit is used for updating the map according to the topology change road section and the target road section.

In some embodiments, determining the change state corresponding to the target road segment according to the change confidence of the target road segment includes:

comparing the change confidence coefficient of the target road section with a preset threshold value to obtain a comparison difference;

and determining the change state corresponding to the target road section according to the comparison difference.

In some embodiments, determining a topology change road segment from the candidate road segments based on the target road segment includes:

acquiring importance of a target road section, wherein the importance reflects the importance of the target road section in a traffic network;

and determining a topology change road section from the candidate road sections according to the road topology strategy corresponding to the importance degree.

In some embodiments, obtaining the importance of the target road segment includes:

acquiring at least one value evaluation data of a target road section and an evaluation weight corresponding to each value evaluation data;

multiplying the value evaluation data by the corresponding evaluation weight to obtain an evaluation value corresponding to the value evaluation data;

and adding the evaluation values corresponding to each value evaluation data to obtain the importance of the target road section.

In some embodiments, multiplying the value-assessment data by its corresponding assessment weight to obtain an assessment value corresponding to the value-assessment data includes:

Normalizing the value evaluation data to obtain normalized evaluation data;

converting the normalized evaluation data to obtain relative evaluation data corresponding to the normalized evaluation data, wherein the relative evaluation data is the complement of the normalized evaluation data;

multiplying the relative evaluation data by the corresponding evaluation weight to obtain an evaluation value corresponding to the relative evaluation data;

adding the evaluation values corresponding to each value evaluation data to obtain the importance of the target road section, wherein the method comprises the following steps:

and adding the evaluation values corresponding to each piece of relative evaluation data to obtain the importance of the target road section.

In some embodiments, the value evaluation data includes at least one of a traffic volume of the target road segment within a preset time period, a road segment collection number of the target road segment within the preset time period, a function level of the target road segment, a road type of the target road segment, a quantity of target road change information, and intersection information of the target road segment, the target road change information being road change information including a change confidence of the target road segment, the intersection information being for reflecting that the target road segment is an intersection.

In some embodiments, determining a topology change road segment from the candidate road segments according to a road topology strategy corresponding to the importance degree includes:

Obtaining a mapping relation between a preset importance and a preset road topology strategy;

determining a road topology strategy corresponding to the importance degree from the preset road topology strategy according to the mapping relation between the preset importance degree and the preset road topology strategy;

if the road topology strategy corresponding to the importance degree is a connection topology strategy, determining each candidate road section as a topology change road section;

if the road topology strategy corresponding to the importance degree is a linear direction topology strategy, determining a topology change road section from the candidate road sections according to the direction of the target road section.

In some embodiments, determining a topology change road segment from the candidate road segments according to the direction of the target road segment includes:

calculating an included angle between the target road section and the candidate road section;

and if the included angle is within the preset angle, determining the candidate road section as a topology change road section.

In some embodiments, updating the map according to the topology change road segment and the target road segment includes:

acquiring a change area containing a topology change road section and a target road section from a map;

collecting road information in a change area;

and updating the map according to the road information.

In some embodiments, obtaining a change region in a map that includes topology change road segments and target road segments includes:

Determining a position point corresponding to a road section to be converted in a map, wherein the road section to be converted comprises a topology change road section and a target road section, and the position point is positioned in the road section to be converted;

determining a core position point from the position points, and determining a road section where the core position point is located in the map as a change road section;

according to the change road sections, a change area is determined in the map.

In some embodiments, determining a core location point from the location points includes:

determining the number of the rest position points in a preset range of the position points by taking any one position point as a center;

if the number of the rest position points is not less than the preset number, determining the position points as core position points.

acquiring an initial change area containing a topology change road section and a target road section in a map;

performing grid division on the initial change area to obtain a plurality of grids;

acquiring the position point density in each grid;

if the density of the position points is not less than the preset density, determining the position points in the grid as core position points.

In some embodiments, determining a change region in the map from the change road segments includes:

Determining boundary endpoints from endpoints of all the changed road segments;

and connecting all boundary endpoints in the map to obtain a change area, wherein the change area comprises all change road sections.

In some embodiments, collecting road information in a change region includes:

obtaining a buffer distance;

expanding the change area outwards by a buffer distance in the map to obtain a buffer change area;

road information in the buffer change area is collected.

The embodiment of the application also provides electronic equipment, which comprises a processor and a memory, wherein the memory stores a plurality of instructions; the processor loads instructions from the memory to perform steps in any of the map updating methods provided by the embodiments of the present application.

Embodiments of the present application also provide a computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform steps in any of the map updating methods provided by the embodiments of the present application.

Embodiments of the present application also provide a computer program product comprising a plurality of instructions which when executed by a processor implement steps in any of the map updating methods provided by the embodiments of the present application.

The method and the device can acquire road change information, wherein the road change information comprises the change confidence coefficient of the road section to be checked, and the change confidence coefficient of the road section to be checked is associated with the latest change condition of the road section to be checked; according to the change confidence of the target road section, determining a change state corresponding to the target road section, wherein the target road section is any road section to be checked; if the change state reflects that the target road section changes, acquiring a candidate road section connected with the target road section in the map, and determining a topology change road section from the candidate road section according to the target road section, wherein the topology change road section refers to the candidate road section influenced by a change area corresponding to the target road section; and updating the map according to the topology change road section and the target road section.

In the method, the change confidence of the road to be checked can be obtained from the road change information, and the change confidence of the road to be checked is associated with the latest change condition of the road to be checked, so that when each road to be checked is analyzed, the road to be checked is taken as a target road, the change state corresponding to the latest target road can be obtained through the change confidence of the target road, after the change state reflects the change of the target road, the topology change road can be determined from the candidate road connected with the target road, the map can be updated quickly according to the topology change road and the target road which are obtained in time, and the map updating efficiency is improved.

Drawings

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

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

fig. 1b is a schematic flow chart of a map updating method according to an embodiment of the present application;

fig. 1c is a schematic diagram of a candidate road segment provided in an embodiment of the present application;

fig. 2a is a schematic diagram of a map updating method applied in a road scene according to an embodiment of the present application;

FIG. 2b is an analytical schematic of a variation region provided by an embodiment of the present application;

fig. 3 is a schematic structural diagram of a map updating apparatus according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a server according to an embodiment of the present application.

Detailed Description

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

The embodiment of the application provides a map updating method, a map updating device, electronic equipment and a storage medium.

It will be appreciated that in the specific embodiments of the present application, related data such as road change information and the like that needs to be acquired are required to obtain user permissions or agreements when the embodiments of the present application are applied to specific products or technologies, and the collection, use and processing of the related data is required to comply with relevant laws and regulations and standards of relevant countries and regions.

The map updating device can be integrated in an electronic device, and the electronic device can be a terminal, a server and other devices. The terminal can be a mobile phone, a tablet computer, an intelligent Bluetooth device, a notebook computer, a personal computer (Personal Computer, PC) or the like; the server may be a single server or a server cluster composed of a plurality of servers.

In some embodiments, the map updating apparatus may also be integrated in a plurality of electronic devices, for example, the map updating apparatus may be integrated in a plurality of servers, and the map updating method of the present application is implemented by the plurality of servers.

In some embodiments, the server may also be implemented in the form of a terminal.

For example, referring to fig. 1a, the electronic device S may acquire road change information including a change confidence of a road segment to be checked, the change confidence of the road segment to be checked being associated with a latest change condition of the road segment to be checked; according to the change confidence of the target road section, determining a change state corresponding to the target road section, wherein the target road section is any road section to be checked; if the change state reflects that the target road section changes, acquiring a candidate road section connected with the target road section in the map, and determining a topology change road section from the candidate road section according to the target road section, wherein the topology change road section refers to the candidate road section influenced by a change area corresponding to the target road section; and updating the map according to the topology change road section and the target road section.

The change confidence of the road to be checked can be obtained from the road change information, and the change confidence of the road to be checked is associated with the latest change condition of the road to be checked, so that when each road to be checked is analyzed, the road to be checked is taken as a target road, the change state corresponding to the latest target road can be obtained through the change confidence of the target road, after the change state reflects the change of the target road, the topology change road can be quickly determined from candidate road connected with the target road, the map can be quickly updated according to the timely obtained topology change road and the target road, and the map updating efficiency is improved.

In addition, the present application may acquire a plurality of road change information at the same time, and each road change information may include a change confidence of at least one road segment to be checked, where the change confidence of the same road segment to be checked may be different among the plurality of road change information. When each road section to be checked is analyzed, the road section to be checked is taken as a target road section, and after at least one change confidence coefficient corresponding to the target road section is comprehensively considered, the change state corresponding to the target road section can be determined, so that errors and uncertainties in single change confidence coefficient judgment are avoided, the accuracy and the efficiency of analysis can be improved, and particularly in the analysis of a large-scale road network, the time cost can be remarkably reduced. After the change state reflects the change of the target road section, the topology change road section can be quickly determined from the candidate road sections connected with the target road section in the map, so that the change area influenced by the change of the target road section is timely determined in the map according to the topology change road section and the target road section, thus the unnecessary analysis range is reduced, and the determination efficiency of the change area in the map is improved.

The following will describe in detail. The numbers of the following examples are not intended to limit the preferred order of the examples.

Artificial intelligence (Artificial Intelligence, AI) is the theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and extend human intelligence, sense the environment, acquire knowledge and use the knowledge to obtain optimal results. In other words, artificial intelligence is an integrated technology of computer science that attempts to understand the essence of intelligence and to produce a new intelligent machine that can react in a similar way to human intelligence. Artificial intelligence, i.e. research on design principles and implementation methods of various intelligent machines, enables the machines to have functions of sensing, reasoning and decision.

The artificial intelligence technology is a comprehensive subject, and relates to the technology with wide fields, namely the technology with a hardware level and the technology with a software level. Artificial intelligence infrastructure technologies generally include, for example, sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, pre-training model technologies, operation/interaction systems, mechatronics, and the like. The pre-training model is also called a large model and a basic model, and can be widely applied to all large-direction downstream tasks of artificial intelligence after fine adjustment. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and other directions.

Computer Vision (CV) is a science of studying how to "look" at a machine, and more specifically, to replace human eyes with a camera and a Computer to perform machine Vision such as recognition, tracking and measurement on a target, and further perform graphic processing to make the Computer process an image more suitable for human eyes to observe or transmit to an instrument for detection. As a scientific discipline, computer vision research-related theory and technology has attempted to build artificial intelligence systems that can acquire information from images or multidimensional data. The large model technology brings important innovation for the development of computer vision technology, and a pre-trained model in the vision fields of swin-transformer, viT, V-MOE, MAE and the like can be rapidly and widely applied to downstream specific tasks through fine tuning. Computer vision techniques typically include image processing, image recognition, image semantic understanding, image retrieval, OCR, video processing, video semantic understanding, video content/behavior recognition, three-dimensional object reconstruction, 3D techniques, virtual reality, augmented reality, synchronous positioning, and map construction, among others, as well as common biometric recognition techniques such as face recognition, fingerprint recognition, and others.

The automatic driving technology refers to that the vehicle realizes self-driving without operation of a driver. Typically including high-precision maps, environmental awareness, computer vision, behavioral decision-making, path planning, motion control, and the like. The automatic driving comprises various development paths such as single car intelligence, car-road coordination, networking cloud control and the like. The automatic driving technology has wide application prospect, and the current field is the field of logistics, public transportation, taxis and intelligent transportation, and is further developed in the future.

With research and advancement of artificial intelligence technology, research and application of artificial intelligence technology is being developed in various fields, such as common smart home, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned, autopilot, unmanned, digital twin, virtual man, robot, artificial Intelligence Generated Content (AIGC), conversational interactions, smart medical, smart customer service, game AI, etc., and it is believed that with the development of technology, artificial intelligence technology will be applied in more fields and with increasing importance value.

In this embodiment, a map updating method related to the map field is provided, as shown in fig. 1b, the specific flow of the map updating method may be as follows:

101. And acquiring road change information, wherein the road change information comprises the change confidence coefficient of the road section to be checked, and the change confidence coefficient of the road section to be checked is associated with the latest change condition of the road section to be checked.

The road change information is information sent by a road detection source when the road state is detected to change, wherein the road detection source is equipment for detecting the road change condition in real time.

For example, in the same period, only the road change information transmitted from one road detection source may be acquired, and the road change information transmitted from a plurality of road detection sources may also be acquired.

For example, road change information may be obtained from the following road detection sources:

the road change information may be information transmitted when the road collection device detects that different states (such as states of construction, vehicle congestion, accident, etc.) exist in a current time period relative to a historical time period of a certain road section through a computer vision technology, and the historical time period is a time period before the current time period. If the current time period refers to the XXX month XX day of the XXXX year, the history time period is a time period before the XXX month XX day of the xxxxxx year, if the current time period refers to the XXX month XX day X of the xxxxx year, the second time period is a time period before the XX month XX day X of the xxxxx year, and so on.

The road change information may also be information sent by detecting that a certain road section has different states in at least two navigation systems (such as a vehicle navigation system, a smart phone navigation system and the like) at the same time. The information transmitted when the navigation system detects the yaw positioning may be information transmitted when the navigation system, the traffic management department website and the like detect the road condition information, construction information and the like of a certain road, and the like.

The road section to be checked is a road section with changed state reflected by road change information, wherein the road change information comprises at least one road section to be checked. For example, the road segment to be inspected may be a road segment corresponding to various conditions detected by the road detection source, such as construction, vehicle congestion, accidents, traffic restrictions, road condition changes, and the like.

The change confidence level depends on the latest change condition of the road section to be checked, is used for measuring the reliability of the state change of the road section to be checked, and is the confidence level generated when the detection source of the real-time change information of the road senses the state change of the road section to be checked, and the change confidence level of the road section generated when different road detection sources detect the same road section at the same time can be different.

The latest change condition refers to a condition when the latest change occurs in the road section to be checked. For example, the latest change condition may be the latest condition in terms of construction, vehicle congestion, accidents, traffic restrictions, road condition changes, etc. of the road section to be inspected.

In some embodiments, in order to avoid processing each road change information, after obtaining the road change information, considering that the road change information may lack necessary information, the method further includes:

acquiring an identifier of a road detection source of the road change information, a road section identifier of a road section to be checked and a change confidence degree from the road change information;

and if the road change information lacks at least any one of the identifier of the road detection source, the road segment identifier and the change confidence, filtering the road change information.

The identifier of the road detection source refers to an identifier of a device for detecting the road change condition. For example, the road detection source may specifically be an internet protocol address (Internet Protocol Address, IP address), a number, a name, or the like of the road detection source that transmits the road change information.

The link Identifier may be a link (Id), which is an Identifier for identifying a link to be checked. For example, the link Id may be a name, a code, a number, a character string, or the like indicating the link to be checked.

102. And determining the change state corresponding to the target road section according to the change confidence of the target road section, wherein the target road section is any road section to be checked.

The target road section is any road section to be detected in all the acquired road change information.

The change state may reflect whether a change in state occurs in the target link. For example, the change state may reflect a change in state of the target link in terms of traffic flow, road congestion, road condition, traffic accident, change in vehicle speed, and the like.

In some embodiments, in order to facilitate comprehensive consideration of the change confidence of the target road segment in a plurality of road change information when analyzing the change state of the target road segment, the road change information includes a road segment identifier of the road segment to be inspected;

according to the change confidence of the target road section, determining the corresponding change state of the target road section comprises the following steps:

and classifying the change confidence coefficient of the road section to be checked in the plurality of road change information according to the road section identifier of the road section to be checked to obtain the change confidence coefficient of at least one road section to be checked corresponding to the same road section identifier.

For example, the road change information 1 and the road change information 2 are obtained by a preset frequency, the road change information 1 includes a road identifier "B1" and a change confidence coefficient a ' of the road section a to be detected, and a road identifier "B2" and a change confidence coefficient B ' of the road section B to be detected, and the road change information 2 includes a road identifier "B1" and a change confidence coefficient a″ of the road section a to be detected, and a road identifier "B3" and a change confidence coefficient c ' of the road section c to be checked, wherein the preset frequency is the frequency of obtaining the road change information.

For example, the preset frequency may be 1 day, 1 month, 2 months, etc., and the preset frequency is not limited herein.

Classifying the change confidence coefficient of the road to be detected in the road change information 1 and the road change information 2 according to the road identifier 'B1' of the road to be detected a, the road identifier 'B2' of the road to be detected B and the road identifier 'B3' of the road to be detected c respectively to obtain a change confidence coefficient a 'and a change confidence coefficient a' of the road to be detected a corresponding to the road identifier 'B1', a change confidence coefficient B 'of the road to be detected B corresponding to the road identifier' B2 'and a change confidence coefficient c' of the road to be detected c corresponding to the road identifier 'B3'.

In some embodiments, to determine the change state of the target road segment according to the change confidence of the target road segment, determining the change state corresponding to the target road segment includes:

The preset threshold is a preset threshold for the change confidence of the target road section, and the value range of the preset threshold is not limited.

The comparison difference may reflect a difference in the confidence of the change in the target road segment relative to a preset threshold.

For example, if the preset threshold is 0.3 and the change confidence of the target road segment is 0.5, that is, the change confidence of the comparison difference reflecting the target road segment is not less than the preset threshold, the change state corresponding to the target road segment reflects the change of the target road segment.

If the preset threshold is 0.3, the change confidence of the target road section is 0.2, namely the comparison difference reflects that the change confidence of the target road section is smaller than the preset threshold, and the change state corresponding to the target road section reflects that the target road section is not changed.

103. If the change state reflects the change of the target road section, acquiring a candidate road section connected with the target road section in the map, and determining a topology change road section from the candidate road section according to the target road section, wherein the topology change road section refers to the candidate road section influenced by the change state corresponding to the target road section.

Wherein the map may describe geographic information of a region, which may include natural and humane elements of land, water, road, city, mountain, river, forest, etc.

The candidate road segments are road segments in the map that are connected to the target road segment.

The topology change link is a candidate link affected by a change state corresponding to the target link in a traffic network, which is a network structure composed of traffic facilities such as various types of roads (e.g., land, railway, waterway), and the like.

For example, the topology change road segments may be determined from the candidate road segments according to the degree of change of the target road segments, or according to the importance of the target road segments in the traffic network, or according to the level, function, etc. of the target road segments.

In some embodiments, to obtain a topology change road segment affected by the target road segment, determining the topology change road segment from the candidate road segments according to the target road segment includes:

The importance may reflect the importance of the target road segment in the traffic network.

The road topology policy is a policy that a topology change section affected by a target section can be selected from the candidate sections. For example, as shown in fig. 1c, if the candidate link L1, the candidate link L2, the candidate link L3, the candidate link L4, the candidate link L5, and the candidate link L6 are connected to the target link, the candidate link L1 and the candidate link L2 may be regarded as topology change links of the target link when the importance of the target link is low. When the importance of the target link is high, the candidate link L1, the candidate link L2, the candidate link L3, the candidate link L4, the candidate link L5, and the candidate link L6 may be regarded as topology change links of the target link.

In some embodiments, to determine the importance of the target road segment, obtaining the importance of the target road segment includes:

The value evaluation data refers to data which can evaluate the use condition of the target road section and is used for analyzing and evaluating the importance of the target road section.

The evaluation weight is a weight coefficient used for comprehensively evaluating and weighing the different value evaluation data, and can reflect the relative importance of the value evaluation data in the overall evaluation, and is used for quantitatively calculating and comparing the comprehensive value contribution of the different value evaluation data to the target road section.

The evaluation value reflects the degree of relative value contribution of the value evaluation data to the target link in the overall evaluation.

For example, the value evaluation data of the target road segment includes value evaluation data P1 and value evaluation data P2 … … value evaluation data Pn, each value evaluation data is respectively associated with an evaluation weight corresponding to the value evaluation data P1, an evaluation weight w1 corresponding to the value evaluation data P1, an evaluation weight w2 … … corresponding to the value evaluation data Pn, an evaluation weight wn corresponding to w1+w2+ … +wn=1, and an importance=p1×w1+p2×w2+ … +pn×wn.

The preset time period is preset time capable of measuring the service condition of the target road section. For example, the preset time may be 1 month, 1 day, 1 hour, etc., and the range of the preset time period is not limited herein.

The vehicle traffic may reflect the vehicle flow through the target road segment within a preset period of time.

The road segment acquisition times refer to the times of observing the target road segment by adopting road acquisition equipment (such as sensor equipment, a detection camera and the like) in a preset time period.

The function grade refers to a grade obtained by dividing a target road section according to road functions, wherein the road functions are divided according to the use requirement of a road and the traffic flow of service so as to meet the traffic demand and the target.

For example, assume that the target road segment connects a business center of a large city and surrounding residential areas. This target section is responsible for the traffic demands of connecting the business center and the residential area, while also accommodating large volumes of traffic such as private cars, public transportation vehicles, trucks, etc. The functional level of the target link may be classified as arterial or expressway depending on the usage demand of the target link and the traffic flow being serviced. Arterial roads generally have higher traffic capacity and speed, can meet the traffic demand of a larger scale, and expressways pay more attention to the rapid traffic of vehicles.

The function level of the arterial road may be defined as 00, the function level of the expressway may be defined as 01, that is, the lower the function level is, the more important the function level is, and the higher the function level is, the more important the function level is, and the setting of the function level is not limited here.

The road type of the target road section refers to a type obtained by dividing the target road section according to the road type, wherein the road type is classified and graded according to factors such as design standards, traffic capacity and the like of the road so as to facilitate traffic planning and management.

For example, assuming that the target link is a link in a road connecting two cities, the target link needs to bear the transportation demands of coaches and trucks, while also ensuring safe and stable driving of the vehicle. The target road type of the target road section may be classified as national road or expressway according to design criteria and traffic capacity.

National roads and highways are two different road types, which differ in design criteria, traffic capacity, speed limit, etc. National roads are usually main trunk roads connecting cities and villages, the traffic capacity is higher, the speed is relatively lower, the speed limit is also more flexible, expressways are rapid channels connecting cities, the traffic capacity is very high, and the speed limit is also relatively fixed.

The road type includes urban roads, county roads, country roads, mountain roads, etc., mountain roads may be defined as 0, country roads may be defined as 1, county roads may be defined as 2, urban roads may be defined as 3, national roads may be defined as 4, expressways may be defined as 5, etc., in addition to national roads and expressways, and the setting of the road type is not limited here.

The number of target road change information refers to the number of road change information including the change confidence of the target link.

For example, in the same time period, 3 pieces of road change information are obtained, the 3 pieces of road change information include road change information 1, road change information 2 and road change information 3, the road change information 1 includes a change confidence coefficient a 'of a to-be-detected road section a, the road change information 2 includes a change confidence coefficient a″ of the to-be-detected road section a, the road change information 3 includes a change confidence coefficient b' of a to-be-detected road section b, if the target road section is the to-be-detected road section a, the number of the target road change information is 2, and if the target road section is the to-be-detected road section b, the number of the target road change information is 1. The intersection information is used for reflecting whether the target road section belongs to the intersection.

For example, the intersection information directly indicates whether the target road segment is an intersection, i.e., the intersection information may or may not be an intersection. The intersection information may also indicate whether the target road segment is a road segment indirectly, that is, the intersection information may be point (intersection) =1, which may indicate that the target road segment belongs to an intersection, and the intersection information may also be point=0, which may indicate that the target intersection does not belong to an intersection.

In some embodiments, to determine the importance of the target road segment, multiplying the value evaluation data by its corresponding evaluation weight to obtain an evaluation value corresponding to the value evaluation data includes:

normalizing the value evaluation data to obtain normalized evaluation data;

Wherein the normalized evaluation data is in the range of converting the value evaluation data to [0,1 ].

Normalized evaluation data (x) = (x-min)/(max-min), where x is the value evaluation data, min is the minimum value of the value evaluation data, and max is the maximum value of the value evaluation data.

For example, the normalized evaluation data may include normalized vehicle traffic, normalized road segment collection times, normalized function levels, normalized target road types, normalized target road change information amounts, normalized intersection information, and the like.

The relative evaluation data is the complement of the normalized evaluation data, which is equal to 1-x.

For example, the relative evaluation data may include relative vehicle traffic, relative road segment collection times, relative function levels, relative target road types, relative target road change information amounts, relative intersection information, and the like.

Importance degree of the target link=relative vehicle traffic amount×w1+relative link acquisition number×w2+relative function level×w3+relative target road type×w4+number of relative target road change information×w5+relative intersection information×w6.

w1+ w2+ w3+ w4+ w5+ w6=1。

In some embodiments, to select a road topology policy corresponding to the importance, determining a topology change road segment from the candidate road segments according to the road topology policy corresponding to the importance includes:

and if the road topology corresponding to the importance degree is a linear direction topology strategy, determining a topology change road section from the candidate road sections according to the direction of the target road section.

The preset importance is preset importance.

The preset road topology policy is a preset policy for determining a road section affected by the target road section.

The mapping relation between the preset importance and the preset road topology strategy is used for reflecting the association between the preset importance and the preset road topology strategy.

The connection topology policy is used to indicate that all segments connected to the target segment are affected by the target segment.

The linear direction topology policy is used to indicate that a road segment in a linear direction along the target road segment is affected by the target road segment.

The direction of the target link refers to a direction along which the target link extends.

For example, the mapping relationship between the preset importance level and the preset road topology policy may set a connection topology policy corresponding to the preset importance level [0.7,1], and a linear direction topology policy corresponding to the preset importance level (0.7,0).

For example, as shown in fig. 1c, when the importance of the target link belongs to (0.7,0), the candidate link L1, the candidate link L2 may be regarded as the topology change link of the target link, and when the importance of the target link belongs to [0.7,1], the candidate link L1, the candidate link L2, the candidate link L3, the candidate link L4, the candidate link L5, and the candidate link L6 may be regarded as the topology change link of the target link.

In some embodiments, to select a road topology policy corresponding to the importance, determining a topology change road segment from the candidate road segments according to the road topology policy corresponding to the importance includes: obtaining a mapping relation between a preset importance level and a preset road section level and a mapping relation between the preset road section level and a preset road topology strategy;

grading the importance according to the mapping relation between the preset importance and the preset road section grade, and obtaining the road section grade corresponding to the importance;

determining a road topology strategy corresponding to the road section grading from the preset road topology strategy according to the mapping relation between the preset road section grade and the preset road topology strategy;

if the road topology strategy corresponding to the road segment classification is a connection topology strategy, determining each candidate road segment as a topology change road segment;

If the road topology strategy corresponding to the road segment classification is a linear direction topology strategy, determining a topology change road segment from the candidate road segments according to the direction of the target road segment.

The preset importance is preset importance.

The preset road section grade is a preset road section grade corresponding to the preset importance.

The mapping relation between the preset importance level and the preset road section grade is used for associating the preset importance level with the preset road section grade.

For example, the mapping relationship between the preset importance level and the preset link level may include that the preset importance level [0.9,1] corresponds to the level 1 link, the preset importance level [0.7,1 ] corresponds to the level 2 link, the preset importance level [0.3, 0.7) corresponds to the level 3 link, and the preset importance level [0, 0.3) corresponds to the level 4 link.

The mapping relation between the preset road section grade and the preset road topology strategy is used for associating the preset road section grade with the preset road topology strategy.

For example, the mapping relationship between the preset road segment class and the preset road topology policy may include a connection topology policy corresponding to a level 1 road segment and a level 2 road segment, and a linear direction topology policy corresponding to a level 3 road segment and a level 4 road segment.

Road segment classification is used to represent a classification of the importance of a target road segment in a traffic network.

In some embodiments, to obtain a topology change road segment in a direction of a target road segment, determining the topology change road segment from the candidate road segments according to the direction of the target road segment includes:

The included angle is the angle between the candidate road sections and the target road section.

For example, if the angle of the target link-the angle of the candidate link is less than or equal to 180 °, the included angle=the angle of the target link-the angle of the candidate link.

If the angle of the target link-the angle of the candidate link > 180 °, then the included angle=360° - (the angle of the target link-the angle of the candidate link).

The preset angle is a preset angle for measuring the included angle, so that whether the candidate road section is in the linear direction of the target road section or not is determined.

For example, if the preset angle is set to 30 °, and the included angle between the target link and the candidate link is smaller than 30 °, the candidate link may be regarded as a topology change link affected by the target link.

104. And updating the map according to the topology change road section and the target road section.

For example, after the topology change road section and the target road section are acquired, the map is updated, so that the change of the topology change road section and the target road section can be reflected in the map (such as a vacation map), and a driver or a traveler can change a travel route, a travel mode and the like according to the updated map.

Or prompting traffic maintenance personnel to strengthen traffic guidance (such as prolonging traffic lights and dispatching vehicle guiding personnel) on the topology change road section and the target road section, optimizing the topology change road section and the target road section (such as widening the topology change road section and the target road section or adding a new diversion road section), and the like, and reducing the travel influence of the topology change road section and the target road section on the traveler.

In some embodiments, to implement updating the map, updating the map according to the topology change road segments and the target road segments includes:

collecting road information according to the topology change road section and the target road section, wherein the road information comprises the road information respectively corresponding to the topology change road section and the target road section;

and updating the map according to the road information.

The road information comprises road information corresponding to the topology change road sections and the target road sections respectively. For example, the road information may include information on a vehicle traveling speed of a road segment of a road change, a duration of a traffic light, a congestion time, a road condition, and the like.

For example, after the road information is obtained, parameters related to the topology change road segment and the target road segment may be updated in the map, so as to reflect the road information corresponding to the topology change road segment and the target road segment in the map.

In some embodiments, after updating the map according to the topology change road segment and the target road segment, the method further comprises:

and generating traffic prompt information in response to the updating of the map so as to prompt the topology change road section and the target road section to change through the traffic prompt information.

The traffic prompt information is information for prompting traffic change of the topology change road section and the target road section. For example, the traffic prompt information can be sent to the user terminal in the form of a short message, and can be sent to the public number after the user pays attention to the public number such as traffic announcement through an instant messaging account, and can be prompted in the navigation system in the form of text or voice broadcasting by means of the traffic prompt information besides updating the map in the navigation system (such as a messenger map).

In some embodiments, to prompt the influence of the road section with traffic change on the area, updating the map according to the topology change road section and the target road section includes:

collecting road information in a change area;

And updating the map according to the road information.

The change area is an area affected by the target link and the topology change link after the change state corresponding to the target link changes.

The road information includes road information corresponding to all roads in the change area, respectively.

For example, the change area includes other road segments besides the topology change road segment and the target road segment, and road information corresponding to the topology change road segment, the target road segment and the other road segments is required to be obtained, where the road information may be information about vehicle running speed, duration of traffic lights, congestion time, road condition and the like of the corresponding road segment.

For example, if the change state corresponding to the target road segment reflects that the target road segment changes in at least one aspect of traffic flow, road congestion, road condition, traffic accident, vehicle speed change, road construction and the like, obtaining a topology change road segment affected by the change of the target road segment, determining a change area containing the topology change road segment and the target road segment in the map, collecting road information corresponding to all roads in the change area, and updating the map according to the road information corresponding to each road segment in the change area.

Therefore, after the traffic maintainer observes the updated map, the traffic problem in the change area can be adjusted by adjusting the duration of the signal lamp in the change area, optimizing road planning in the change area, enhancing traffic guidance in the change area and the like, so that the influence of the change of the target road section on traffic can be reduced, and the traffic running efficiency and safety are improved. In addition, residents in the change area and drivers who need to pass through the change area can adjust own travel plans immediately.

In addition, the updated map can also help traffic maintenance personnel to make resource allocation and decision making in advance when making road planning in the optimized change area. For example, the target road section a is a main road of a city center, the daily traffic flow is large, but recently due to city development planning, construction is planned on the target road section a, so that traffic conditions change, in order to reduce the influence of the change of the target road section a on traffic, a topology change road section which is obviously influenced by the target road section a is obtained, a change area can be determined by the target road section a and the topology change road section thereof, and in the change area, traffic guidance can be enhanced, and road planning can be optimized, so that smooth traffic is ensured.

In some embodiments, to make it possible to determine a change region, obtaining a change region including a topology change road segment and a target road segment in a map includes:

According to the change road sections, a change area is determined in the map.

The road segments to be converted comprise topology change road segments and target road segments, and the topology change road segments and the target road segments need to be converted into position points.

The location point is a point into which the section to be converted is converted, and is located at the section to be converted.

For example, if the length of the road section to be converted is smaller than the preset length (for example, 100 meters), any point (for example, a center point, an end point, etc.) of the road section to be converted is taken as the location point. If the length of the road section to be converted is greater than the preset length, starting from the starting point of the road section to be converted, taking any point (such as a center point, an end point and the like) as a position point by each preset length.

The core location point refers to the location point that has the most significant impact on traffic.

The change road section is a road section where the core location point is located.

For example, the changing road section may be an intersection with the largest traffic flow, a road section with the most obvious traffic bottleneck, a dangerous road section with frequent traffic accidents, a road section with road construction, and the like.

In some embodiments, in order to facilitate determining a road segment where the core location point is located, after determining a location point corresponding to the road segment to be converted in the map, the method further includes:

establishing a mapping relation between the position points and the road sections to be converted;

The method for determining the road section where the core position point is located in the map as the changed road section comprises the following steps:

and taking the road section to be converted, in which the core position point is located, as a change road section according to the mapping relation between the position point and the road section to be converted.

The mapping relation between the location point and the road section to be converted is used for associating the location point with the road section to be converted.

In some embodiments, to screen out core location points from location points, determining core location points from the location points includes:

Wherein, the center refers to analysis and observation with the position point as the center.

The preset range refers to a specific distance or area range set around a certain position point as the center. For example, the preset range may be a circle formed by a set radius, a square, or the like.

The remaining position point data refers to the number of remaining position points other than the position point within a preset range of the position point centering on the position point.

For example, a circle i having a predetermined range around the position point i is obtained, and if there are 4 remaining position points in addition to the position point i, the number of remaining position points is 4.

The preset number is preset data for measuring the number of the rest position points.

For example, if the preset number is set to 6, and there are 4 remaining position points except for the position point i, it is explained that the position point i is not the core position point, and if there are 7 remaining position points except for the position point i, it is explained that the position point i is the core position point.

acquiring the position point density in each grid;

Wherein the initial change region is a region surrounding the topology change road segment and the target road segment in the map.

The grid is a unit constituting an initial change region.

The location point density may represent the number of location points in the grid.

Location point density = number of location points in grid/area of grid.

The preset density is used to measure the density of location points in the grid.

For example, if the preset density is 0.5, if the density of the position points in the grid is not less than 0.5, all the position points in the grid may be used as core position points. If the location point density in the grid is less than 0.5, then all location points in the grid are not core location points.

In some embodiments, to make it possible to determine a change area, determining a change area in a map according to a change road section includes:

determining boundary endpoints from endpoints of all the changed road segments;

Wherein the end points of the change road segments are the start point and the end point of the change road segments.

The boundary end point is the end point at the outermost periphery among the end points of all the change road sections.

For example, a convex hull algorithm, a furthest point algorithm, a divide-and-conquer method, etc. may be used to select boundary endpoints from among the endpoints of all the varying road segments.

The convex hull algorithm may calculate convex hulls (minimum convex polygons) of the endpoints of all the varying road segments, and then select vertices on the convex hulls as boundary endpoints.

The furthest point algorithm may calculate the distance of each endpoint from other endpoints and select the endpoint with the greatest distance as the boundary endpoint.

The divide-and-conquer method can divide a point set formed by the endpoints of all the changed road sections into smaller subsets, then recursively find the outermost peripheral points of each subset, and then find the outermost peripheral points of the whole point set according to the outermost peripheral points of the subsets.

In some embodiments, to enhance the optimization capability of the change area, the change area including the change road section is obtained in the map, including:

obtaining a buffer distance;

road information in the buffer change area is collected.

The buffer distance is used for expanding the influence range of the change area so as to optimize the traffic problem of the change area.

The buffer change region is a region obtained after the change region is expanded outwards by a buffer distance.

For example, if the buffer distance is 20 meters, the change region is expanded outwards by the buffer distance, and the buffer change region is obtained, wherein the buffer change region and the change region are separated by the buffer distance. After the buffer change area is obtained, current road information of all roads in the buffer change area is collected through a camera of the vehicle-mounted terminal, a camera arranged on a street, a traffic light control system and the like, so that a map is updated through the current road information corresponding to each road in the buffer change area, traffic maintenance personnel can acquire the current road information of each road in the buffer change area from the updated map through the updated map, planning for the buffer change area can be made, such as operations of adjusting signal lamp duration in the buffer change area, optimizing road planning in the buffer change area, strengthening traffic guidance in the buffer change area and the like, and traffic problems in the buffer change area are adjusted. Meanwhile, residents in the buffer change area and drivers who need to pass through the buffer change area can acquire current road information of each road in the buffer change area through the updated map, and the travel plan of the residents can be adjusted in time.

In some embodiments, expanding the change region outward a buffer distance in the map results in a buffered change region, comprising:

expanding the change area outwards to form a rectangular change area;

and expanding the rectangular change area outwards by a buffer distance in the map to obtain the buffer change area.

The rectangular change area is a rectangular area surrounded by the change area, and the rectangular change area can be a circumscribed rectangle of the change area.

As can be seen from the above, the embodiment of the present application may obtain road change information, where the road change information includes a change confidence coefficient of a road section to be checked, and the change confidence coefficient of the road section to be checked is associated with a latest change condition of the road section to be checked; according to the change confidence of the target road section, determining a change state corresponding to the target road section, wherein the target road section is any road section to be checked; if the change state reflects that the target road section changes, acquiring a candidate road section connected with the target road section in the map, and determining a topology change road section from the candidate road section according to the target road section, wherein the topology change road section refers to the candidate road section influenced by a change area corresponding to the target road section; and determining a change area in the map according to the topology change road segments and the target road segments.

Therefore, the change confidence of the road section to be checked can be obtained from the road change information, the change confidence of the road section to be checked is associated with the latest change condition of the road section to be checked, when each road section to be checked is analyzed, the road section to be checked is taken as a target road section, the change state corresponding to the latest target road section can be obtained through the change confidence of the target road section, after the change state reflects the change of the target road section, the topology change road section can be quickly determined from candidate road sections connected with the target road section, so that a map can be quickly updated according to the timely obtained topology change road section and the target road section, and the map updating efficiency is improved.

The method described in the above embodiments will be described in further detail below.

In the present embodiment, a method of the embodiment of the present application will be described in detail taking a road as an example.

As shown in fig. 2a, the map updating method is also suitable for tasks such as interest points (Point Of Interest) and ship channels, and the specific flow is as follows:

201. road change information sent by a multi-source road detection source is obtained, the road change information comprises an identifier of the road detection source of the road change information, a road section identifier of a road section to be checked and a change confidence coefficient, and the road detection source is used for detecting the road state.

The road change information sent by the various road detection sources comprises, but is not limited to, information sent by the road acquisition equipment when the road acquisition equipment detects that different states (such as construction, vehicle congestion, accidents and the like) exist in a certain road section in a first time period relative to at least one second time period through a computer vision technology, information sent by the road section in different states in at least two navigation systems (such as a vehicle navigation system, a smart phone navigation system and the like) at the same time, information sent by the navigation system when the navigation system detects positioning yaw, wherein the information carries the change confidence coefficient of the road section corresponding to the positioning yaw, and information sent by road condition information, construction information and the like of a certain road when the navigation system, a traffic management department website and the like are detected.

In some embodiments, the road change information is filtered if it lacks at least any one of an identifier of the road detection source, a link identifier, and a change confidence.

202. And classifying the change confidence coefficient of the road section to be checked in the plurality of road change information according to the road section identifier of the road section to be checked to obtain the change confidence coefficient of at least one road section to be checked corresponding to the same road section identifier, wherein the change confidence coefficient of the road section to be checked is associated with the latest change condition of the road section to be checked.

In some embodiments, before classifying the change confidence of the road segment to be checked in the plurality of road change information according to the road segment identifier of the road segment to be checked to obtain the change confidence of at least one road segment to be checked corresponding to the same road segment identifier, the method further includes:

if the road change information comprises the change confidence coefficient of the plurality of road sections to be checked, splitting the change confidence coefficient of the plurality of road sections to be checked to obtain the change confidence coefficient of each road section to be checked.

203. And determining at least one contrast difference according to the change confidence coefficient of at least one road section to be checked corresponding to the same road section identifier and a preset threshold value, and determining the change state corresponding to the target road section according to the at least one contrast difference.

For example, if the confidence of the change of the at least one comparison difference reflecting the target road section is not less than the preset threshold, the change state corresponding to the target road section may reflect the change of the target road section. If each comparison difference reflects that the change confidence coefficient of the target road section is smaller than the preset threshold value, the change state corresponding to the target road section can reflect the change of the target road section.

204. And if the change state reflects the change of the target road section, calculating the importance of the target road section.

In some embodiments, calculating the importance of the target road segment includes:

if the change state reflects the change of the target road section, acquiring at least one value evaluation data of the target road section and an evaluation weight corresponding to each value evaluation data;

normalizing the value evaluation data to obtain normalized evaluation data;

In some embodiments, the value assessment data may also be the number of points of interest, the number of users, etc.

205. And grading the importance according to the mapping relation between the preset importance and the preset road section grade, and obtaining the road section grade corresponding to the importance.

206. And obtaining a candidate road section connected with the target road section in the map, presetting a mapping relation between the road section grade and a preset road topology strategy, and determining the road topology strategy corresponding to the road section grade from the preset road topology strategy.

207. If the road topology strategy corresponding to the road segment classification is a connection topology strategy, determining each candidate road segment as a topology change road segment; if the road topology strategy corresponding to the road segment classification is a linear direction topology strategy, determining a topology change road segment from the candidate road segments according to the direction of the target road segment.

208. And converting the road section to be converted into a position point in the map, and establishing a mapping relation between the position point and the road section to be converted, wherein the road section to be converted comprises a topology change road section and a target road section.

For example, if the preset length is 100 meters, when the length of the road section to be converted is less than 100 meters, the center point of the road section to be converted is taken as the position point. When the length of the road section to be converted is greater than 100 meters, the road section to be converted is divided according to the preset length from the starting point of the road section to be converted, a plurality of sub road sections with the preset length are obtained, and the central point of the sub road sections with the preset length is used as a position point.

209. Core location points are extracted from the location points based on a density clustering algorithm.

In some embodiments, extracting core location points from location points based on a density clustering algorithm includes:

determining an initial change area in the map according to the topology change road section and the target road section;

acquiring the position point density in each grid;

In some embodiments, core location points may also be extracted from location points by voting or thresholding, or the like.

210. And taking the road section to be converted, in which the core position point is located, as a change road section according to the mapping relation between the position point and the road section to be converted, and determining a change area in the map according to the change road section.

For example, the variation region may be a convex polygon.

211. And expanding the change area outwards to form a rectangular change area, and expanding the rectangular change area outwards by a buffer distance in the map to obtain the buffer change area.

As shown in fig. 2b, a target road segment in the map is detected, a topology change road segment connected with the target road segment is determined, a change area q1 of a convex polygon is obtained according to the target road segment and the topology change road segment, and then the change area q1 is outwards expanded to be a rectangular change area q2.

212. Road information in the buffer change area is collected, and the map is updated according to the road information.

Therefore, after the map is updated, the current road information in the buffer change area can be obtained from the map, so that traffic maintenance personnel can perform operations of adjusting the time length of a signal lamp in the buffer change area, optimizing road planning in the buffer change area, strengthening traffic guidance in the buffer change area and the like according to the current road information of the buffer change area in the map, and in addition, travelers can change own travel plans and the like by looking at the buffer change area in the map.

From the above, the road change information can be acquired through various road detection sources, so that the change state of the road is convenient to collect, the collection efficiency is improved, the collection cost is reduced, and the map updating efficiency is greatly improved.

In order to better implement the above method, the embodiment of the application also provides a map updating device, which can be integrated in an electronic device, and the electronic device can be a terminal, a server and other devices. The terminal can be a mobile phone, a tablet personal computer, an intelligent Bluetooth device, a notebook computer, a personal computer and other devices; the server may be a single server or a server cluster composed of a plurality of servers.

For example, in the present embodiment, a method of the embodiment of the present application will be described in detail by taking a specific integration of the map updating apparatus in the server as an example.

For example, as shown in fig. 3, the map updating apparatus may include an acquisition unit 301, a state determination unit 302, a topology unit 303, and a map updating unit 304, as follows:

(one), an acquisition unit 301.

The obtaining unit 301 is configured to obtain road change information, where the road change information includes a change confidence of a road segment to be checked, and the change confidence of the road segment to be checked is associated with a latest change condition of the road segment to be checked.

(two), a state determination unit 302.

The state determining unit 302 is configured to determine, according to the change confidence level of the target road segment, a change state corresponding to the target road segment, where the target road segment is any one of the road segments to be checked.

(III), topology unit 303.

The topology unit 303 is configured to obtain candidate segments connected to the target segment in the map if the change state reflects that the target segment changes, and determine a topology change segment from the candidate segments according to the target segment, where the topology change segment is a candidate segment affected by a change area corresponding to the target segment.

normalizing the value evaluation data to obtain normalized evaluation data;

(IV), a map updating unit 304.

The map updating unit 304 is configured to update the map according to the topology change road segment and the target road segment.

collecting road information in a change area;

and updating the map according to the road information.

according to the change road sections, a change area is determined in the map.

acquiring the position point density in each grid;

determining boundary endpoints from endpoints of all the changed road segments;

In some embodiments, collecting road information in a change region includes:

obtaining a buffer distance;

road information in the buffer change area is collected.

In the implementation, each unit may be implemented as an independent entity, or may be implemented as the same entity or several entities in any combination, and the implementation of each unit may be referred to the foregoing method embodiment, which is not described herein again.

As can be seen from the above, the map updating device of the present embodiment obtains the road change information by the obtaining unit, where the road change information includes the change confidence coefficient of the road section to be checked, and the change confidence coefficient of the road section to be checked is associated with the latest change condition of the road section to be checked; the state determining unit determines the change state corresponding to the target road section according to the change confidence of the target road section, wherein the target road section is any road section to be checked; if the change state reflects that the target road section changes, a topology unit acquires a candidate road section connected with the target road section in the map, and determines a topology change road section from the candidate road section according to the target road section, wherein the topology change road section refers to the candidate road section influenced by the target road section in the traffic network; and updating the map by a map updating unit according to the topology change road section and the target road section.

Therefore, the map updating efficiency can be improved.

The embodiment of the application also provides electronic equipment which can be a terminal, a server and other equipment. The terminal can be a mobile phone, a tablet computer, an intelligent Bluetooth device, a notebook computer, a personal computer and the like; the server may be a single server, a server cluster composed of a plurality of servers, or the like.

In the present embodiment, a detailed description will be given taking an example in which the electronic device of the present embodiment is a server, for example, as shown in fig. 4, which shows a schematic structural diagram of the server according to the embodiment of the present application, specifically:

the server may include one or more processors 401 of a processing core, memory 402 of one or more computer readable storage media, a power supply 403, an input module 404, and a communication module 405, among other components. Those skilled in the art will appreciate that the server architecture shown in fig. 4 is not limiting of the server and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components. Wherein:

The processor 401 is a control center of the server, connects respective portions of the entire server using various interfaces and lines, and performs various functions of the server and processes data by running or executing software programs and/or modules stored in the memory 402, and calling data stored in the memory 402. In some embodiments, processor 401 may include one or more processing cores; in some embodiments, processor 401 may integrate an application processor that primarily processes operating systems, user interfaces, applications, and the like, with a modem processor that primarily processes wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 401.

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

The server also includes a power supply 403 for powering the various components, and in some embodiments, the power supply 403 may be logically connected to the processor 401 by a power management system, such that charge, discharge, and power consumption management functions are performed by the power management system. The power supply 403 may also include one or more of any of a direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.

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

The server may also include a communication module 405, and in some embodiments the communication module 405 may include a wireless module, through which the server may wirelessly transmit over short distances, thereby providing wireless broadband internet access to the user. For example, the communication module 405 may be used to assist a user in e-mail, browsing web pages, accessing streaming media, and so forth.

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

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

From the above, the change confidence of the road to be checked can be obtained from the road change information, and the change confidence of the road to be checked is associated with the latest change condition of the road to be checked, so that when each road to be checked is analyzed, the road to be checked is taken as a target road, the change state corresponding to the latest target road can be obtained through the change confidence of the target road, after the change state reflects the change of the target road, the topology change road can be determined from the candidate road connected with the target road, and the map can be updated quickly according to the topology change road and the target road which are obtained in time, so that the map updating efficiency is improved.

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

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

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

According to one aspect of the present application, there is provided a computer program product or computer program comprising computer programs/instructions stored in a computer readable storage medium. The computer program/instructions are read from a computer-readable storage medium by a processor of an electronic device, which executes the computer program/instructions, causing the electronic device to perform the methods provided in the various alternative implementations of the map updating aspects provided in the above-described embodiments.

The steps in any map updating method provided in the embodiments of the present application may be executed due to the instructions stored in the storage medium, so that the beneficial effects that any map updating method provided in the embodiments of the present application may be achieved, which are detailed in the previous embodiments and are not repeated herein.

The foregoing describes in detail a map updating method, apparatus, electronic device and storage medium provided in the embodiments of the present application, and specific examples are applied to illustrate principles and implementations of the present application, where the foregoing description of the embodiments is only used to help understand the method and core idea of the present application; meanwhile, those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present application, and the present description should not be construed as limiting the present application in view of the above.

Claims

1. A map updating method, characterized by comprising:

determining a change state corresponding to a target road section according to the change confidence of the target road section, wherein the target road section is any road section to be checked;

if the change state reflects that the target road section changes, acquiring a candidate road section connected with the target road section in the map;

acquiring at least one value evaluation data of the target road section and an evaluation weight corresponding to each value evaluation data;

normalizing the value evaluation data to obtain normalized evaluation data;

adding the evaluation values corresponding to each relative evaluation data to obtain the importance of the target road section, wherein the importance reflects the importance of the target road section in a traffic network;

According to the road topology strategy corresponding to the importance, determining a topology change road section from the candidate road sections, wherein the topology change road section refers to the candidate road section influenced by the change area corresponding to the target road section;

2. The map updating method of claim 1, wherein the determining the change state corresponding to the target link according to the change confidence of the target link comprises:

3. The map updating method of claim 1, wherein the value evaluation data includes at least one of a traffic volume of the target link within a preset time period, a number of link acquisitions of the target link within the preset time period, a function level of the target link, a road type of the target link, a number of target road change information, which is road change information including a change confidence of the target link, and intersection information of the target link, which is used to reflect that the target link is an intersection.

4. The map updating method according to claim 1, wherein the determining a topology change link from the candidate links according to the road topology policy corresponding to the importance degree comprises:

and if the road topology strategy corresponding to the importance degree is a linear direction topology strategy, determining a topology change road section from the candidate road sections according to the direction of the target road section.

5. The map updating method of claim 4, wherein the determining a topology change link from the candidate links according to the direction of the target link comprises:

6. The map updating method according to claim 1, wherein the updating the map according to the topology change section and the target section comprises:

acquiring a change area containing the topology change road section and the target road section from the map;

collecting road information in the change area;

and updating the map according to the road information.

7. The map updating method according to claim 6, wherein the acquiring in the map a change area including the topology change road segment and the target road segment includes:

determining a position point corresponding to a road section to be converted in the map, wherein the road section to be converted comprises the topology change road section and the target road section, and the position point is positioned in the road section to be converted;

and determining a change area in the map according to the change road section.

8. The map updating method of claim 7, wherein said determining a core location point from said location points comprises:

and if the number of the rest position points is not smaller than the preset number, determining the position points as core position points.

9. The map updating method of claim 7, wherein said determining a core location point from said location points comprises:

acquiring an initial change area containing the topology change road section and the target road section from the map;

acquiring the position point density in each grid aiming at each grid;

and if the density of the position points is not less than the preset density, determining the position points in the grid as core position points.

10. The map updating method of claim 7, wherein the determining a change area in the map according to the change road section comprises:

determining boundary endpoints from endpoints of all the change road segments;

and connecting the boundary endpoints in the map to obtain a change area, wherein the change area comprises all the change road sections.

11. The map updating method according to claim 6, wherein the collecting the road information in the change region includes:

obtaining a buffer distance;

expanding the change area outwards by the buffer distance in the map to obtain a buffer change area;

and collecting road information in the buffer change area.

12. A map updating apparatus, characterized by comprising:

the road change information comprises change confidence coefficient of a road section to be checked, and the change confidence coefficient of the road section to be checked is associated with the latest change condition of the road section to be checked;

the topology unit is used for acquiring a candidate road section connected with the target road section in the map if the change state reflects the change of the target road section; acquiring at least one value evaluation data of the target road section and an evaluation weight corresponding to each value evaluation data; normalizing the value evaluation data to obtain normalized evaluation data; converting the normalized evaluation data to obtain relative evaluation data corresponding to the normalized evaluation data, wherein the relative evaluation data is the complement of the normalized evaluation data; multiplying the relative evaluation data by the corresponding evaluation weight to obtain an evaluation value corresponding to the relative evaluation data; adding the evaluation values corresponding to each relative evaluation data to obtain the importance of the target road section, wherein the importance reflects the importance of the target road section in a traffic network; according to the road topology strategy corresponding to the importance, determining a topology change road section from the candidate road sections, wherein the topology change road section refers to the candidate road section influenced by the change area corresponding to the target road section;

13. An electronic device comprising a processor and a memory, the memory storing a plurality of instructions; the processor loads instructions from the memory to perform the steps in the map updating method according to any one of claims 1 to 11.

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