WO2021146921A1 - Procédé et appareil de mise à jour d'une carte haute précision, dispositif informatique et support de stockage - Google Patents

Procédé et appareil de mise à jour d'une carte haute précision, dispositif informatique et support de stockage Download PDF

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Publication number
WO2021146921A1
WO2021146921A1 PCT/CN2020/073517 CN2020073517W WO2021146921A1 WO 2021146921 A1 WO2021146921 A1 WO 2021146921A1 CN 2020073517 W CN2020073517 W CN 2020073517W WO 2021146921 A1 WO2021146921 A1 WO 2021146921A1
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map data
data block
map
current
updated
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PCT/CN2020/073517
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English (en)
Chinese (zh)
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黄冰琪
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深圳元戎启行科技有限公司
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Priority to PCT/CN2020/073517 priority Critical patent/WO2021146921A1/fr
Priority to CN202080003159.2A priority patent/CN113498474B/zh
Publication of WO2021146921A1 publication Critical patent/WO2021146921A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/23—Updating

Definitions

  • This application relates to the field of unmanned driving technology, in particular to a high-precision map updating method, device, computer equipment and storage medium.
  • High-precision maps are electronic maps with higher accuracy and more data dimensions.
  • High-precision maps can provide map data for unmanned vehicles, helping unmanned vehicles to perceive road information in advance, such as slope, curvature, heading, etc., combined with intelligent path planning, so that unmanned vehicles can make correct decisions, which is impossible for unmanned vehicles to drive.
  • Indispensable data source can provide map data for unmanned vehicles, helping unmanned vehicles to perceive road information in advance, such as slope, curvature, heading, etc.
  • the environmental point cloud data around the vehicle body is collected in real time, the environmental point cloud data around the vehicle body is rendered, and the environmental point cloud data is graphically displayed to obtain a high-precision map.
  • the amount of environmental point cloud data is very large, it takes a lot of time to directly render the environmental point cloud data, resulting in low efficiency and unable to provide real-time high-precision maps for unmanned vehicles.
  • the embodiments of the present application provide a high-precision map updating method, device, computer equipment, and storage medium, and the technical solutions are as follows:
  • a method for updating a high-precision map including:
  • the server finds the corresponding current map data according to the current location information of the vehicle and the map data location information
  • the information is composed of block numbers of the current map data
  • the updated map image block and the map image block corresponding to the same number constitute a current high-precision map, and the map image block corresponding to the same number is a rendered map image block.
  • the method before sending the map data update request to the server, the method further includes:
  • the step of sending a map data update request to the server is executed.
  • the method further includes:
  • map data blocks and map image blocks corresponding to numbers different from the set of current map data block numbers are deleted.
  • the updated map data block includes point cloud data
  • the point cloud data carries position information and color information
  • the updated map image block includes:
  • the receiving the updated map data block and rendering the updated map data block to obtain the corresponding updated map image block includes:
  • the accumulated rendering time of the updated map data block is counted
  • the updated map image block and the map image block corresponding to the same number constitute the current high-precision map, including:
  • a high-precision map updating device includes:
  • a map data update request sending module configured to send a map data update request to a server, where map data is stored in the server, the map data carries map data location information, and the map data update request carries current location information of the vehicle;
  • the current map data block number set receiving module is configured to receive the current map data block number set, where the current map data block number set is found by the server according to the current location information of the vehicle and the map data location information After the current map data, the current map data is divided and numbered according to the location information of the map data;
  • the historical map data block number collection acquiring module is configured to acquire a historical map data block number set, and the map data block corresponding to the historical map data block number set has been rendered to obtain the corresponding map image block during the process of generating the historical high-precision map;
  • a number determining module configured to determine the same number and a different number from the historical map data block number set in the current map data block number set;
  • a number sending module configured to send the different numbers to the server, so that the server can find the corresponding update map data block according to the different numbers
  • the map data rendering module is configured to receive the updated map data block, render the updated map data block, and obtain the corresponding updated map image block;
  • the high-precision map composition module is used for the updated map image block and the map image block corresponding to the same number to form a current high-precision map, and the map image block corresponding to the same number is a rendered map image block .
  • a computer device includes a memory, a processor, and a computer program that is stored on the memory and can run on the processor, and the processor implements the following steps when the processor executes the computer program:
  • the server finds the corresponding current map data according to the current location information of the vehicle and the map data location information
  • the information is composed of block numbers of the current map data
  • the updated map image block and the map image block corresponding to the same number constitute a current high-precision map, and the map image block corresponding to the same number is a rendered map image block.
  • a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the following steps are implemented:
  • the server finds the corresponding current map data according to the current location information of the vehicle and the map data location information
  • the information is composed of block numbers of the current map data
  • the updated map image block and the map image block corresponding to the same number constitute a current high-precision map, and the map image block corresponding to the same number is a rendered map image block.
  • the above-mentioned high-precision map update method, device, computer equipment and storage medium send a map data update request to a server, the server stores map data, the map data carries the map data location information, and the map data update request carries the current location information of the vehicle; Receive the current map data block number set. After the server finds the corresponding current map data according to the current location information of the vehicle and the map data location information, the current map data is divided and numbered according to the map data location information.
  • the historical map data block number set the map data block corresponding to the historical map data block number set has been rendered in the process of generating the historical high-precision map to obtain the corresponding map image block; in the current map data block number set, determine and The historical map data block number sets the same number and different numbers; sends different numbers to the server so that the server can find the corresponding updated map data blocks according to the different numbers; receives the updated map data blocks and renders the updated map data blocks, Obtain the corresponding updated map image block; the updated map image block and the map image block corresponding to the same number form the current high-precision map, and the map image block corresponding to the same number is the map image block that has been rendered.
  • Blocking can render updated map data blocks different from historical map data blocks to avoid repeated rendering of the same map data block, reduce the amount of rendered data, improve rendering efficiency, and generate current high-precision maps in real time.
  • FIG. 1 is a schematic diagram of an application environment of a method for updating a high-precision map in an embodiment
  • FIG. 2 is a schematic flowchart of a method for updating a high-precision map in an embodiment
  • FIG. 3 is a schematic diagram of changes of map data blocks during a vehicle driving process in an embodiment
  • FIG. 4 is a schematic flowchart of a method for adjusting map data blocks according to an embodiment
  • FIG. 5 is a schematic flowchart of a method for updating a high-precision map in another embodiment
  • Fig. 6 is a structural block diagram of a high-precision map updating device in an embodiment
  • Fig. 7 is a schematic diagram of the internal structure of a server in an embodiment.
  • the high-precision map update method provided in this application can be applied to the application environment as shown in FIG. 1.
  • the unmanned vehicle 102 communicates with the server 104 through the network.
  • the server 104 stores map data, and the map data carries location information of the map data.
  • the unmanned vehicle 102 sends a map data update request to the server, and the map data update request carries the current location information of the unmanned vehicle 102.
  • the server 104 After the server 104 receives the map data update request, it finds the corresponding current map data according to the current location information of the unmanned vehicle 102 and the map data location information, and divides and number the current map data according to the map data location information to obtain the current map data.
  • the server sends the current map data block number set to the unmanned vehicle 102.
  • the unmanned vehicle 102 After receiving the current map data block number set, the unmanned vehicle 102 obtains the historical map data block number set. Wherein, the map data block corresponding to the historical map data block number set has been rendered to obtain the corresponding map image block during the process of generating the historical high-precision map.
  • the unmanned vehicle 102 determines the same number and a different number from the historical map data block number set in the current map data block number set, and sends the different numbers to the server 104.
  • the server 104 finds the corresponding updated map data block according to different numbers, and sends the updated map data block to the unmanned vehicle 102.
  • the unmanned vehicle 102 After receiving the updated map data block, the unmanned vehicle 102 renders the updated map data block to obtain the updated map image block, and composes the updated map image block and the map image block corresponding to the same number to form the current high-precision map.
  • the map image blocks corresponding to the same number are the map image blocks that have been rendered.
  • the server 104 may be implemented by an independent server or a server cluster composed of multiple servers.
  • a method for updating a high-precision map is provided. Taking the method applied to the unmanned vehicle in FIG. 1 as an example for description, the method includes the following steps:
  • Step 202 Send a map data update request to the server.
  • the server stores map data, the map data carries the map data location information, and the map data update request carries the current location information of the vehicle.
  • the map data is pre-collected data, including road data and fixed object information around the lane.
  • Road data includes lane position, lane type, lane width, etc.
  • fixed object information around the lane includes information about fixed objects such as traffic signs and traffic lights.
  • the map data is obtained by data collection from different locations, so the map data carries the location information of the map data. Due to the large amount of map data, it is generally stored in the server. When the unmanned vehicle needs to use the map data, it can send a request to the server to instruct the server to return the corresponding map data.
  • the unmanned vehicle will determine whether to send a map data update request to the server according to the current location information.
  • the unmanned vehicle needs to update the vehicle's map data, it obtains its current location information, sends a map data update request carrying the current location information of the unmanned vehicle to the server, and instructs the server to send the unmanned vehicle's current location information to the unmanned vehicle.
  • the vehicle returns the map data around the unmanned vehicle to ensure the safety of the unmanned vehicle.
  • Step 204 Receive the current map data block number set. After the server finds the corresponding current map data according to the current location information of the vehicle and the map data location information, the current map data is classified according to the map data location information. It is composed of block numbers.
  • the current map data block number set is the current map data block number set.
  • the current map data block is obtained after the server divides the current map data into blocks according to the location information of the map data.
  • the current map data is the current surrounding map data of the unmanned vehicle.
  • the server matches the current location information of the unmanned vehicle carried in the map data update request with the location information of the map data, and finds the corresponding information of the current location information of the unmanned vehicle.
  • Current map data According to the map data location information, the server divides the current map data into blocks to obtain the current map data blocks, and then according to the location information of each current map data block, the current map data blocks are numbered to generate a current map data block number set.
  • the unmanned vehicle receives the current map data block number set returned by the server.
  • Step 206 Obtain the historical map data block number set, and the map data block corresponding to the historical map data block number set has been rendered to obtain the corresponding map image block during the process of generating the historical high-precision map.
  • the historical map data block number set is a set of historical map data block numbers.
  • the historical map data block is obtained after the server divides the historical map data into blocks according to the location information of the map data.
  • the historical map data is the surrounding map data of the history of the unmanned vehicle.
  • the historical map data block number set is sent by the server to the unmanned vehicle at historical time.
  • the unmanned vehicle stores the historical map data block number set, so the unmanned vehicle can directly obtain the locally stored historical map data block number. gather.
  • the unmanned vehicle after the unmanned vehicle receives the historical map data block number set, it will render the historical map data block by the method provided in this application to generate a historical high-precision map. Therefore, the map data block corresponding to the historical map data block number set has been rendered to obtain the corresponding map image block during the process of generating the historical high-precision map.
  • Step 208 In the current map data block number set, determine the same number and a different number as the historical map data block number set.
  • the unmanned vehicle compares each number in the current map data block set with each number in the historical map data number set to obtain the current map data block number set and each historical map
  • the data number is the same number and different numbers.
  • the number in the current map data block number set that is the same as the number of each historical map data corresponds to the same data in the current surrounding map data of the unmanned vehicle as in the historical surrounding map data, and the different numbers correspond to the current surrounding map of the unmanned vehicle Data that is different from the historical surrounding map data.
  • the server may divide the map data around the vehicle into 9 map data blocks according to the location information of the map data.
  • the current map data block number set includes (x1, y3), (x2, y3), (x3, y3), (x1, y4), (x2, y4), (x3, y4), (x1, y5), (x2,y5) and (x3,y5)
  • the historical map data block number set includes (x1,y1), (x2,y1), (x3,y1), (x1,y2), (x2,y2), (x3,y2), (x1,y3), (x2,y3) and (x3,y3).
  • the numbers that are the same as the historical map data numbers are (x1, y3), (x2, y3) and (x3, y3), which are different from the historical map data numbers.
  • the numbers are (x1,y4), (x2,y4), (x3,y4), (x1,y5), (x2,y5) and (x3,y5).
  • (xn, yn) is the position information of the center position of each map data block, which may be longitude and latitude information.
  • Step 210 Send different numbers to the server, so that the server can find corresponding update map data blocks according to the different numbers.
  • the unmanned vehicle compares the current map data block number set with the historical map data block number set to obtain a number that is different from each historical map data block number in the current map data block number set, and sends the different numbers to the server .
  • the server stores the number corresponding to each map data block after dividing and numbering the map data. Therefore, the server can find the corresponding update map data block according to different numbers.
  • Step 212 Receive the updated map data block, render the updated map data block, and obtain the corresponding updated map image block.
  • the updated map data block is a different map data block from each historical map data block.
  • the updated map data block can be (x1, y4), (x2, y4), (x3 ,y4), (x1,y5), (x2,y5) and (x3,y5) corresponding map data blocks.
  • Rendering refers to the process of drawing a geometric model to produce an image after obtaining a model or scene.
  • the unmanned vehicle receives the updated map data block returned by the server, and draws the point cloud data in the updated map data block point by point to obtain the corresponding updated map image block. Avoid repeated rendering of map data blocks corresponding to the same number, reduce the amount of rendered data, and improve rendering efficiency.
  • Step 214 Update the map image block and the map image block corresponding to the same number to form a current high-precision map, and the map image block corresponding to the same number is a rendered map image block.
  • the current map data block number set the same number as the historical map data block number set and different numbers together constitute the current map data block number set. Therefore, the current high-precision map is actually composed of each current map data block after rendering.
  • the current map data can be divided into updated map image blocks and map image blocks corresponding to the same number.
  • the map image block corresponding to the same number is a component of the historical high-precision map, that is, the map image block corresponding to the same number is a map image block that has been rendered.
  • the updated map image blocks are map images corresponding to (x1,y4), (x2,y4), (x3,y4), (x1,y5), (x2,y5) and (x3,y5) Block, the map image blocks corresponding to the same number are the map image blocks corresponding to (x1, y3), (x2, y3) and (x3, y3).
  • the above-mentioned high-precision map update method sends a map data update request to a server, the server stores map data, the map data carries the map data location information, and the map data update request carries the current location information of the vehicle; receives the current map data block number set,
  • the current map data block number set is composed by the server after finding the corresponding current map data according to the current location information of the vehicle and the map data location information, and then dividing and numbering the current map data according to the map data location information; obtaining the historical map data block number Set, the map data block corresponding to the historical map data block number set has been rendered in the process of generating the historical high-precision map to obtain the corresponding map image block; in the current map data block number set, determine the same as the historical map data block number set Numbers and different numbers; send different numbers to the server so that the server can find the corresponding updated map data block according to the different numbers; receive the updated map data block, render the updated map data block, and get the corresponding updated map image block;
  • the map image block corresponding to the same number is the rendered map image block. Because the map data is divided into blocks, it can be compared with the historical map. Update map data blocks with different data blocks for rendering, avoid repeated rendering of the same map data block, reduce the amount of rendered data, improve rendering efficiency, and generate the current high-precision map in real time.
  • step 202 before step 202, it further includes: acquiring the current position information and historical position information of the vehicle; calculating the driving distance of the vehicle according to the current position information and historical position information of the vehicle; when the driving distance of the vehicle is greater than the driving distance
  • the step of sending a map data update request to the server is executed.
  • the current position information and historical position information of the vehicle are used to uniquely identify the current position and historical position of the vehicle, which may be position coordinates or a distance from a certain reference point.
  • the location coordinates can be latitude and longitude, or other custom coordinates.
  • the unmanned vehicle during the driving process of the unmanned vehicle, the current position information and historical position information of the vehicle are obtained, and the driving distance of the vehicle can be calculated according to the current position information and historical position information of the vehicle.
  • the driving distance of the vehicle is greater than the driving distance threshold, it means that the unmanned vehicle needs to obtain new map data to ensure the safety of the unmanned vehicle. Therefore, the unmanned vehicle sends a map data update request carrying current location information to the server .
  • the travel distance of the vehicle is calculated during the driving of the unmanned vehicle.
  • a map data update request is sent to the server to update the map data stored in the unmanned vehicle to ensure In the process of unmanned vehicle driving, real-time updated map data can be obtained, which improves the safety of unmanned vehicle driving.
  • the method further includes: in the historical map data block number set, determining a number that is different from the current map data block number set, and deleting the number different from the current map data block number set; and deleting the number that is different from the current map data block number set; and The map data blocks and map image blocks corresponding to different numbers in the block number set are deleted.
  • the numbers different from the current map data block number set include (x1, y1) , (X2,y1), (x3,y1), (x1,y2), (x2,y2) and (x3,y2).
  • the current high-precision map required by the unmanned vehicle is composed of the updated map image block and the map image block corresponding to the same number that has been rendered, that is, the current high-precision map is composed of (x1, y3 ), (x2,y3), (x3,y3), (x1,y4), (x2,y4), (x3,y4), (x1,y5), (x2,y5) and (x3,y5) correspond Is composed of map image blocks, that is, unmanned vehicles currently do not need (x1, y1), (x2, y1), (x3, y1), (x1, y2), (x2, y2) and (x3, y2) Corresponding map data blocks and map image blocks, therefore, unnecessary numbers and map data blocks and map image blocks corresponding to these numbers can be deleted from the memory of the unmanned vehicle.
  • the unmanned vehicle deletes the number in the historical map data block number set that is different from the current map data block number set, as well as the map data block and map image block corresponding to the number, and only retains the current position of the unmanned vehicle.
  • the surrounding map data corresponding to the information can save the storage space of the unmanned vehicle, release the memory of the unmanned vehicle, and make it easier to update the high-precision map.
  • the updated map data block includes point cloud data
  • the point cloud data carries location information and color information.
  • Step 212 includes: receiving the updated map data block; drawing points according to the location information of the point cloud data to obtain a plurality of pixels Point; Fill the corresponding pixel points according to the color information of the point cloud data to obtain the updated map image block corresponding to the updated map data block.
  • the updated map data block includes point cloud data
  • the point cloud data carries position information and color information.
  • the location information of the point cloud data is used to uniquely identify the location of the point cloud data
  • the color information of the point cloud data is used to identify the color of the point cloud data.
  • the unmanned vehicle receives the updated map data block sent by the server, traces the points on the corresponding position according to the position information of the point cloud data, and obtains multiple pixels. Then, according to the color information of the point cloud data, the corresponding pixel The points are colored to complete the rendering of the updated map data block, thereby obtaining the updated map image block corresponding to the updated map data block.
  • the updated map image block corresponding to the updated map data block can be obtained, and the updated map data block is displayed in a graphical form to improve the update
  • the observability of map data blocks enables visualization.
  • step 212 includes:
  • Step 402 receiving the updated map data block, and rendering the updated map data block
  • Step 404 During the rendering process of updating the map data block, count the cumulative rendering time of the updated map data block;
  • Step 406 When the accumulated rendering time is greater than the preset rendering time threshold, send a map data block adjustment request to the server, so that the server adjusts the number of map data blocks, re-blocks the updated map data block, and updates the updated map data block ;
  • Step 408 Return to performing the steps of receiving the updated map data block and rendering the updated map data block until the accumulated rendering time is less than or equal to the preset rendering time threshold, and the updated map image block is obtained.
  • the unmanned vehicle after receiving the updated map data block, the unmanned vehicle renders the updated map data block. Because the updated map data blocks are different at different times, it is necessary to count the cumulative rendering time of the updated map data blocks during the process of rendering the updated map data blocks by the unmanned vehicle. When the accumulated rendering time is greater than the preset rendering time threshold, it means that the number of historical map data blocks does not meet the current requirements, so that the unmanned vehicle cannot currently obtain the current high-precision map in real time (within a short time interval). At this time, the unmanned vehicle can send a map data block adjustment request to the server. The map data block adjustment request may carry the rendering status of the updated map data block within a preset rendering time threshold.
  • the server After the server receives the map data block adjustment request, it analyzes the rendering situation of the updated map data block within the preset rendering time, re-blocks the updated map data block, and then sends the updated map data block after the re-blocking to no People and vehicles enable the unmanned vehicle to complete the rendering of the updated map data block within the preset rendering time threshold to obtain the updated map image block.
  • the preset rendering time threshold may be set to 0.5 seconds.
  • the server can use the number of historical map data blocks to divide the current map data into the same number of current map data blocks.
  • the large number of historical map data blocks may not meet the current requirements. Assuming that the unmanned vehicle has just arrived in a lane with a complicated surrounding environment, and when the cumulative rendering time reaches 0.5 seconds, the rendering progress of the updated map data block is 65%, then the unmanned vehicle will send a map data block adjustment request to the server.
  • the server After receiving the map data block adjustment request, the server analyzes the rendering situation of the updated map data block, and re-blocks the updated map data block, so that the cumulative rendering time of the updated map data block is within the preset rendering time threshold range. Assume that when the accumulated rendering time reaches 0.4 seconds, the unmanned vehicle has completed the rendering of the updated map data block after re-blocking. Although it took 0.9 seconds in this rendering process, and the previous block number can be used directly to complete the rendering in 0.9 seconds, but there is a certain transition between lanes, and it is impossible for unmanned vehicles to be in 0.9 seconds. Later, it drives from lanes with complex surroundings to lanes with simple surroundings. Therefore, the driverless vehicle can use the number of blocks rendered this time during subsequent driving in lanes with complex surroundings, and control the rendering time each time to 0.5 Within seconds, the rendering efficiency is greatly improved.
  • the method of tree data structure can also be used to further improve the rendering efficiency of updating the map data block.
  • the unmanned vehicle counts the accumulated rendering time of the updated map data block, and when the accumulated rendering time is greater than the preset rendering time threshold, sends a map data block adjustment request to the server , To enable the server to re-divide the updated map data block, update the updated map data block, and then re-render the updated map data block to realize the monitoring of the rendering process of the updated map data block, control the cumulative rendering time of the updated map data block, and improve the update
  • the rendering efficiency of map data provides real-time high-precision maps for unmanned vehicles.
  • step 214 includes: determining the display area of the updated map image block and the map image block corresponding to the same number according to the location information of the map data; pressing the updated map image block and the map image block corresponding to the same number Display the combination of areas to get the current high-precision map; display the current high-precision map.
  • the unmanned vehicle includes a display screen, through which the current high-precision map can be displayed.
  • the unmanned vehicle determines the display area of the updated map image block and the map image block corresponding to the same number according to the location information of the map data. For example, as shown in FIG. 3, the display area of the map image block corresponding to (x1, y5) is the first row and first column, and the display area of the map image block corresponding to (x3, y3) is the third row and third column.
  • the unmanned vehicle will update the map image block and the map image block corresponding to the same number by combining the display area to obtain the current high-precision map.
  • the unmanned vehicle displays the current high-precision map on the display screen.
  • each map image block is determined according to the map data location information, and each map image block is combined according to the corresponding display area to improve the rationality of each map image block combination and the accuracy of the high-precision map. Finally, the high-precision map is displayed, and the visualization of the high-precision map is realized.
  • FIG. 5 another method for updating a high-precision map is provided. Taking the method applied to the unmanned vehicle in FIG. 1 as an example for description, the method includes the following steps:
  • Step 502 Obtain current position information and historical position information of the vehicle, and calculate the travel distance of the vehicle according to the current position information and historical position information of the vehicle;
  • Step 504 When the driving distance of the vehicle is greater than the driving distance threshold, send a map data update request to the server, the server stores map data, the map data carries the map data location information, and the map data update request carries the current location information of the vehicle;
  • Step 506 Receive the current map data block number set. After the server finds the corresponding current map data according to the current location information of the vehicle and the map data location information, the current map data is classified according to the map data location information. Composed of block numbers;
  • Step 508 Obtain the historical map data block number set, and the map data block corresponding to the historical map data block number set has been rendered to obtain the corresponding map image block during the process of generating the historical high-precision map;
  • Step 510 in the current map data block number set, determine the same number as the historical map data block number set and a different number; in the historical map data block number set, determine a number different from the current map data block number set;
  • Step 512 Send a number in the current map data block number set that is different from the historical map data block number set to the server, so that the server can find the corresponding updated map data block according to the different numbers;
  • Step 514 Delete the number that is different from the current map data block number set, the corresponding map data block and the map image block in the historical map data block number set;
  • Step 516 Receive the updated map data block, trace points according to the position information of the point cloud data in the updated map data block to obtain multiple pixels; fill the corresponding pixels according to the color information of the point cloud data;
  • Step 518 During the rendering process of updating the map data block, count the cumulative rendering time of the updated map data block;
  • Step 520 When the accumulated rendering time is greater than the preset rendering time threshold, send a map data block adjustment request to the server, so that the server adjusts the number of map data blocks, re-blocks the updated map data block, and updates the updated map data block ;
  • Step 522 Return to the step of receiving the updated map data block, and tracing points according to the position information of the point cloud data in the updated map data block to obtain multiple pixels; and coloring the corresponding pixels according to the color information of the point cloud data. Until the cumulative rendering time is less than or equal to the preset rendering time threshold, the updated map image block is obtained;
  • Step 524 Determine the display area of the updated map image block and the map image block corresponding to the same number according to the location information of the map data;
  • Step 526 Combine the updated map image block and the map image block corresponding to the same number according to the display area to obtain the current high-precision map;
  • Step 528 Display the current high-precision map.
  • the unmanned vehicle determines whether to update the current high-precision map by calculating its own driving distance. When the driving distance is greater than the driving distance threshold, it sends a map data update request to the server and receives the current map data block returned by the server.
  • the unmanned vehicle deletes the numbers in the historical map data block number set that are different from the current map data block number set, as well as the map data blocks and map image blocks corresponding to such numbers, and then Send the number of the current map data block number set different from the historical map data block number set to the server, receive the updated map data block returned by the server, and render the updated map data block; in the rendering process of the updated map data block, the statistics are accumulated Rendering time, to determine whether it is necessary to re-adjust the number of map data blocks.
  • the server When the accumulated rendering time is greater than the time threshold, send a map data block adjustment request to the server, receive the updated map data block after re-blocking, and check the re-blocking
  • the updated map data block is rendered to obtain the updated map image block. Further, the updated map image block and the rendered map image block corresponding to the same number are combined according to the map data location information to obtain the current high-precision map, Displaying the current high-precision map can avoid repeated rendering, reduce the amount of rendered data, save rendering time, improve rendering efficiency, and realize the real-time and visualization of the current high-precision map.
  • steps in the flowcharts of FIGS. 2 and 4-5 are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless specifically stated in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least part of the steps in Figures 2 and 4-5 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The order of execution of the steps or stages is not necessarily performed sequentially, but may be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.
  • a high-precision map update device 600 including: a map data update request sending module 602, a current map data block number set receiving module 604, and a historical map data block number set acquiring module 606.
  • Number determining module 608, number sending module 610, map data rendering module 612, and high-precision map composition module 614 where:
  • the map data update request sending module 602 is configured to send a map data update request to the server.
  • the server stores map data, the map data carries the map data location information, and the map data update request carries the current location information of the vehicle;
  • the current map data block number set receiving module 604 is used to receive the current map data block number set.
  • the current map data block number set is that the server finds the corresponding current map data according to the current location information of the vehicle and the map data location information.
  • the data location information is composed of block numbers of the current map data;
  • the historical map data block number collection acquiring module 606 is configured to acquire a historical map data block number set, and the map data block corresponding to the historical map data block number set has been rendered to obtain the corresponding map image block during the process of generating the historical high-precision map;
  • the number determining module 608 is configured to determine the same number and a different number from the historical map data block number set in the current map data block number set;
  • the number sending module 610 is configured to send different numbers to the server, so that the server can find the corresponding update map data block according to the different numbers;
  • the map data rendering module 612 is configured to receive the updated map data block, render the updated map data block, and obtain the corresponding updated map image block;
  • the high-precision map composition module 614 is configured to update the map image block and the map image block corresponding to the same number to form the current high-precision map, and the map image block corresponding to the same number is the rendered map image block.
  • the high-precision map update device further includes a distance calculation module 616, which is used to obtain the current position information and historical position information of the vehicle; calculate the driving distance of the vehicle according to the current position information and historical position information of the vehicle; When the travel distance of the vehicle is greater than the travel distance threshold, the step of sending a map data update request to the server is executed.
  • a distance calculation module 616 which is used to obtain the current position information and historical position information of the vehicle; calculate the driving distance of the vehicle according to the current position information and historical position information of the vehicle; When the travel distance of the vehicle is greater than the travel distance threshold, the step of sending a map data update request to the server is executed.
  • the high-precision map update device 600 further includes a map data deletion module 618, which is used to determine a number that is different from the current map data block number set in the historical map data block number set, which will be the same as the current map data block number. Delete different numbers in the set; and delete map data blocks and map image blocks corresponding to numbers different from the current map data block number set.
  • the map data rendering module 612 is also used to receive updated map data blocks; draw points according to the position information of the point cloud data to obtain multiple pixels; fill in the corresponding pixel points according to the color information of the point cloud data Color, the updated map image block corresponding to the updated map data block is obtained.
  • the map data rendering module 612 is also used to receive the updated map data block, and to render the updated map data block.
  • calculate the accumulated rendering time of the updated map data block when the accumulated rendering time is greater than
  • the rendering time threshold is preset, send a map data block adjustment request to the server so that the server can adjust the number of map data blocks, re-block the updated map data block, update the updated map data block; return to execute the receive update map data block ,
  • the high-precision map composition module 614 is further configured to determine the display area of the updated map image block and the map image block corresponding to the same number according to the location information of the map data; The map image blocks are combined according to the display area to obtain the current high-precision map; the current high-precision map is displayed.
  • Each module in the above-mentioned high-precision map updating device can be implemented in whole or in part by software, hardware, and a combination thereof.
  • the above-mentioned modules may be embedded in the form of hardware or independent of the processor in the computer equipment, or may be stored in the memory of the computer equipment in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned modules.
  • a computer device is provided.
  • the computer device may be a terminal, and its internal structure diagram may be as shown in FIG. 7.
  • the computer equipment includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus.
  • the processor of the computer device is used to provide calculation and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system and a computer program.
  • the internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium.
  • the network interface of the computer device is used to communicate with an external terminal through a network connection.
  • the computer program is executed by the processor to realize a high-precision map update method.
  • the display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen
  • the input device of the computer equipment can be a touch layer covered on the display screen, or it can be a button, a trackball or a touch pad set on the housing of the computer equipment , It can also be an external keyboard, touchpad, or mouse.
  • FIG. 7 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.
  • the specific computer device may Including more or fewer parts than shown in the figure, or combining some parts, or having a different arrangement of parts.
  • a computer device including a memory and a processor, and a computer program is stored in the memory, and the processor implements the steps in the foregoing method embodiments when the computer program is executed.
  • a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the steps in the foregoing method embodiments.
  • Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

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Abstract

L'invention concerne un procédé et un appareil de mise à jour d'une carte haute précision, ainsi qu'un dispositif informatique et un support de stockage. Le procédé consiste : à envoyer une demande de mise à jour de données cartographiques à un serveur (S202) ; à recevoir une séquence de blocs de données cartographiques en cours renvoyée par le serveur (S204) ; à acquérir une séquence de blocs de données cartographiques historiques, le rendu d'un bloc de données cartographiques dans la séquence de blocs de données cartographiques historiques étant effectué pendant le processus de génération d'une carte haute précision historique, de façon à obtenir un bloc d'image cartographique correspondant (S206) ; dans la séquence de blocs de données cartographiques en cours, à déterminer un numéro de séquence identique au numéro de séquence de la séquence de blocs de données cartographiques historiques et un numéro de séquence différent de ce dernier (S208) ; à envoyer le numéro de séquence différent du numéro de séquence de la séquence de blocs de données cartographiques historiques au serveur, de telle sorte que le serveur recherche un bloc de données cartographiques mis à jour correspondant en fonction du numéro de séquence différent du numéro de séquence de la séquence de blocs de données cartographiques historiques (S210) ; à recevoir le bloc de données cartographiques mis à jour renvoyé par le serveur, et à effectuer un rendu du bloc de données cartographiques mis à jour afin d'obtenir un bloc d'image cartographique mis à jour correspondant (S212) ; et à former, par le bloc d'image cartographique mis à jour et un bloc d'image cartographique qui correspond au numéro de séquence identique au numéro de séquence de la séquence de blocs de données cartographiques historiques, une carte haute précision en cours (S214).
PCT/CN2020/073517 2020-01-21 2020-01-21 Procédé et appareil de mise à jour d'une carte haute précision, dispositif informatique et support de stockage WO2021146921A1 (fr)

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CN202080003159.2A CN113498474B (zh) 2020-01-21 2020-01-21 高精度地图更新方法、装置、计算机设备和存储介质

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