WO2021185285A1 - 地图数据采集方法、装置及系统 - Google Patents

地图数据采集方法、装置及系统 Download PDF

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Publication number
WO2021185285A1
WO2021185285A1 PCT/CN2021/081335 CN2021081335W WO2021185285A1 WO 2021185285 A1 WO2021185285 A1 WO 2021185285A1 CN 2021081335 W CN2021081335 W CN 2021081335W WO 2021185285 A1 WO2021185285 A1 WO 2021185285A1
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WIPO (PCT)
Prior art keywords
map data
vehicle
instruction
information
collection
Prior art date
Application number
PCT/CN2021/081335
Other languages
English (en)
French (fr)
Inventor
刘建琴
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP21770626.6A priority Critical patent/EP4113934A4/en
Priority to JP2022556611A priority patent/JP2023517389A/ja
Priority to KR1020227035821A priority patent/KR20220154783A/ko
Publication of WO2021185285A1 publication Critical patent/WO2021185285A1/zh
Priority to US17/947,903 priority patent/US20230020935A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
    • H04L1/0023—Systems modifying transmission characteristics according to link quality, e.g. power backoff characterised by the signalling
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3885—Transmission of map data to client devices; Reception of map data by client devices
    • G01C21/3893—Transmission of map data from distributed sources, e.g. from roadside stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
    • H04L1/0015—Systems modifying transmission characteristics according to link quality, e.g. power backoff characterised by the adaptation strategy
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
    • H04L1/0036—Systems modifying transmission characteristics according to link quality, e.g. power backoff arrangements specific to the receiver
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/56—Provisioning of proxy services
    • H04L67/565—Conversion or adaptation of application format or content
    • H04L67/5651—Reducing the amount or size of exchanged application data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination

Definitions

  • This application relates to the technical field of intelligent networked vehicles, and in particular to a method, device and system for collecting map data.
  • the map has become an indispensable tool for vehicle navigation. It can accurately display the road conditions around the vehicle, plan the driving route for the user, and help the user accurately reach the destination.
  • updating the map means updating the map elements contained in the map, such as lane lines, speed limit signs, street lights or signs, traffic lights, stop lines, etc.
  • map data is collected based on the "crowd-sourcing collection mode" to achieve map update.
  • the so-called “crowdsourcing collection mode” refers to such a collection mode: private cars, taxis, buses and other non-professional surveying and mapping vehicles (also called crowdsourcing vehicles) use the existing collection equipment on the car to collect various information in the surrounding environment. The data of this map element.
  • the amount of map data that can be collected in each area depends on the number of crowdsourcing vehicles in the area. For some areas with small traffic volume (such as non-mainstream roads), it often costs more Time for map data collection, which makes the collection efficiency of the crowdsourcing collection mode low. For some areas with a large traffic volume (such as mainstream roads), there is a problem of map data redundancy. In addition, the map data format of various crowdsourced vehicles is not uniform due to the various types of acquisition equipment and large performance differences, which increases the complexity of post-data processing.
  • the map data collection method, device, and system provided by the embodiments of the present application can report map data in a targeted manner, avoid data redundancy, and improve the efficiency of map data collection.
  • a method for collecting map data is provided.
  • the method is applied to a first vehicle.
  • the method includes: receiving a first instruction from a network side device, where the first instruction is used to instruct the first vehicle to report
  • the first instruction includes limited information on the map data reported by the first vehicle to the network side device; optionally, the limited information may include confidence information, and the confidence information It is used to indicate the degree of confidence that the map data reported by the first vehicle needs to reach; optionally, the limited information may include the map data collection area, collection time frequency, collection space density, collection object, priority information,
  • the type, specification, or quantity of sensors used for collection, that is, the first vehicle can collect collection indicators specified by the network-side device, or can collect collection objects or collection areas specified by the network-side device, or use the collection indicators specified by the network-side device
  • the collection device collects; the map data is sent to the network side device according to the map data reporting mode indicated by the first instruction, and the map data satisfies the restriction of the restriction information on the reported map
  • the first vehicle can receive the first instruction from the network-side device, the first instruction can instruct the first vehicle to report the map data, and then after the first vehicle receives the first instruction, that is The map data can be reported in a targeted manner according to the map data reporting mode indicated by the first instruction. Therefore, the map data reported by the vehicle to the network side device can be reduced, data redundancy can be avoided, the collection efficiency can be improved, and the later data processing complexity can be reduced to a certain extent. For example, if the limited information includes the confidence information, before the first vehicle reports the map data to the server, the map data that does not meet the confidence requirements can be eliminated according to the confidence information in the first instruction, and then proceed. Reporting improves the accuracy of the reported map data, thereby improving the efficiency of information transmission between the vehicle and the server.
  • the method further includes: receiving a second instruction from the network side device, where the second instruction is used to instruct the first vehicle to stop reporting in the manner indicated by the first instruction Map data; according to the second instruction, stop reporting map data in the manner indicated by the first instruction.
  • the network-side device determines that the first vehicle is no longer required to report data in the manner indicated by the first instruction, it can send the second instruction to the first vehicle. After the first vehicle receives the second instruction, it will According to the instruction of the second instruction, stop reporting the map data in the manner instructed by the first instruction, thereby avoiding data redundancy.
  • the method further includes: acquiring first trigger information, where the first trigger information is used to instruct the first vehicle to stop reporting map data in the manner indicated by the first instruction when the first The first trigger condition that the vehicle should meet; determine that the first vehicle meets the first trigger condition; stop reporting map data in the manner indicated by the first instruction.
  • the obtaining method includes receiving the first trigger information from a network side device, or reading the first trigger information pre-stored in the first vehicle.
  • the first trigger condition includes that a predetermined time is reached, the number of times of reporting map data in a manner indicated by the first instruction exceeds a first threshold, or the number of samples of map data reported in a manner indicated by the first instruction exceeds a second threshold. Based on this solution, after the first vehicle determines that the first trigger condition is satisfied, it can stop reporting map data in a manner indicated by the first instruction in time to avoid data redundancy.
  • the map data reporting method indicated by the first instruction may include at least one of the following: data format, reporting frame structure, reporting frequency, Reporting time, reporting priority, or reporting rules. That is, the first vehicle may report the map data according to the report index or report rule specified by the network side device.
  • the first instruction is also used to instruct the first vehicle to start to report the map data in the manner indicated by the first instruction when the first vehicle should meet the second trigger condition, and the direction Before the network side device sends the map data, the method further includes: determining that the first vehicle satisfies the second trigger condition.
  • the second trigger condition may include, for example, that the data samples collected within the set time are less than a certain threshold, the freshness value of the specified report object is lower than a certain threshold, it is detected that the map element in the specified collection area is updated, etc. . Based on this solution, only when the second trigger condition is met, the first vehicle starts to report map data in the manner indicated by the first instruction, thus improving the pertinence of map data collection and avoiding data redundancy.
  • the method further includes acquiring freshness information of the collection object; the sending the map data to the network-side device includes: sending all the map data to the network-side device according to the freshness information. Describe the map data.
  • the freshness information is the average period of changes in the collection object, the statistical distribution of changes, the duration of no change, the first update time or the last update time, and the freshness information may be generated by the roadside unit or the cloud network Equipment or other vehicles provided.
  • the obtaining may be obtained from the network side device, or may be obtained from other devices, such as roadside units, cloud network devices or other vehicles.
  • the sending of the map data to the network side device according to the freshness information may be embodied in, for example, determining the collection time frequency, collection space density, priority, or priority of the map data to be reported according to the freshness information. Reporting time, sending the map data to the network side device should satisfy the collection time frequency, the collection space density, the priority, or the reporting time.
  • a method for collecting map data is provided.
  • the method is applied to a network-side device.
  • the method includes: sending a first instruction to a first vehicle, where the first instruction is used to instruct the first vehicle to report map data
  • the first instruction includes limited information on the map data reported by the first vehicle to the network-side device; optionally, the limited information may include confidence information, and the confidence information is used for Indicates the degree of confidence that the map data reported by the first vehicle needs to reach; optionally, the limited information may include the map data collection area, collection time frequency, collection space density, collection object, priority information, collection usage
  • the type, specification or quantity of sensors, that is, the first vehicle can collect collection indicators specified by the network-side device, or can collect collection objects or collection areas specified by the network-side device, or use the collection device specified by the network-side device Collecting; receiving, from the first vehicle, the map data sent by the first vehicle according to the reporting mode indicated by the first instruction, where the map data meets the restriction of the restriction information on the reported map data,
  • the method further includes: sending a second instruction to the first vehicle, where the second instruction is used to instruct the first vehicle to stop reporting the map in the manner indicated by the first instruction data.
  • the method further includes: sending first trigger information to the first vehicle, where the first trigger information is used to instruct the first vehicle to stop reporting map data in a manner indicated by the first instruction
  • the first trigger condition includes that a predetermined time is reached, the number of times of reporting map data in a manner indicated by the first instruction exceeds a first threshold, or the number of samples of map data reported in a manner indicated by the first instruction exceeds a second threshold.
  • the map data reporting method indicated by the first instruction may include at least one of the following: data format, reporting frame structure, reporting frequency, Reporting time, reporting priority, or reporting rules. That is, the first vehicle may report the map data according to the report index or report rule specified by the network side device.
  • the first instruction is also used to instruct the first vehicle to start to report the map data in the manner indicated by the first instruction when the first vehicle should meet the second trigger condition.
  • the second trigger condition may include, for example, that the data samples collected within the set time are less than a certain threshold, the freshness value of the specified report object is lower than a certain threshold, it is detected that the map element in the specified collection area is updated, etc. .
  • the method further includes: sending freshness information of the collection object to the first vehicle, where the freshness information is used by the first vehicle to send the map data to the network side device .
  • the freshness information is the average period of the change of the collection object, the statistical distribution of the change, the duration of no change, the time of the first update, or the time of the last update.
  • the method for the first vehicle to send the map data to the network side device may be embodied in, for example, determining the collection time frequency, collection space density, and priority of the map data to be reported according to the freshness information Or the reporting time, sending the map data to the network side device should satisfy the collection time frequency, the collection spatial density, the priority, or the reporting time.
  • a map data collection device for implementing the above-mentioned various methods.
  • the map data collection device includes modules, units, or means corresponding to the foregoing methods, and the modules, units, or means can be implemented by hardware, software, or hardware execution of corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above-mentioned functions.
  • a map data collection device including: at least one processor and a communication interface, the communication interface is used to communicate with other communication devices; the processor is used to run a computer program to make the map data
  • the acquisition device executes the method in any possible design of the foregoing first aspect or the first aspect, or the method in any possible design of the foregoing second aspect or the second aspect.
  • the communication device further includes a memory.
  • the memory is used to store a computer program or instruction.
  • the processor executes the instruction
  • the map data collection device executes the method described in any of the above aspects.
  • the above-mentioned map data collection device may be applied to a first vehicle or a network side device.
  • the map data collection device When the map data collection device is applied to the first vehicle, the map data collection device further includes a sensor, and the sensor is used to acquire map data.
  • a map data collection device including: a processor; the processor is configured to be coupled with a memory, and after reading a computer program or instruction in the memory, execute the above-mentioned first aspect or according to the computer program or instruction.
  • the method in any possible design of the first aspect, or the method in any possible design of the second aspect or the second aspect described above.
  • the communication device further includes a memory for storing necessary program instructions and data.
  • the communication device is a chip system, it may be composed of a chip, or may include a chip and other discrete devices.
  • the map data collection device may be the vehicle in the first aspect, the device applied in the vehicle in the first aspect, or the chip that can be used in the device, or Chip system; or, the map data collection device may be the network-side device in the second aspect mentioned above, the device used in the network-side device in the second aspect mentioned above, or the chip that can be used in the network-side device in the second aspect mentioned above Or chip system.
  • a computer-readable storage medium stores a computer program or instruction.
  • the computer program or instruction is executed by a processor, the method described in any of the above aspects is implemented. .
  • a computer program product containing instructions.
  • the computer program product contains instructions that, when the computer program product runs on a computer, enable the computer to execute the method described in any of the above aspects.
  • a map data collection system includes the above-mentioned map data collection device on the vehicle side and the above-mentioned map data collection device on the network side.
  • FIG. 1 is a diagram of application scenarios to which the embodiments of this application are applicable;
  • FIG. 2 is a schematic flowchart of a method for collecting map data provided by an embodiment of this application
  • FIG. 3 is a schematic flowchart of another method for collecting map data according to an embodiment of the application.
  • FIG. 4 is a schematic structural diagram of a map data collection system provided by an embodiment of this application.
  • FIG. 5 is a schematic structural diagram of a map data collection device provided by an embodiment of the application.
  • Figure 6(a) is a schematic structural diagram of a map data collection device provided by an embodiment of this application.
  • FIG. 6(c) is a schematic structural diagram of a map data collection device provided by an embodiment of this application.
  • Figure 6(d) is a schematic structural diagram of a map data collection device provided by an embodiment of the application.
  • Figure 6(e) is a schematic structural diagram of a map data collection device provided by an embodiment of the application.
  • FIG. 7 is a schematic structural diagram of a map data collection device provided by an embodiment of the application.
  • At least one item (a) refers to any combination of these items, including any combination of a single item (a) or a plurality of items (a).
  • at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple .
  • words such as “first” and “second” are used to distinguish the same or similar items with substantially the same function and effect. Those skilled in the art can understand that words such as “first” and “second” do not limit the quantity and order of execution, and words such as “first” and “second” do not limit the difference.
  • words such as “exemplary” or “for example” are used as examples, illustrations, or illustrations. Any embodiment or design solution described as “exemplary” or “for example” in the embodiments of the present application should not be construed as being more preferable or advantageous than other embodiments or design solutions. To be precise, words such as “exemplary” or “for example” are used to present related concepts in a specific manner to facilitate understanding.
  • Fig. 1 is a diagram of a possible application scenario to which the embodiments of this application are applicable.
  • the vehicle 101 can use its own collection equipment, such as a car camera, millimeter wave radar, ultrasonic radar, acceleration sensor, angular velocity sensor, etc., to collect map data of the surrounding environment and send it to the network
  • the side device 102 reports map data.
  • the network side device 102 can receive the map data reported by the vehicle 101, maintain or update the map according to the map data reported by the vehicle 101, and provide the vehicle 101 with map update and download services.
  • the network side device 102 includes, but is not limited to, a server, a roadside unit (RSU), and the like.
  • a method for collecting map data includes the following steps:
  • the network-side device sends a first instruction to the first vehicle; the first vehicle receives the first instruction from the network-side device, and the first instruction is used to indicate to the first vehicle a method of collecting map data.
  • the first vehicle is one or more vehicles within the service range of the network side device.
  • the first instruction includes confidence information, and the confidence information is used to indicate the confidence that the map data reported by the vehicle needs to achieve.
  • the confidence level can also be called the confidence level, which is used to represent the accuracy of the map data, and can be represented by a probability value or any other value between (0,1), and the higher the value, the higher the accuracy of the map data.
  • the map data collection mode indicated by the first instruction may include collection objects, where the collection objects can be, for example, lane lines, speed limit signs, street lights, street signs, traffic lights, stop lines, etc. to form a map.
  • Specific elements also known as map elements. That is, the first instruction may instruct the first vehicle to collect the specified collection object.
  • the map data collection mode indicated by the first instruction may include the type of the collection object, where the type of the collection object may be, for example, roadside facilities, road markings, road construction signs, roadside signs, etc., and each category includes multiple types.
  • a variety of map elements, such as road markings can include lane lines, stop lines, deceleration markings, no-stop lines, and so on.
  • the map data collection mode indicated by the first instruction may include one or more of collection indicators such as collection time frequency, collection space density, collection priority, collection freshness, and collection priority. . That is, the first instruction may instruct the first vehicle to collect with the specified collection index.
  • the map data collection mode indicated by the first instruction may include collection indicators and collection objects. That is, the first instruction may instruct the first vehicle to collect the specified collection object with the specified collection index.
  • the map data collection mode indicated by the first instruction may include collection indicators and collection areas. That is, the first instruction may instruct the first vehicle to collect the collection objects in the designated collection area with the designated collection index.
  • the map data collection mode indicated by the first instruction may include sensor type, sensor specification, or sensor quantity. That is, the first instruction may instruct the first vehicle to perform collection based on a specified type or number of collection devices.
  • the freshness in the embodiment of the present application represents the frequency of change of the collection object or the collection area.
  • the freshness value can be used to represent the freshness of the collection object or the collection area, and the freshness value is used to represent the change period of the map element.
  • the freshness value can be defined as a real number with an interval of 0.5 between [0.5, 5.5].
  • the freshness value is 1.5, it means that the change period of the corresponding map element is 1.5 years or 1.5 months or 1.5 weeks or 1.5 days.
  • the above is only an illustrative example, and there may be other ways to express the freshness value in specific implementation, which is not specifically limited in this application.
  • the freshness value in the embodiments of the present application may be that each map element corresponds to a freshness value, or multiple map elements correspond to a freshness value, or all map elements on a certain road in the map correspond to an average value.
  • the freshness value can even be an average freshness value corresponding to all map elements in a certain area, a certain region or a certain city, and there is no specific limitation here. That is to say, the freshness value in the embodiment of this application can be used to limit a certain map element, can also be used to limit certain map elements, and can also be used to limit a certain area or a certain region or a certain city. This application does not specifically limit the map elements of.
  • Freshness value Acquisition level [0.5,2.5) 3 (Collection frequency and/or collection density + 2) [2.5,4.5) 2 (Collection frequency and/or collection density + 1) [4.5, 5.5) 1 (basic collection level)
  • the first instruction may also include freshness information of at least one collection object.
  • the freshness information is information that can be used to predict possible changes in the collection object.
  • the freshness information may be at least one of the following information: average change period, first update time, last update time, or no change duration.
  • the first instruction may also include the collection conditions that the collection vehicle should have.
  • the collection conditions that the vehicle should have can include at least one of the following information: vehicle speed, lane, the number of sensors equipped, the specifications of the sensors equipped, the confidence information of the sensors equipped, and the radar equipped
  • vehicle speed can be at least one of the following information: vehicle speed, lane, the number of sensors equipped, the specifications of the sensors equipped, the confidence information of the sensors equipped, and the radar equipped
  • the embodiment of the present application does not specifically limit the number of, the specifications of the equipped radar, or the number of the equipped cameras, etc.
  • step S202 includes: when the first vehicle determines that the second trigger condition is satisfied, acquiring map data according to the map data collection mode indicated by the first instruction. In this way, only when the second trigger condition is met, the first vehicle starts to collect map data in the manner indicated by the first instruction, so data redundancy can be avoided.
  • the first vehicle acquires map data according to the map data collection mode indicated by the first instruction.
  • the first vehicle collects the specified collection object. Get map data.
  • the map data collection mode indicated by the first instruction includes the type of the collection object
  • the first vehicle collects the collection object of the specified type to obtain the map data.
  • the map data collection mode indicated by the first instruction includes the collection area
  • the first vehicle collects the designated collection area to obtain map data, and so on.
  • acquiring the map data according to the map data collection mode indicated by the first instruction by the first vehicle includes: the first vehicle predicts one or more pieces of map data according to the freshness information The collection object is about to change; the first vehicle collects the one or more collection objects to obtain map data.
  • the first vehicle predicting that a certain collection object is about to change based on the freshness information may specifically include: when the time interval between the first update time of a certain collection object and the current time is greater than or equal to the first duration When the time, the first vehicle predicts that the collection object is about to change; or, when the time interval between the last update time of a collection object and the current time is greater than or equal to the second time period, the first vehicle predicts that the collection object is about to change; Or, when the no change duration of a certain collection object is greater than or equal to the third time period, the first vehicle predicts that the collection object is about to change; or, when the time interval between the no change duration of a certain collection object and the average change period When the duration is less than or equal to the fourth duration, the first vehicle predicts that the collection object is about to change.
  • the first vehicle acquiring map data according to the map data collection mode indicated by the first instruction includes: the first vehicle determines that it meets the requirements of the collection After the condition, the map data is acquired according to the map data collection mode indicated by the first instruction.
  • the first vehicle sends map data to the network side device; the network side device receives the map data from the first vehicle.
  • the map data sent by the first vehicle to the network side device is map data acquired by the first vehicle according to the map data collection mode indicated by the first instruction, and the confidence of the map data is not lower than the confidence included in the first instruction The degree of confidence indicated by the degree information.
  • the first vehicle after the first vehicle receives the first instruction from the network side device, it can collect map data according to the map data collection mode indicated by the first instruction, and then delete the collected data according to the confidence information in the first instruction.
  • the map data whose confidence level does not meet the requirements that is, map data whose confidence level is lower than the confidence level indicated by the confidence level information
  • the confidence level of the map data sent by the first vehicle to the network side device is not lower than the confidence level indicated by the confidence level information. In this way, it is possible to prevent the first vehicle from reporting low-precision map data to the network-side device, ensure the reliability of the map data used by the network-side device to update the map, and thereby improve the accuracy of the map.
  • the network-side device may send a first instruction to the first vehicle, and the first instruction may indicate to the first vehicle a manner of collecting map data.
  • the first vehicle After receiving the first instruction, the first vehicle can perform targeted map data collection and obtain map data according to the map data collection mode indicated by the first instruction. Therefore, on the one hand, it can avoid spending more time collecting map data in areas with low traffic volume, which can shorten the collection time in areas with small traffic volume, thereby increasing the collection efficiency; on the other hand, it can avoid large traffic volume Redundancy of map data appears in the area of, thereby reducing the amount of map data received by the network-side device, and reducing the complexity of post-data processing to a certain extent.
  • the map data collection method provided in the embodiment of the present application may further include the following steps S204-S205:
  • the network-side device sends a second instruction to the first vehicle; the first vehicle receives the second instruction from the network-side device.
  • the collection object may be collected in a default collection manner.
  • the map data collection method may further include the following steps S206-S208:
  • S206 The first vehicle obtains first trigger information.
  • the first trigger information is used to indicate the first trigger condition that the first vehicle should meet when the first vehicle stops collecting map data in the manner indicated by the first instruction.
  • the first vehicle may pre-store the first trigger information, so that the first trigger information can be obtained by reading the pre-stored information.
  • the network-side device may carry the first trigger information in the first instruction, so that the first vehicle can obtain the first trigger information after receiving the first instruction from the network-side device.
  • the first trigger condition may include one or more of the following: reaching a predetermined time, the number of times that data is collected based on the map data collection mode indicated by the first instruction exceeds a first threshold, and the data collected based on the map data collection mode indicated by the first instruction The number of data samples exceeds the third threshold or the freshness value of the designated collection object exceeds the fifth threshold.
  • the number of sample points refers to the number of sample points jointly collected by all the first vehicles, and the number of collection refers to the number of sample points performed by all the first vehicles. Cumulative collection times.
  • the above-mentioned set times and the first threshold may be predefined or specified by the network-side device, and are maintained by the network-side device and sent to the first vehicle, which is not specifically limited in the embodiment of the present application.
  • S207 The first vehicle determines that it meets the first trigger condition.
  • S208 The first vehicle stops acquiring map data in a map data collection manner indicated by the first instruction.
  • the first vehicle may stop acquiring map data in a map data collection mode indicated by the first instruction in a timely manner based on the instructions of the network-side device or based on the acquired trigger information, so as to avoid unnecessary collection operations.
  • another method for collecting map data includes the following steps:
  • the network-side device sends a first instruction to the first vehicle; the first vehicle receives the first instruction from the network-side device, and the first instruction is used to indicate to the first vehicle a manner of reporting map data.
  • the first vehicle is one or more vehicles within the service range of the network side device.
  • the first instruction includes confidence information, and the confidence information is used to indicate the confidence that the map data reported by the vehicle needs to achieve.
  • the confidence information reference may be made to the related description in the embodiment shown in FIG. 2, which will not be repeated here.
  • the map data reporting mode indicated by the first instruction may include a reporting index
  • the reporting index may include, for example, at least one of the following: reporting frequency, reporting time, data format, reporting frame structure, reporting priority, etc. .
  • the map data reporting manner indicated by the first instruction may include a reporting rule.
  • the reporting rule may be: reporting each time the first vehicle collects map data corresponding to a certain collection object or a certain collection area, or when the first vehicle receives the first instruction for more than a specified time It is reported when the time is long, or when the number of data samples collected by the first vehicle exceeds a certain threshold, or when the number of data samples reported by the first vehicle according to the map data reporting method indicated by the first instruction exceeds a certain threshold When the threshold is reached, it is reported and so on.
  • the first instruction may also include a second trigger condition for triggering the first vehicle to start reporting map data in a manner indicated by the first instruction.
  • the second trigger condition may include, for example, that the data samples collected within the set time are less than a certain threshold, the freshness value of the specified report object is lower than a certain threshold, it is detected that the map element in the specified collection area is updated, etc. .
  • the first vehicle obtains map data.
  • the first vehicle can collect map data in a default mode (such as crowdsourcing collection mode) or other methods (such as the method in the embodiment shown in FIG. 2) to obtain map data.
  • a default mode such as crowdsourcing collection mode
  • other methods such as the method in the embodiment shown in FIG. 2
  • the confidence level of the map data sent by the first vehicle to the network side device is not lower than the confidence level indicated by the confidence level information included in the first instruction.
  • the first vehicle collects the map data, it can delete the map data with the confidence that does not meet the requirements in the collected map data according to the confidence information in the first instruction (that is, the map data whose confidence is lower than that indicated by the confidence information).
  • the map data is sent to the network side device. Therefore, the confidence level of the map data sent by the first vehicle to the network side device is not lower than the confidence level indicated by the confidence level information. In this way, it is possible to prevent the first vehicle from reporting low-precision map data to the network-side device, ensure the reliability of the map data used by the network-side device to update the map, and thereby improve the accuracy of the map.
  • step S303 includes: when the first vehicle determines that the second trigger condition is satisfied, sending the map data to the network side device according to the map data reporting mode indicated by the first instruction . In this way, only when the second trigger condition is met, the first vehicle starts to report the map data in the manner indicated by the first instruction, so data redundancy can be avoided.
  • the first vehicle may send the map data to the network side device according to the reporting indicators included in the first instruction, for example, at a specified reporting frequency.
  • the degree sends map data to the network side device, or sends the map data to the network side device at the specified reporting time, or sends the map data to the network side device in a specified data format, and so on.
  • the first vehicle may send the map data to the network side device according to the reporting rule included in the first instruction.
  • the network-side device may send a first instruction to the first vehicle, and the first instruction includes a method for instructing the first vehicle to report map data.
  • the first vehicle After receiving the first instruction, the first vehicle can report the map data in a targeted manner according to the map data reporting mode indicated by the first instruction. Therefore, the map data reported by the vehicle to the network side device can be reduced, data redundancy can be avoided, the collection efficiency can be improved, and the later data processing complexity can be reduced to a certain extent.
  • the map data collection method provided in the embodiment of the present application may further include the following steps: the network side device sends the freshness information of the collection object to the first vehicle; and the first vehicle obtains the freshness information of the collection object.
  • the freshness information is used by the first vehicle to send map data to the network side device.
  • the network side device may send the freshness information of the collection object to the first vehicle through the first instruction, that is, the freshness information of the collection object may be included in the first instruction, and the first vehicle receives the first instruction. After the instruction, the freshness information of the collected objects can be obtained.
  • sending the map data by the first vehicle to the network side device may include: the first vehicle sends the map data to the network side device according to the freshness information of the collection object.
  • the first vehicle may predict that when one or more collection objects are about to change, collect the one or more collection objects to obtain map data, and then send the information that meets the requirements of confidence information to the network side device.
  • Map data For the method for the first vehicle to predict the imminent change of one or more collection objects based on the freshness information, reference may be made to the related description in the embodiment shown in FIG. 2, which will not be repeated here.
  • the map data collection method provided in the embodiment of the present application may further include the following steps S304-S305:
  • the network-side device sends a second instruction to the first vehicle; the first vehicle receives the second instruction from the network-side device.
  • the second instruction is used to instruct the first vehicle to stop reporting map data in the manner indicated by the first instruction.
  • the first vehicle may also be instructed in the form of trigger information. Stop reporting the purpose of map data in the manner indicated by the first instruction.
  • trigger information may be carried in the first instruction, and the trigger information is used to indicate the trigger condition that the vehicle should meet when the vehicle stops reporting map data in the manner indicated by the first instruction.
  • the map data collection method provided by the embodiment of the present application may further include the following steps S306-S308:
  • the network side device sends first trigger information to the first vehicle; the first vehicle receives the first trigger information.
  • the first trigger information is used to indicate the first trigger condition that the first vehicle should meet when the first vehicle stops reporting map data in the manner indicated by the first instruction.
  • the network side device may also send the first trigger information to the first vehicle by carrying the first trigger information in the first instruction.
  • the first vehicle can obtain the first trigger information after receiving the first instruction from the network side device.
  • One trigger information may also be sent to the first vehicle by carrying the first trigger information in the first instruction.
  • the first trigger condition may include: reaching a predetermined time, the number of times of reporting data based on the map data reporting mode indicated by the first instruction exceeds the second threshold, and the number of data samples reported based on the map data reporting mode indicated by the first instruction exceeding the fourth threshold.
  • the threshold or the freshness value of the designated report object exceeds the fifth threshold.
  • S308 The first vehicle stops reporting map data to the network side device in the map data reporting manner indicated by the first instruction.
  • the first vehicle can stop reporting map data in a timely manner in the map data collection mode indicated by the first instruction based on the instruction of the network side device or based on the acquired trigger information, so as to avoid unnecessary reporting operations.
  • the methods and/or steps implemented by the first vehicle can also be implemented by components that can be used in the first vehicle; the methods and/or steps implemented by the network-side device can also be implemented by It can be used for component realization of network side equipment.
  • an embodiment of the present application provides a map data collection system 40.
  • the map data collection system 40 includes a first vehicle 401 and a network side device 402, and a first vehicle 401 and a network side device 402 can communicate with each other.
  • the first vehicle 401 is used to perform the actions of the first vehicle in the embodiment shown in FIG. 2 or FIG. 3.
  • the network side device 402 is configured to perform actions of the network side device in the embodiment shown in FIG. 2 or FIG. 3.
  • the related functions of the first vehicle 401 or the network-side device 402 in the embodiment of the present application may be implemented by one device, or jointly implemented by multiple devices, or by one or more functions in one device.
  • Module implementation which is not specifically limited in the embodiment of this application. It is understandable that the above functions can be network elements in hardware devices, software functions running on dedicated hardware, or a combination of hardware and software, or instantiated on a platform (for example, a cloud platform) Virtualization function.
  • FIG. 5 is a schematic structural diagram of a map data collection device 50 provided by an embodiment of the application.
  • the map data collection device 50 includes one or more processors 501, a communication line 502, and at least one communication interface (in FIG. 5, it is only an example that includes a communication interface 504 and a processor 501 for illustration),
  • a memory 503 may also be included.
  • the processor 501 may be a general-purpose central processing unit (central processing unit, CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more programs for controlling the execution of the program of this application. integrated circuit.
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • the communication line 502 may include a path for connecting different components.
  • the communication interface 504 may be a transceiver module for communicating with other devices or communication networks, such as Ethernet, RAN, wireless local area networks (WLAN), and so on.
  • the transceiver module may be a device such as a transceiver or a transceiver.
  • the communication interface 504 may also be a transceiver circuit located in the processor 501 to implement signal input and signal output of the processor.
  • the memory 503 may be a device having a storage function.
  • it can be read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM), or other types that can store information and instructions
  • Dynamic storage devices can also be electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM), or other optical disk storage, optical disc storage ( Including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program codes in the form of instructions or data structures and can be stored by a computer Any other media taken, but not limited to this.
  • the memory may exist independently, and is connected to the processor through the communication line 502. The memory can also be integrated with the processor.
  • the memory 503 is used to store computer execution instructions for executing the solution of the present application, and the processor 501 controls the execution.
  • the processor 501 is configured to execute computer execution instructions stored in the memory 503, so as to implement the map data collection method provided in the embodiment of the present application.
  • the processor 501 may also perform processing-related functions in the map data collection method provided in the following embodiments of the present application, and the communication interface 504 is responsible for communicating with other devices or communication networks. There is no specific restriction on this.
  • the computer execution instructions in the embodiments of the present application may also be referred to as application program codes, which are not specifically limited in the embodiments of the present application.
  • the processor 501 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 5.
  • the map data collection device 50 may include multiple processors, such as the processor 501 and the processor 507 in FIG. 5. Each of these processors can be a single-CPU (single-CPU) processor or a multi-core (multi-CPU) processor.
  • the processor here may refer to one or more devices, circuits, and/or processing cores for processing data (for example, computer program instructions).
  • the map data collection apparatus 50 may further include an output device 505 and an input device 506.
  • the output device 505 communicates with the processor 501 and can display information in a variety of ways.
  • the above-mentioned map data collection device 50 may be a general-purpose device or a special-purpose device.
  • the embodiments of the present application do not specifically limit this.
  • the actions of the network-side device or the first vehicle in steps S201 to S206 in the method embodiment shown in FIG. 2 can be invoked by the processor 501 in the map data collection device 50 shown in FIG. 5 to call the application stored in the memory 503 Program code to execute.
  • the actions of the network side device or the first vehicle in steps S301 to S306 in the method embodiment shown in FIG. 3 can be called by the processor 501 in the map data collection device 50 shown in FIG. 5 to call the application stored in the memory 503
  • the program code is executed, and this embodiment does not impose any restriction on this.
  • an embodiment of the present application also provides a map data collection device, which may be a device applied to the first vehicle in the foregoing method embodiment, or a component that can be used for the first vehicle.
  • the map data collection device may be the network side device in the foregoing method embodiment, or a device including the foregoing network side device, or a component that can be used for the foregoing network side device.
  • the map data acquisition device includes hardware structures and/or software modules corresponding to various functions.
  • FIG. 6(a) shows a possible schematic diagram of the map data collection device 60.
  • the map data device 60 includes a receiving module 601 and an acquiring module 602.
  • the receiving module 601 is used to receive a first instruction from the network side device, and the first instruction is used to instruct the first vehicle to collect map data.
  • the obtaining module 602 is configured to obtain map data according to the map data collection mode indicated by the first instruction.
  • FIG. 6(b) shows another possible structure diagram of the map data collection device 60.
  • the map data device 60 includes a receiving module 601 and a sending module 603.
  • the receiving module 601 is configured to receive a first instruction from the network side device, and the first instruction is used to indicate a way to report map data to the first vehicle.
  • the sending module 603 is configured to send map data to the network side device according to the map data reporting mode indicated by the first instruction.
  • the first instruction includes: confidence information, and the confidence information is used to indicate the confidence that the map data reported by the first vehicle needs to reach.
  • the confidence level of the map data sent by the sending module 603 to the network side device is not lower than the confidence level indicated by the confidence level information.
  • the receiving module 601 is further configured to receive a second instruction from the network side device, and the second instruction is used to instruct the first vehicle to stop reporting map data in the manner indicated by the first instruction.
  • the acquiring module 602 is further configured to stop collecting map data in the manner indicated by the first instruction according to the second instruction.
  • the sending module 603 is further configured to stop reporting the map data in the manner indicated by the first instruction according to the second instruction.
  • the map data collection device 60 may further include a first acquisition module 604 and a first determination module 605.
  • the first acquisition module 604 is configured to acquire first trigger information, and the first trigger information is used to indicate the first trigger condition that the first vehicle should meet when the first vehicle stops reporting map data in the manner indicated by the first instruction.
  • the first determination module 605 is configured to determine that the first vehicle satisfies the first trigger condition.
  • the sending module 603 is also used to stop reporting the map data in the manner indicated by the first instruction.
  • the first instruction is also used to instruct the first vehicle to start to report the map data in the manner indicated by the first instruction when the first vehicle should meet the second trigger condition.
  • the map data collection device 60 may further include: a second determination module 606, configured to determine that the first vehicle satisfies the second trigger condition.
  • the map data collection device 60 is presented in the form of dividing various functional modules in an integrated manner.
  • the "module” here can refer to a specific ASIC, circuit, processor and memory that executes one or more software or firmware programs, integrated logic circuit, and/or other devices that can provide the above-mentioned functions.
  • the map data collection device 60 can take the form of the map data collection device 50 shown in FIG. 5.
  • the processor 501 in the map data collection device 50 shown in FIG. 5 can invoke the computer execution instructions stored in the memory 503 to cause the map data collection device 50 to execute the map data collection method in the foregoing method embodiment.
  • the functions/implementation processes of the foregoing modules may be implemented by the processor 501 in the map data collection device 50 shown in FIG. 5 calling the computer execution instructions stored in the memory 503.
  • map data collection device 60 provided in this embodiment can execute the above-mentioned map data collection method, the technical effects that can be obtained can refer to the above-mentioned method embodiment, which will not be repeated here.
  • FIG. 7 shows a schematic structural diagram of a map data collection device 70.
  • the map data collection device 70 includes a sending module 701 and a receiving module 702.
  • the receiving module 702 is configured to receive the map data sent by the first vehicle according to the map data reporting mode indicated by the first instruction from the first vehicle, and the confidence of the map data is not lower than the confidence indicated by the confidence information.
  • the sending module 701 is further configured to send first trigger information to the first vehicle, where the first trigger information is used to instruct the first vehicle to stop reporting map data in the manner indicated by the first instruction. A trigger condition.
  • the first instruction is also used to instruct the first vehicle to start to report the map data in the manner indicated by the first instruction when the first vehicle should meet the second trigger condition.
  • the sending module 701 is further configured to send the freshness information of the collection object to the first vehicle, and the freshness information is used for the first vehicle to send map data to the network side device.
  • the map data collection device 70 is presented in the form of dividing various functional modules in an integrated manner.
  • the "module” here can refer to a specific ASIC, circuit, processor and memory that executes one or more software or firmware programs, integrated logic circuit, and/or other devices that can provide the above-mentioned functions.
  • the map data collection device 70 can take the form of the map data collection device 50 shown in FIG. 5.
  • the functions/implementation process of the above-mentioned sending module 701 and receiving module 702 may be implemented by the processor 501 in the map data collecting device 50 shown in FIG. 5 calling the computer execution instructions stored in the memory 503.
  • the functions/implementation process of the above-mentioned sending module 701 and receiving module 702 can be realized through the communication interface 504 in the map data collecting device 50 shown in FIG. 5.
  • one or more of the above modules or units can be implemented by software, hardware or a combination of both.
  • the software exists in the form of computer program instructions and is stored in the memory, and the processor can be used to execute the program instructions and implement the above method flow.
  • the processor can be built in SoC (system on chip) or ASIC, or it can be an independent semiconductor chip.
  • SoC system on chip
  • ASIC application specific integrated circuit
  • the processor's internal processing is used to execute software instructions to perform calculations or processing, and may further include necessary hardware accelerators, such as field programmable gate array (FPGA), PLD (programmable logic device) , Or a logic circuit that implements dedicated logic operations.
  • FPGA field programmable gate array
  • PLD programmable logic device
  • the hardware can be a CPU, a microprocessor, a digital signal processing (digital signal processing, DSP) chip, a microcontroller unit (MCU), an artificial intelligence processor, an ASIC, Any one or any combination of SoC, FPGA, PLD, dedicated digital circuit, hardware accelerator, or non-integrated discrete device can run necessary software or do not rely on software to perform the above method flow.
  • DSP digital signal processing
  • MCU microcontroller unit
  • an artificial intelligence processor an ASIC
  • Any one or any combination of SoC, FPGA, PLD, dedicated digital circuit, hardware accelerator, or non-integrated discrete device can run necessary software or do not rely on software to perform the above method flow.
  • an embodiment of the present application also provides a map data collection device (for example, the map data collection device may be a chip or a chip system).
  • the map data collection device includes a processor and a communication interface, and the communication interface is used to communicate with Other communication devices communicate, and the processor is used to run a computer program, so that the map data collection device executes the method in any of the foregoing method embodiments.
  • the map data collection device further includes a memory.
  • the memory is used to store necessary program instructions and data, and the processor can call the program code stored in the memory.
  • the memory may not be in the map data collection device.
  • the map data acquisition device is a chip system, it may be composed of a chip, or may include a chip and other discrete devices, which is not specifically limited in the embodiment of the present application.
  • the computer may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
  • a software program it can be implemented in the form of a computer program product in whole or in part.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • the computer instructions may be transmitted from a website, computer, server, or data center.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or includes one or more data storage devices such as servers, data centers, etc. that can be integrated with the medium.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).

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Abstract

本申请实施例提供地图数据采集的方法、装置及系统，可以有针对性地进行地图数据上报，避免数据冗余，提高地图数据采集效率。所述方法包括：接收来自网络侧设备的第一指令，所述第一指令用于向第一车辆指示上报地图数据的方式，所述第一指令包括置信度信息，所述置信度信息用于指示所述第一车辆上报的地图数据需达到的置信度；根据所述第一指令指示的地图数据上报方式向所述网络侧设备发送所述地图数据，所述地图数据的置信度不低于所述置信度信息指示的置信度。

Description

地图数据采集方法、装置及系统
本申请要求于2020年03月20日提交国家知识产权局、申请号为202010203284.X、申请名称为“地图数据采集方法、装置及系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能网联车技术领域，尤其涉及地图数据采集方法、装置及系统。
背景技术
目前，地图已成为车辆导航的必备工具，其能够准确显示车辆周围路况，为用户规划驾驶路径，帮助用户准确到达目的地。
在实际驾驶中，道路状况是经常变化的，比如道路封闭、交通标志改变等，因此为保证地图的准确性，需要实时更新地图。其中，更新地图即更新地图中包含的地图元素，比如车道线、限速标志、路灯或路牌、红绿灯、停止线等。现有技术中，基于“众包采集模式”采集地图数据，实现地图的更新。所谓“众包采集模式”，是指这样一种采集模式：私家车、出租车或者公交车等各非专业测绘车(也称众包车)利用车上已有采集设备，采集周边环境中的各种地图元素的数据。由于众包采集模式下，在各区域内所能采集到的地图数据的数量取决于该区域内众包车的数量，对于车流量较小的一些区域(如非主流道路)，往往需要花费较多时间进行地图数据采集，这使得众包采集模式的采集效率较低。而对于车流量较大的一些区域(如主流道路)，又存在地图数据冗余的问题。加之，各种众包车由于配备的采集设备种类繁杂、性能差异大导致的地图数据格式不统一，使得后期数据处理的复杂度增加。
因此，如何更高效地采集地图数据是目前亟需解决的问题。
发明内容
本申请实施例提供的地图数据采集方法、装置及系统，可以有针对性地进行地图数据上报，可以避免数据冗余，提高地图数据采集效率。
为达到上述目的，本申请的实施例采用如下技术方案：
第一方面，提供了一种地图数据采集方法，该方法应用于第一车辆，该方法包括：接收来自网络侧设备的第一指令，所述第一指令用于向所述第一车辆指示上报地图数据的方式，所述第一指令包括对所述第一车辆上报至所述网络侧设备的地图数据的限定信息；可选地，所述限定信息可以包括置信度信息，所述置信度信息用于指示所述第一车辆上报的地图数据需达到的置信度；可选地，所述限定信息可以包括地图数据的采集区域、采集时间频度、采集空间密度、采集对象、优先级信息、采集使用的传感器类型、规格或者数量，即，第一车辆可以以网络侧设备指定的采集指标进行采集，或者可以对网络侧设备指定的采集对象或采集区域进行采集，或者利用网络侧设备指定的采集设备进行采集；根据所述第一指令指示的地图数据上报方式向所述网络侧设备发送所述地图数据，所述地图数据满足所述限定信息对被上报的地图数据的限定，例如当所述限定信息为置信度信息时，所述地图数据的置信度不低于所述置信度信息 指示的置信度。由于本申请实施例中，第一车辆可以接收来自网络侧设备的第一指令，第一指令可以向第一车辆指示上报地图数据的方式，进而第一车辆在接收到该第一指令后，即可根据第一指令指示的地图数据上报方式，有针对性地进行地图数据上报。因此，可以减少车辆向网络侧设备上报的地图数据，避免数据冗余，提高采集效率，进而在一定程度上降低后期数据处理的复杂度。例如，若所述限定信息包括所述置信度信息，则在第一车辆向服务器上报地图数据之前，可以先根据第一指令中的置信度信息剔除其中不符合置信度要求的地图数据，再进行上报，提高上报的地图数据的精度，进而提高车辆和服务器之间信息传输的效率。
在一种可能的设计中，该方法还包括：接收来自所述网络侧设备的第二指令，所述第二指令用于向所述第一车辆指示停止以所述第一指令指示的方式上报地图数据；根据所述第二指令停止以所述第一指令指示的方式上报地图数据。基于此方案，当网络侧设备确定不再需要第一车辆根据第一指令指示的方式上报数据时，可以向第一车辆发送该第二指令，第一车辆接收到该第二指令后，即会根据第二指令的指示停止以第一指令指示的方式上报地图数据，从而避免数据冗余。
在一种可能的设计中，所述方法还包括：获取第一触发信息，所述第一触发信息用于指示第一车辆停止以所述第一指令指示的方式上报地图数据时所述第一车辆应满足的第一触发条件；确定所述第一车辆满足所述第一触发条件；停止以所述第一指令指示的方式上报地图数据。所述获取的方式包括从网络侧设备接收所述第一触发信息，或者读取预先存储于所述第一车辆内的所述第一触发信息。所述第一触发条件包括达到预定时间、基于所述第一指令指示的方式上报地图数据的次数超过第一阈值或者基于所述第一指令指示的方式上报地图数据的样本数超过第二阈值。基于此方案，第一车辆确定满足第一触发条件后，可以及时停止以第一指令指示的方式上报地图数据，避免数据冗余。
在一种可能的设计中，第一指令指示的地图数据上报方式除了包括所述地图数据所应满足的限制条件以外，还可以包括以下至少一项：数据格式、上报帧结构、上报频度、上报时间、上报优先级或上报规则。即，第一车辆可以以网络侧设备指定的上报指标或上报规则上报地图数据。
在一种可能的设计中，所述第一指令还用于指示第一车辆开始以所述第一指令指示的方式上报地图数据时所述第一车辆应满足的第二触发条件，所述向所述网络侧设备发送所述地图数据之前，所述方法还包括：确定所述第一车辆满足所述第二触发条件。第二触发条件例如可以包括：设定时间内采集的数据样本少于某一阈值，指定的上报对象的鲜度值低于某一阈值，检测到指定的采集区域内的地图元素被更新等等。基于该方案，只有当第二触发条件满足时，第一车辆才开始以第一指令指示的方式上报地图数据，因此提高地图数据采集的针对性，避免数据冗余。
在一种可能的设计中，所述方法还包括获取采集对象的鲜度信息；所述向所述网络侧设备发送所述地图数据包括：根据所述鲜度信息向所述网络侧设备发送所述地图数据。其中，所述鲜度信息为采集对象发生变化的平均周期、发生变化的统计分布情况、无变化的持续时间、首次更新时间或者上一次更新时间，该鲜度信息可以由路侧单元、云端网络设备或者其它车辆提供。所述获取可以为从所述网络侧设备获取，也 可以为从其他设备获取，例如路侧单元、云端网络设备或者其它车辆。所述根据所述鲜度信息向所述网络侧设备发送所述地图数据，例如可以体现于：根据所述鲜度信息确定待上报的地图数据的采集时间频度、采集空间密度、优先级或者上报时间，向所述网络侧设备发送所述地图数据应满足所述采集时间频度、所述采集空间密度、所述优先级或者所述上报时间。
第二方面，提供一种地图数据采集方法，该方法应用于网络侧设备，该方法包括：向第一车辆发送第一指令，所述第一指令用于向所述第一车辆指示上报地图数据的方式，所述第一指令包括对所述第一车辆上报至所述网络侧设备的地图数据的限定信息；可选地，所述限定信息可以包括置信度信息，所述置信度信息用于指示所述第一车辆上报的地图数据需达到的置信度；可选地，所述限定信息可以包括地图数据的采集区域、采集时间频度、采集空间密度、采集对象、优先级信息、采集使用的传感器类型、规格或者数量，即，第一车辆可以以网络侧设备指定的采集指标进行采集，或者可以对网络侧设备指定的采集对象或采集区域进行采集，或者利用网络侧设备指定的采集设备进行采集；从所述第一车辆接收所述第一车辆根据所述第一指令指示的上报方式发送的所述地图数据，所述地图数据满足所述限定信息对被上报的地图数据的限定，例如当所述限定信息为置信度信息时，所述地图数据的置信度不低于所述置信度信息指示的置信度。基于此方案，可以减少车辆向网络侧设备上报的地图数据，避免数据冗余，提高采集效率，进而在一定程度上降低后期数据处理的复杂度。
在一种可能的设计中，该方法还包括：向所述第一车辆发送第二指令，所述第二指令用于向所述第一车辆指示停止以所述第一指令指示的方式上报地图数据。
在一种可能的设计中，该方法还包括：向所述第一车辆发送第一触发信息，所述第一触发信息用于指示第一车辆停止以所述第一指令指示的方式上报地图数据时所述第一车辆应满足的第一触发条件。所述第一触发条件包括达到预定时间、基于所述第一指令指示的方式上报地图数据的次数超过第一阈值或者基于所述第一指令指示的方式上报地图数据的样本数超过第二阈值。
在一种可能的设计中，第一指令指示的地图数据上报方式除了包括所述地图数据所应满足的限制条件以外，还可以包括以下至少一项：数据格式、上报帧结构、上报频度、上报时间、上报优先级或上报规则。即，第一车辆可以以网络侧设备指定的上报指标或上报规则上报地图数据。
在一种可能的设计中，所述第一指令还用于指示第一车辆开始以所述第一指令指示的方式上报地图数据时所述第一车辆应满足的第二触发条件。第二触发条件例如可以包括：设定时间内采集的数据样本少于某一阈值，指定的上报对象的鲜度值低于某一阈值，检测到指定的采集区域内的地图元素被更新等等。
在一种可能的设计中，该方法还包括：向所述第一车辆发送采集对象的鲜度信息，所述鲜度信息用于所述第一车辆向所述网络侧设备发送所述地图数据。其中，所述鲜度信息为采集对象发生变化的平均周期、发生变化的统计分布情况、无变化的持续时间、首次更新时间或者上一次更新时间。所述用于所述第一车辆向所述网络侧设备发送所述地图数据，例如可以体现于：根据所述鲜度信息确定待上报的地图数据的采集时间频度、采集空间密度、优先级或者上报时间，向所述网络侧设备发送所述地图数 据应满足所述采集时间频度、所述采集空间密度、所述优先级或者所述上报时间。
第三方面，提供了一种地图数据采集装置用于实现上述各种方法。该地图数据采集装置包括实现上述方法相应的模块、单元、或手段(means)，该模块、单元、或手段可以通过硬件实现，软件实现，或者通过硬件执行相应的软件实现。该硬件或软件包括一个或多个与上述功能相对应的模块或单元。
第四方面，提供了一种地图数据采集装置，包括：至少一个处理器和通信接口，所述通信接口用于与其它通信装置进行通信；所述处理器用于运行计算机程序，以使得该地图数据采集装置执行上述第一方面或第一方面的任一种可能的设计中的方法，或者上述第二方面或第二方面的任一种可能的设计中的方法。
在一种可能的设计中，该通信装置还包括存储器。该存储器用于存储计算机程序或指令，当处理器执行该指令时，以使该地图数据采集装置执行上述任一方面所述的方法。
上述地图数据采集装置可以应用于第一车辆或网络侧设备，当述地图数据采集装置应用于第一车辆时，该地图数据采集装置还包括传感器，传感器用于获取地图数据。
第五方面，提供了一种地图数据采集装置，包括：处理器；该处理器用于与存储器耦合，并读取存储器中的计算机程序或指令之后，根据该计算机程序或指令执行上述第一方面或第一方面的任一种可能的设计中的方法，或者上述第二方面或第二方面的任一种可能的设计中的方法。
在一种可能的设计中，该通信装置还包括存储器，该存储器，用于保存必要的程序指令和数据。该通信装置是芯片系统时，可以由芯片构成，也可以包含芯片和其他分立器件。
上述第三方面、第四方面或第五方面中，该地图数据采集装置可以为上述第一方面中的车辆、应用于上述第一方面中的车辆内的装置或者可用于所述装置的芯片或者芯片系统；或者，该地图数据采集装置可以为上述第二方面中的网络侧设备、应用于上述第二方面中的网络侧设备内的装置或者可用于上述第二方面中的网络侧设备的芯片或者芯片系统。
第六方面，提供了一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序或指令，当所述计算机程序或指令被处理器执行时，实现上述任一方面所述的方法。
第七方面，提供了一种包含指令的计算机程序产品，所述计算机程序产品包含指令，当所述计算机程序产品在计算机上运行时，使得计算机可以执行上述任一方面所述的方法。
第八方面，提供了一种地图数据采集系统，该地图数据系统包括车端的上述地图数据采集装置，以及网络侧的上述地图数据采集装置。
其中，第三方面至第八方面中任一种设计方式所带来的技术效果可参见上述第一方面和第二方面中不同设计方式所带来的技术效果，此处不再赘述。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍。
图1为本申请实施例适用的应用场景图；
图2为本申请实施例提供的一种地图数据采集方法的流程示意图；
图3为本申请实施例提供的另一种地图数据采集方法的流程示意图；
图4为本申请实施例提供的一种地图数据采集系统的结构示意图；
图5为本申请实施例提供的一种地图数据采集装置的结构示意图；
图6(a)为本申请实施例提供的一种地图数据采集装置的结构示意图；
图6(b)为本申请实施例提供的一种地图数据采集装置的结构示意图；
图6(c)为本申请实施例提供的一种地图数据采集装置的结构示意图；
图6(d)为本申请实施例提供的一种地图数据采集装置的结构示意图；
图6(e)为本申请实施例提供的一种地图数据采集装置的结构示意图；
图7为本申请实施例提供的一种地图数据采集装置的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。其中，在本申请的描述中，除非另有说明，“/”表示前后关联的对象是一种“或”的关系，例如，A/B可以表示A或B；本申请中的“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况，其中A、B可以是单数或者复数。并且，在本申请的描述中，除非另有说明，“多个”是指两个或多于两个。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b，或c中的至少一项(个)，可以表示：a，b，c，a-b，a-c，b-c，或a-b-c，其中a，b，c可以是单个，也可以是多个。
另外，为了便于清楚描述本申请实施例的技术方案，在本申请的实施例中，采用了“第一”、“第二”等字样对功能和作用基本相同的相同项或相似项进行区分。本领域技术人员可以理解“第一”、“第二”等字样并不对数量和执行次序进行限定，并且“第一”、“第二”等字样也并不限定一定不同。
同时，在本申请实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本申请实施例中被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其它实施例或设计方案更优选或更具优势。确切而言，使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念，便于理解。
为便于理解，以下对本申请实施例的应用场景进行简要介绍：
图1所示为本申请实施例适用的一种可能的应用场景图。如图1所示，在该应用场景中，车辆101可以利用自身配备的采集设备，如车载摄像头、毫米波雷达、超声波雷达、加速度传感器、角速度传感器等，采集周边环境的地图数据，并向网络侧设备102上报地图数据。网络侧设备102可以接收车辆101上报的地图数据，进而根据车辆101上报的地图数据维护或更新地图，并向车辆101提供地图的更新和下载服务。其中，网络侧设备102包括但不限于服务器、路侧单元(road side unit，RSU)等。
下面对本申请实施例提供的地图数据采集方法进行具体阐述。
如图2所示，为本申请实施例提供的一种地图数据采集方法，包括如下步骤：
S201、网络侧设备向第一车辆发送第一指令；第一车辆接收来自网络侧设备的第 一指令，第一指令用于向第一车辆指示采集地图数据的方式。
其中，第一车辆为网络侧设备服务范围内的一个或多个车辆。第一指令包括置信度信息，置信度信息用于指示车辆上报的地图数据需达到的置信度。其中，置信度也可称为置信水平，用于表示地图数据的精度，可以用概率值或其他任意(0,1)之间的数值表示，且取值越高地图数据的精度越高。
本申请实施例中，第一指令指示的地图数据采集方式可以包括以下信息中的一项或多项：采集时间频度、采集空间密度、采集优先级、采集鲜度、采集区域、采集优先级、采集对象、采集对象类型、传感器类型、传感器规格或传感器数量。
示例性的，一种可能的实施方式中，第一指令指示的地图数据采集方式可以包括采集对象，其中采集对象例如可以是车道线、限速标志、路灯、路牌、红绿灯、停止线等构成地图的具体要素(又称地图元素)。即，第一指令可以指示第一车辆对指定的采集对象进行采集。或者，第一指令指示的地图数据采集方式可以包括采集对象的类型，其中采集对象的类型例如可以是路边设施、路面标志线、道路施工标志、路侧标志等等，每个分类又包括多种地图元素，比如路面标志线可以包括车道线、停止线、减速标线、禁停线等等。也即，第一指令可以指示第一车辆对指定类型的采集对象进行采集。再或者，第一指令指示的地图数据采集方式可以包括采集区域，采集区域例如可以是地图中的某条道路、某个车道，也可以是地图中的某个行政区(如，省辖区、市辖区、县辖区等)，还可以是网络侧设备指定的任意范围的其他区域。即，第一指令可以指示第一车辆对指定采集区域进行采集。当然，第一指令指示的地图数据采集方式也可以包括采集区域和采集对象，或者包括采集区域和采集类型。即，第一指令可以指示第一车辆对指定区域内指定的采集对象或指定区域内指定类型的采集对象进行采集。
另一种可能的实施方式中，第一指令指示的地图数据采集方式可以包括采集时间频度、采集空间密度、采集优先级、采集鲜度、采集优先级等采集指标中的一项或多项。即，第一指令可以指示第一车辆以指定的采集指标进行采集。或者，第一指令指示的地图数据采集方式可以包括采集指标和采集对象。即，第一指令可以指示第一车辆以指定的采集指标对指定采集对象进行采集。再或者，第一指令指示的地图数据采集方式可以包括采集指标和采集区域。即，第一指令可以指示第一车辆以指定的采集指标对指定采集区域内的采集对象进行采集。
再一种可能的实施方式中，第一指令指示的地图数据采集方式可以包括传感器类型、传感器规格或传感器数量。即，第一指令可以指示第一车辆基于指定类型或数量的采集设备进行采集。
当然，以上仅列举了地图数据采集方式部分可能的实现形式，可以理解，地图数据采集方式还可以有其他形式，本申请对此不作具体限定。
此外，需要说明的是，本申请实施例中的鲜度表示采集对象或采集区域的变化频度。一种可能的实现方式中，可以用鲜度值来表示采集对象或采集区域的鲜度，鲜度值用于表示地图元素的变化周期。
示例性的，比如，鲜度值可以定义为[0.5，5.5]之间以0.5为间隔的一个实数，当鲜度值为1.5时，表示对应的地图元素的变化周期为1.5年或1.5月或1.5周或1.5日。 当然，上述仅仅是一个说明性的示例，在具体实现中可以有其他方式来表示鲜度值，本申请对此不作具体限定。
另外，本申请实施例中的鲜度值可以是每个地图元素对应一个鲜度值，也可以是多个地图元素对应一个鲜度值，或地图中某条道路上的所有地图元素对应一个平均鲜度值，甚至也可以是某个区域或某个地区或某个城市中的所有地图元素对应一个平均鲜度值，这里不做具体限定。也就是说，本申请实施例中的鲜度值可以用于限定某个地图元素，也可以用于限定某几个地图元素，还可以用于限定某个区域或某个地区或某个城市中的地图元素，本申请对此不作具体限定。
本申请实施例中，以指定的采集鲜度采集地图数据可以是，以指定的鲜度值对应的采集级别采集地图数据。一种可能的实施方式中，可以预先设定鲜度值和采集级别之间的对应关系，使得取值范围不同的鲜度值对应不同等级的采集级别。
示例性的，各等级采集级别可以包括对应的采集密度和/或采集频度。以指定的鲜度值采集地图数据相当于以指定的鲜度对应的采集密度和/或采集频度采集地图数据。可选的，可令取值较大的鲜度值对应的采集级别称为基础采集级别，该基础采集级别可以包括某个设定的采集密度和/或采集频度，基础采集级别之上的各采集级别分别对应不同取值范围的鲜度值，并且随着采集级别的增大，对应的采集密度和/或采集频度可以以该设定的采集密度和/或采集频度为基准逐渐增大。示例性的，如表1所示，为鲜度值与采集级别对应关系的一个示例。表1中，鲜度值在[4.5，5.5)之间时，对应采集级别1，也称基础采集级别；鲜度值在[2.5，4.5)之间时，对应采集级别2，采集频度和/或采集密度在基础采集级别的基础上增加1；鲜度值在[0.5，2.5)之间时，对应采集级别3，采集频度和/或采集密度在基础采集级别的基础上增加2。
表1
鲜度值 采集级别
[0.5,2.5) 3(采集频度和/或采集密度+2)
[2.5,4.5) 2(采集频度和/或采集密度+1)
[4.5，5.5) 1(基础采集级别)
可选的，第一指令还可以包括至少一个采集对象的鲜度信息。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应所述以权利要求的保护范围为准。其中，鲜度信息为可用于预测采集对象可能发生变化的信息。示例性的，鲜度信息例如可以是以下信息中的至少一项：平均变化周期、首次更新时间、上一次更新时间或者无变化持续时间。
可选的，第一指令还可以包括用于触发第一车辆开始以第一指令指示的方式采集地图数据时第一车辆应满足的第二触发条件。其中，第二触发条件例如可以包括：设定时间内采集的数据样本少于某一阈值，指定的采集对象的鲜度值低于某一阈值，检测到指定的采集区域内的地图元素被更新等等。
可选的，本申请实施例中，第一指令还可以包括采集车辆应具备的采集条件。其中，车辆应具备的采集条件可以包括以下信息中的至少一项：车速，所在车道，所配 备的传感器的数量、所配备的传感器的规格、所配备的传感器的置信度信息，所配备的雷达的数量、所配备的雷达的规格、或者所配备的摄像头的数量等，本申请实施例对此不作具体限定。
S202、第一车辆根据第一指令指示的地图数据采集方式获取地图数据。
可选的，当第一指令还包括第二触发条件时，则步骤S202包括：当第一车辆确定第二触发条件满足时，根据第一指令指示的地图数据采集方式获取地图数据。这样一来，只有当第二触发条件满足时，第一车辆才开始以第一指令指示的方式采集地图数据，因此可以避免数据冗余。
示例性的，第一车辆根据第一指令指示的地图数据采集方式获取地图数据，例如可以是，当第一指令指示的地图数据采集方式包括采集对象时，第一车辆对指定的采集对象进行采集获取地图数据。再如，还可以是，当第一指令指示的地图数据采集方式包括采集对象的类型时，第一车辆对指定类型的采集对象进行采集获取地图数据。再比如，还可以是，当第一指令指示的地图数据采集方式包括采集区域时，第一车辆对指定采集区域进行采集获取地图数据，等等。
可选的，当第一指令包括至少一个采集对象的鲜度信息时，第一车辆根据第一指令指示的地图数据采集方式获取地图数据，包括：第一车辆根据鲜度信息预测一个或多个采集对象即将发生变化；第一车辆对该一个或多个采集对象进行采集，获取地图数据。
其中，一种可能的实施方式中，第一车辆根据鲜度信息预测某个采集对象即将发生变化具体可以包括：当某个采集对象的首次更新时间与当前时间的时间间隔大于或等于第一时长时，第一车辆预测该采集对象即将发生变化；或者，当某个采集对象的上一次更新时间与当前时间的时间间隔大于或等于第二时长时，第一车辆预测该采集对象即将发生变化；或者，当某个采集对象的无变化持续时间大于或等于第三时长时，第一车辆预测该采集对象即将发生变化；或者，当某个采集对象的无变化持续时间与平均变化周期的时间间隔小于或等于第四时长时，第一车辆预测该采集对象即将发生变化。
可选的，本申请实施例中，当第一指令包括采集车辆应具备的采集条件时，第一车辆据第一指令指示的地图数据采集方式获取地图数据，包括：第一车辆确定自身符合采集条件后，根据第一指令指示的地图数据采集方式获取地图数据。
这样一来，只有符合一定采集条件的车辆才可以采集地图数据，进而向网络侧设备上报，能够避免部分众包车由于所配备的采集设备性能较差，导致该部分众包车向网络侧设备上报的地图数据可靠性低的问题。也就是说，基于该方案，可以筛掉不符合采集条件的众包车，从而确保层次不齐的众包车上报的地图数据的可靠性。
S203、第一车辆向网络侧设备发送地图数据；网络侧设备从第一车辆接收地图数据。
其中，第一车辆向网络侧设备发送的该地图数据是第一车辆根据第一指令指示的地图数据采集方式获取的地图数据，并且该地图数据的置信度不低于第一指令中包括的置信度信息指示的置信度。本申请实施中，第一车辆接收到的来自网络侧设备的第一指令后，可以根据第一指令指示的地图数据采集方式采集地图数据，进而根据第一 指令中的置信度信息删除采集所得的地图数据中置信度不符合要求的地图数据(即置信度低于置信度信息指示的置信度的地图数据)后，向网络侧设备发送地图数据。因此，第一车辆向网络侧设备发送的地图数据的置信度不低于置信度信息指示的置信度。这样一来，可以避免第一车辆向网络侧设备上报精度较低的地图数据，确保网络侧设备更新地图所使用的地图数据的可靠度，进而提高地图的准确性。
由于本申请实施例中，网络侧设备可以向第一车辆发送第一指令，该第一指令可以向第一车辆指示采集地图数据的方式。第一车辆在接收到该第一指令后，即可根据第一指令指示的地图数据采集方式，有针对性地进行地图数据采集，获取地图数据。因此，一方面，可以避免花费较多时间对车流量较少的区域进行地图数据采集，能够缩短车流量较小的区域的采集时间，进而提高采集效率；另一方面，可以避免车流量较大的区域出现地图数据冗余，从而减少网络侧设备接收到的地图数据的数据量，在一定程度上降低后期数据处理的复杂度。
可选的，如图2所示，本申请实施例提供的地图数据采集方法还可以包括如下步骤S204-S205：
S204、网络侧设备向第一车辆发送第二指令；第一车辆接收来自网络侧设备的第二指令。
其中，第二指令用于向第一车辆指示停止以第一指令指示的方式采集地图数据。
S205、第一车辆根据第二指令停止以第一指令指示的地图数据采集方式获取地图数据。
可选的，在车辆停止以第一指令指示的地图数据采集方式获取地图数据之后，可以采用默认的采集方式对采集对象进行采集。
或者，可选的，除了上述通过第二指令指示第一车辆停止以第一指令指示的地图数据采集方式获取地图数据的方式之外，还可以通过触发信息的形式，达到指示第一车辆停止以第一指令指示的方式采集地图数据的目的。例如，可以在第一指令中携带触发信息，该触发信息用于指示车辆停止以第一指令指示的方式采集地图数据时车辆应满足的触发条件。该情况下，如图2所示，本申请实施例提供的地图数据采集方法还可以包括如下步骤S206-S208：
S206、第一车辆获取第一触发信息。
其中，第一触发信息用于指示第一车辆停止以第一指令指示的方式采集地图数据时第一车辆应满足的第一触发条件。示例性的，第一车辆可以预存第一触发信息，这样，通过读取预存的信息即可获取该第一触发信息。或者，网络侧设备可以在第一指令中携带第一触发信息，这样，第一车辆接收到来自网络侧设备的第一指令后即可获取第一触发信息。
其中，第一触发条件可以包括以下一项或多项：达到预定时间、基于第一指令指示的地图数据采集方式采集数据的次数超过第一阈值、基于第一指令指示的地图数据采集方式采集的数据样本数超过第三阈值或者指定采集对象的鲜度值超过第五阈值。
应理解，本申请实施例中，当第一车辆为多个车辆时，样本点的个数指的是所有第一车辆联合采集得到的样本点数量，采集次数指的是所有第一车辆执行的累计采集次数。上述设定次数和第一阈值，可以是预定义的，也可以是网络侧设备指定的，并 由网络侧设备进行维护以及发送给第一车辆，本申请实施例对此不作具体限定。
S207、第一车辆确定自身满足第一触发条件。
S208、第一车辆停止以第一指令指示的地图数据采集方式获取地图数据。
本申请上述实施例中，第一车辆可以基于网络侧设备的指示或者基于所获取的触发信息，及时停止以第一指令指示的地图数据采集方式获取地图数据，避免执行不必要的采集操作所导致的资源浪费和数据冗余。
如图3所示，为本申请实施例提供的另一种地图数据采集方法，包括如下步骤：
S301、网络侧设备向第一车辆发送第一指令；第一车辆接收来自网络侧设备的第一指令，第一指令用于向第一车辆指示上报地图数据的方式。
其中，第一车辆为网络侧设备服务范围内的一个或多个车辆。第一指令包括置信度信息，置信度信息用于指示车辆上报的地图数据需达到的置信度。关于置信度信息的解释可参考图2所示实施例中的相关描述，此处不予赘述。
一种可能的实施方式中，第一指令指示的地图数据上报方式可以包括上报指标，上报指标例如可以包括以下至少一项：上报频度、上报时间、数据格式、上报帧结构、上报优先级等。
另一种可能的实施方式中，第一指令指示的地图数据上报方式可以包括上报规则。示例性的，上报规则例如可以是：每当第一车辆采集到某一采集对象或某一采集区域对应的地图数据时即进行上报，或者，当第一车辆接收到第一指令的时间超过指定时长时进行上报，或者，当第一车辆采集到的数据样本数超过某一阈值时即进行上报，或者，当第一车辆根据第一指令指示的地图数据上报方式上报的数据样本数超过某一阈值时即进行上报等等。
可选的，第一指令还可以包括用于触发第一车辆开始以第一指令指示的方式上报地图数据的第二触发条件。第二触发条件例如可以包括：设定时间内采集的数据样本少于某一阈值，指定的上报对象的鲜度值低于某一阈值，检测到指定的采集区域内的地图元素被更新等等。
S302、第一车辆获取地图数据。
其中，第一车辆可以以默认方式(如众包采集模式)或者其他方式(如图2所示的实施例中的方式)进行地图数据采集，获取地图数据，本申请实施例对此不做具体限定。
S303、第一车辆根据第一指令指示的地图数据上报方式向网络侧设备发送地图数据；网络侧设备从第一车辆接收地图数据。
其中，第一车辆向网络侧设备发送的地图数据的置信度不低于第一指令中包括的置信度信息指示的置信度。本申请实施中，第一车辆采集到地图数据之后，可以根据第一指令中的置信度信息删除采集所得的地图数据中置信度不符合要求的地图数据(即置信度低于置信度信息指示的置信度的地图数据)后，向网络侧设备发送地图数据。因此，第一车辆向网络侧设备发送的地图数据的置信度不低于置信度信息指示的置信度。这样一来，可以避免第一车辆向网络侧设备上报精度较低的地图数据，确保网络侧设备更新地图所使用的地图数据的可靠度，进而提高地图的准确性。
可选的，当第一指令还包括第二触发条件时，则步骤S303包括：当第一车辆确定 第二触发条件满足时，根据第一指令指示的地图数据上报方式向网络侧设备发送地图数据。这样一来，只有当第二触发条件满足时，第一车辆才开始以第一指令指示的方式上报地图数据，因此可以避免数据冗余。
一种可能的实施方式中，若第一指令指示的地图数据上报方式包括上报指标，则第一车辆可以根据第一指令中包括的上报指标向网络侧设备发送地图数据，例如以指定的上报频度向网络侧设备发送地图数据，或者在指定的上报时间向网络侧设备发送地图数据，或者以指定的数据格式向网络侧设备发送地图数据，等等。
另一种可能的实施方式中，若第一指令指示的地图数据上报方式包括上报规则，则第一车辆可以根据第一指令中包括的上报规则向网络侧设备发送地图数据。
由于本申请实施例中，网络侧设备可以向第一车辆发送第一指令，该第一指令包括用于指示第一车辆上报地图数据的方式。第一车辆在接收到该第一指令后，即可根据第一指令指示的地图数据上报方式，有针对性地进行地图数据上报。因此，可以减少车辆向网络侧设备上报的地图数据，避免数据冗余，提高采集效率，进而在一定程度上降低后期数据处理的复杂度。
可选的，本申请实施例提供的地图数据采集方法还可以包括如下步骤：网络侧设备向第一车辆发送采集对象的鲜度信息；第一车辆获取采集对象的鲜度信息。
其中，所述鲜度信息用于第一车辆向网络侧设备发送地图数据。一种可能的实现方式中，网络侧设备可以通过第一指令向第一车辆发送采集对象的鲜度信息，即采集对象的鲜度信息可以包括在第一指令中，第一车辆接收到第一指令后即可获取其中的采集对象鲜度信息。
对应的，第一车辆向网络侧设备发送地图数据可以包括：第一车辆根据采集对象的鲜度信息，向网络侧设备发送地图数据。例如，第一车辆可以根据鲜度信息预测一个或多个采集对象即将发生变化时，对该一个或多个采集对象进行采集，获取地图数据，进而向网络侧设备发送其中符合置信度信息要求的地图数据。其中，第一车辆根据鲜度信息预测一个或多个采集对象即将发生变化的方法可参考图2所示实施例中的相关描述，此处不予赘述。
可选的，如图3所示，本申请实施例提供的地图数据采集方法还可以包括如下步骤S304-S305：
S304、网络侧设备向第一车辆发送第二指令；第一车辆接收来自网络侧设备的第二指令。
其中，第二指令用于向第一车辆指示停止以第一指令指示的方式上报地图数据。
S305、第一车辆根据第二指令停止以第一指令指示的地图数据上报方式向网络侧设备上报地图数据。
可选的，除了上述通过第二指令指示第一车辆停止以第一指令指示的地图数据上报方式向网络侧设备发送地图数据的方式之外，还可以通过触发信息的形式，达到指示第一车辆停止以第一指令指示的方式上报地图数据的目的。例如，可以在第一指令中携带触发信息，该触发信息用于指示车辆停止以第一指令指示的方式上报地图数据时车辆应满足的触发条件。该情况下，如图3所示，本申请实施例提供的地图数据采集方法还可以包括如下步骤S306-S308：
S306、网络侧设备向第一车辆发送第一触发信息；第一车辆接收第一触发信息。
其中，第一触发信息用于指示第一车辆停止以第一指令指示的方式上报地图数据时第一车辆应满足的第一触发条件。
可选的，网络侧设备也可以通过在第一指令中携带第一触发信息向第一车辆发送第一触发信息，这样，第一车辆接收到来自网络侧设备的第一指令后即可获取第一触发信息。
其中，第一触发条件可以包括：达到预定时间、基于第一指令指示的地图数据上报方式上报数据的次数超过第二阈值、基于第一指令指示的地图数据上报方式上报的数据样本数超过第四阈值或者指定上报对象的鲜度值超过第五阈值。
S307、第一车辆确定自身满足第一触发条件。
S308、第一车辆停止以第一指令指示的地图数据上报方式向网络侧设备上报地图数据。
本申请上述实施例中，第一车辆可以基于网络侧设备的指示或者基于所获取的触发信息，及时停止以第一指令指示的地图数据采集方式上报地图数据，避免执行不必要的上报操作所导致的资源浪费和数据冗余。
可以理解的是，以上各个实施例中，由第一车辆实现的方法和/或步骤，也可以由可用于第一车辆的部件实现；由网络侧设备实现的方法和/或步骤，也可以由可用于网络侧设备的部件实现。
基于上述方法实施例，本申请实施例提供一种地图数据采集系统40，如图4所示，该地图数据采集系统40包括第一车辆401和网络侧设备402，第一车辆401和网络侧设备402之间可以相互通信。
其中，第一车辆401，用于执行图2或图3所示实施例中第一车辆的动作。网络侧设备402，用于执行图2或图3所示实施例中网络侧设备的动作。
可选的，本申请实施例中的第一车辆401或者网络侧设备402的相关功能可以由一个设备实现，也可以由多个设备共同实现，还可以是由一个设备内的一个或多个功能模块实现，本申请实施例对此不作具体限定。可以理解的是，上述功能既可以是硬件设备中的网络元件，也可以是在专用硬件上运行的软件功能，或者是硬件与软件的结合，或者是平台(例如，云平台)上实例化的虚拟化功能。
例如，本申请实施例中的第一车辆401或者网络侧设备402的相关功能可以通过图5中的地图数据采集装置50来实现。图5所示为本申请实施例提供的地图数据采集装置50的结构示意图。该地图数据采集装置50包括一个或多个处理器501，通信线路502，以及至少一个通信接口(图5中仅是示例性的以包括通信接口504，以及一个处理器501为例进行说明)，可选的还可以包括存储器503。
处理器501可以是一个通用中央处理器(central processing unit，CPU)，微处理器，特定应用集成电路(application-specific integrated circuit，ASIC)，或一个或多个用于控制本申请方案程序执行的集成电路。
通信线路502可包括一通路，用于连接不同组件之间。
通信接口504，可以是收发模块用于与其他设备或通信网络通信，如以太网，RAN，无线局域网(wireless local area networks，WLAN)等。例如，所述收发模块可以是收发 器、收发机一类的装置。可选的，所述通信接口504也可以是位于处理器501内的收发电路，用以实现处理器的信号输入和信号输出。
存储器503可以是具有存储功能的装置。例如可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)、只读光盘(compact disc read-only memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过通信线路502与处理器相连接。存储器也可以和处理器集成在一起。
其中，存储器503用于存储执行本申请方案的计算机执行指令，并由处理器501来控制执行。处理器501用于执行存储器503中存储的计算机执行指令，从而实现本申请实施例中提供的地图数据采集方法。
或者，本申请实施例中，也可以是处理器501执行本申请下述实施例提供的地图数据采集方法中的处理相关的功能，通信接口504负责与其他设备或通信网络通信，本申请实施例对此不作具体限定。
本申请实施例中的计算机执行指令也可以称之为应用程序代码，本申请实施例对此不作具体限定。
在具体实现中，作为一种实施例，处理器501可以包括一个或多个CPU，例如图5中的CPU0和CPU1。
在具体实现中，作为一种实施例，地图数据采集装置50可以包括多个处理器，例如图5中的处理器501和处理器507。这些处理器中的每一个可以是一个单核(single-CPU)处理器，也可以是一个多核(multi-CPU)处理器。这里的处理器可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。
在具体实现中，作为一种实施例，地图数据采集装置50还可以包括输出设备505和输入设备506。输出设备505和处理器501通信，可以以多种方式来显示信息。
上述的地图数据采集装置50可以是一个通用装置或者是一个专用装置。本申请实施例对此不作具体限定。
可以理解，图2所示方法实施例中步骤S201至S206中的网络侧设备或者第一车辆的动作可以由图5所示的地图数据采集装置50中的处理器501调用存储器503中存储的应用程序代码来执行。类似的，图3所示方法实施例中步骤S301至S306中的网络侧设备或者第一车辆的动作可以由图5所示的地图数据采集装置50中的处理器501调用存储器503中存储的应用程序代码来执行，本实施例对此不作任何限制。
此外，本申请实施例还提供了一种地图数据采集装置，该地图数据采集装置可以为应用于上述方法实施例中的第一车辆的装置，或者为可用于所述第一车辆的部件。或者，该地图数据采集装置可以为上述方法实施例中的网络侧设备，或者包含上述网络侧设备的装置，或者为可用于上述网络侧设备的部件。可以理解的是，该地图数据采集装置为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。 本领域技术人员应该很容易意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，本申请能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
比如，以地图数据采集装置为应用于上述方法实施例中的第一车辆的装置为例，图6(a)示出了该地图数据采集装置60的一种可能的结构示意图。如图6(a)所示，该地图数据装置60包括接收模块601和获取模块602。
其中，接收模块601，用于接收来自网络侧设备的第一指令，第一指令用于向第一车辆指示采集地图数据的方式。
获取模块602，用于根据第一指令指示的地图数据采集方式获取地图数据。
图6(b)示出了该地图数据采集装置60的另一种可能的结构示意图。如图6(b)所示，该地图数据装置60包括接收模块601和发送模块603。
其中，接收模块601，用于接收来自网络侧设备的第一指令，第一指令用于向第一车辆指示上报地图数据的方式。
发送模块603，用于根据第一指令指示的地图数据上报方式向网络侧设备发送地图数据。
其中，第一指令包括：置信度信息，所述置信度信息用于指示所述第一车辆上报的地图数据需达到的置信度。发送模块603向网络侧设备发送的所述地图数据的置信度不低于该置信度信息指示的置信度。
可选的，接收模块601还用于接收来自网络侧设备的第二指令，第二指令用于向第一车辆指示停止以第一指令指示的方式上报地图数据。获取模块602，还用于根据第二指令停止以第一指令指示的方式采集地图数据。或者，发送模块603，还用于根据第二指令停止以第一指令指示的方式上报地图数据。
可选的，如图6(c)所示，该地图数据采集装置60还可以包括第一获取模块604和第一确定模块605。其中，第一获取模块604，用于获取第一触发信息，第一触发信息用于指示第一车辆停止以第一指令指示的方式上报地图数据时第一车辆应满足的第一触发条件。第一确定模块605，用于确定第一车辆满足第一触发条件。发送模块603，还用于停止以第一指令指示的方式上报地图数据。
可选的，第一指令还用于指示第一车辆开始以第一指令指示的方式上报地图数据时第一车辆应满足的第二触发条件。如图6(d)所示，该地图数据采集装置60还可以包括：第二确定模块606，用于确定第一车辆满足第二触发条件。
可选的，如图6(e)所示，该地图数据采集装置60还可以包括：第二获取模块607，用于获取采集对象的鲜度信息。发送模块603，还用于根据鲜度信息向网络侧设备发送地图数据。
其中，上述方法实施例涉及的各步骤的所有相关内容均可以援引到对应功能模块的功能描述，在此不再赘述。
在本实施例中，该地图数据采集装置60以采用集成的方式划分各个功能模块的形式来呈现。这里的“模块”可以指特定ASIC，电路，执行一个或多个软件或固件程序的 处理器和存储器，集成逻辑电路，和/或其他可以提供上述功能的器件。在一个简单的实施例中，本领域的技术人员可以想到该地图数据采集装置60可以采用图5所示的地图数据采集装置50的形式。
比如，图5所示的地图数据采集装置50中的处理器501可以通过调用存储器503中存储的计算机执行指令，使得地图数据采集装置50执行上述方法实施例中的地图数据采集方法。
具体的，上述各模块的功能/实现过程可以通过图5所示的地图数据采集装置50中的处理器501调用存储器503中存储的计算机执行指令来实现。
由于本实施例提供的地图数据采集装置60可执行上述的地图数据采集方法，因此其所能获得的技术效果可参考上述方法实施例，在此不再赘述。
或者，以地图数据采集装置应用于上述方法实施例中的网络侧设备为例，图7示出了一种地图数据采集装置70的结构示意图。如图7所示，该地图数据采集装置70包括发送模块701和接收模块702。
其中，发送模块701，用于向第一车辆发送第一指令，第一指令包括用于向第一车辆指示上报地图数据的方式，并且，所述第一指令包括置信度信息，所述置信度信息用于指示所述第一车辆上报的地图数据需达到的置信度。
接收模块702，用于从第一车辆接收第一车辆根据第一指令指示的地图数据上报方式发送的地图数据，所述地图数据的置信度不低于所述置信度信息指示的置信度。
可选的，发送模块701还用于：向第一车辆发送第二指令，第二指令用于向第一车辆指示停止以第一指令指示的方式上报地图数据。
可选的，发送模块701还用于：向第一车辆发送第一触发信息，第一触发信息用于指示第一车辆停止以第一指令指示的方式上报地图数据时第一车辆应满足的第一触发条件。
可选的，第一指令还用于指示第一车辆开始以第一指令指示的方式上报地图数据时第一车辆应满足的第二触发条件。
可选的，发送模块701还用于：向第一车辆发送采集对象的鲜度信息，鲜度信息用于第一车辆向网络侧设备发送地图数据。
在本实施例中，该地图数据采集装置70以采用集成的方式划分各个功能模块的形式来呈现。这里的“模块”可以指特定ASIC，电路，执行一个或多个软件或固件程序的处理器和存储器，集成逻辑电路，和/或其他可以提供上述功能的器件。在一个简单的实施例中，本领域的技术人员可以想到该地图数据采集装置70可以采用图5所示的地图数据采集装置50的形式。
具体的，上述发送模块701和接收模块702的功能/实现过程可以通过图5所示的地图数据采集装置50中的处理器501调用存储器503中存储的计算机执行指令来实现。或者，上述发送模块701和接收模块702的功能/实现过程可以通过图5中所示的地图数据采集装置50中的通信接口504来实现。
由于本实施例提供的地图数据采集装置70可执行上述的地图数据采集方法，因此其所能获得的技术效果可参考上述方法实施例，在此不再赘述。
需要说明的是，以上模块或单元的一个或多个可以软件、硬件或二者结合来实现。 当以上任一模块或单元以软件实现的时候，所述软件以计算机程序指令的方式存在，并被存储在存储器中，处理器可以用于执行所述程序指令并实现以上方法流程。该处理器可以内置于SoC(片上系统)或ASIC，也可是一个独立的半导体芯片。该处理器内处理用于执行软件指令以进行运算或处理的核外，还可进一步包括必要的硬件加速器，如现场可编程门阵列(field programmable gate array，FPGA)、PLD(可编程逻辑器件)、或者实现专用逻辑运算的逻辑电路。
当以上模块或单元以硬件实现的时候，该硬件可以是CPU、微处理器、数字信号处理(digital signal processing，DSP)芯片、微控制单元(microcontroller unit，MCU)、人工智能处理器、ASIC、SoC、FPGA、PLD、专用数字电路、硬件加速器或非集成的分立器件中的任一个或任一组合，其可以运行必要的软件或不依赖于软件以执行以上方法流程。
可选的，本申请实施例还提供了一种地图数据采集装置(例如，该地图数据采集装置可以是芯片或芯片系统)，该地图数据采集装置包括处理器和通信接口，通信接口用于与其它通信装置进行通信，处理器用于运行计算机程序，以使得该地图数据采集装置执行上述任一方法实施例中的方法。在一种可能的设计中，该地图数据采集装置还包括存储器。该存储器，用于保存必要的程序指令和数据，处理器可以调用存储器中存储的程序代码。当然，存储器也可以不在该地图数据采集装置中。该地图数据采集装置是芯片系统时，可以由芯片构成，也可以包含芯片和其他分立器件，本申请实施例对此不作具体限定。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件程序实现时，可以全部或部分地以计算机程序产品的形式来实现。该计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机程序指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或者数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可以用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)，光介质(例如，DVD)、或者半导体介质(例如固态硬盘(solid state disk，SSD))等。
尽管在此结合各实施例对本申请进行了描述，然而，在实施所要求保护的本申请过程中，本领域技术人员通过查看所述附图、公开内容、以及所附权利要求书，可理解并实现所述公开实施例的其他变化。在权利要求中，“包括”(comprising)一词不排除其他组成部分或步骤，“一”或“一个”不排除多个的情况。单个处理器或其他单元可以实现权利要求中列举的若干项功能。相互不同的从属权利要求中记载了某些措施，但这并不表示这些措施不能组合起来产生良好的效果。
尽管结合具体特征及其实施例对本申请进行了描述，显而易见的，在不脱离本申 请的精神和范围的情况下，可对其进行各种修改和组合。相应地，本说明书和附图仅仅是所附权利要求所界定的本申请的示例性说明，且视为已覆盖本申请范围内的任意和所有修改、变化、组合或等同物。显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (24)

  1. 一种地图数据采集方法，其特征在于，所述方法应用于第一车辆，所述方法包括：
    接收来自网络侧设备的第一指令，所述第一指令用于向所述第一车辆指示上报地图数据的方式，并且，所述第一指令包括置信度信息，所述置信度信息用于指示所述第一车辆上报的地图数据需达到的置信度；
    根据所述第一指令指示的地图数据上报方式向所述网络侧设备发送所述地图数据，所述地图数据的置信度不低于所述置信度信息指示的置信度。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收来自所述网络侧设备的第二指令，所述第二指令用于向所述第一车辆指示停止以所述第一指令指示的方式上报地图数据；
    根据所述第二指令停止以所述第一指令指示的方式上报地图数据。
  3. 根据权利要求1或2所述的方法，其特征在于，所述方法还包括：
    获取第一触发信息，所述第一触发信息用于指示第一车辆停止以所述第一指令指示的方式上报地图数据时所述第一车辆应满足的第一触发条件；
    确定所述第一车辆满足所述第一触发条件；
    停止以所述第一指令指示的方式上报地图数据。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述第一指令还用于指示第一车辆开始以所述第一指令指示的方式上报地图数据时所述第一车辆应满足的第二触发条件，所述向所述网络侧设备发送所述地图数据之前，所述方法还包括：
    确定所述第一车辆满足所述第二触发条件。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述方法还包括：
    获取采集对象的鲜度信息；
    所述向所述网络侧设备发送所述地图数据包括：
    根据所述鲜度信息向所述网络侧设备发送所述地图数据。
  6. 一种地图数据采集方法，其特征在于，所述方法应用于网络侧设备，所述方法包括：
    向第一车辆发送第一指令，所述第一指令用于向所述第一车辆指示上报地图数据的方式，并且，所述第一指令包括置信度信息，所述置信度信息用于指示所述第一车辆上报的地图数据需达到的置信度；
    从所述第一车辆接收所述第一车辆根据所述第一指令指示的上报方式发送的所述地图数据，所述地图数据的置信度不低于所述置信度信息指示的置信度。
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    向所述第一车辆发送第二指令，所述第二指令用于向所述第一车辆指示停止以所述第一指令指示的方式上报地图数据。
  8. 根据权利要求6或7所述的方法，其特征在于，所述方法还包括：
    向所述第一车辆发送第一触发信息，所述第一触发信息用于指示第一车辆停止以所述第一指令指示的方式上报地图数据时所述第一车辆应满足的第一触发条件。
  9. 根据权利要求6-8任一项所述的方法，其特征在于，所述第一指令还用于指示第 一车辆开始以所述第一指令指示的方式上报地图数据时所述第一车辆应满足的第二触发条件。
  10. 根据权利要求6-9任一项所述的方法，其特征在于，所述方法还包括：
    向所述第一车辆发送采集对象的鲜度信息，所述鲜度信息用于所述第一车辆向所述网络侧设备发送所述地图数据。
  11. 一种地图数据采集装置，其特征在于，所述装置应用于第一车辆，所述装置包括：
    接收模块，用于接收来自网络侧设备的第一指令，所述第一指令用于向所述第一车辆指示上报地图数据的方式，并且，所述第一指令包括置信度信息，所述置信度信息用于指示所述第一车辆上报的地图数据需达到的置信度；
    发送模块，用于根据所述第一指令指示的地图数据上报方式向所述网络侧设备发送所述地图数据，所述地图数据的置信度不低于所述置信度信息指示的置信度。
  12. 根据权利要求11所述的装置，其特征在于，
    所述接收模块还用于接收来自所述网络侧设备的第二指令，所述第二指令用于向所述第一车辆指示停止以所述第一指令指示的方式上报地图数据；
    所述发送模块，还用于根据所述第二指令停止以所述第一指令指示的方式上报地图数据。
  13. 根据权利要求11或12所述的装置，其特征在于，所述装置还包括第一获取模块和第一确定模块：
    所述第一获取模块，用于获取第一触发信息，所述第一触发信息用于指示第一车辆停止以所述第一指令指示的方式上报地图数据时所述第一车辆应满足的第一触发条件；
    所述第一确定模块，用于确定所述第一车辆满足所述第一触发条件；
    所述发送模块还用于停止以所述第一指令指示的方式上报地图数据。
  14. 根据权利要求11-13任一项所述的装置，其特征在于，所述第一指令还用于指示第一车辆开始以所述第一指令指示的方式上报地图数据时所述第一车辆应满足的第二触发条件，所述装置还包括：
    第二确定模块，用于确定所述第一车辆满足所述第二触发条件。
  15. 根据权利要求11-14任一项所述的装置，其特征在于，所述装置还包括：
    第二获取模块，用于获取采集对象的鲜度信息；
    所述发送模块还用于根据所述鲜度信息向所述网络侧设备发送所述地图数据。
  16. 一种地图数据采集装置，其特征在于，所述装置应用于网络侧设备，所述装置包括：
    发送模块，用于向第一车辆发送第一指令，所述第一指令用于向所述第一车辆指示上报地图数据的方式，并且，所述第一指令包括置信度信息，所述置信度信息用于指示所述第一车辆上报的地图数据需达到的置信度；
    接收模块，用于从所述第一车辆接收所述第一车辆根据所述第一指令指示的上报方式发送的所述地图数据，所述地图数据的置信度不低于所述置信度信息指示的置信度。
  17. 根据权利要求16所述的装置，其特征在于，所述发送模块还用于：
    向所述第一车辆发送第二指令，所述第二指令用于向所述第一车辆指示停止以所述第一指令指示的方式上报地图数据。
  18. 根据权利要求16或17所述的装置，其特征在于，所述发送模块还用于：
    向所述第一车辆发送第一触发信息，所述第一触发信息用于指示第一车辆停止以所述第一指令指示的方式上报地图数据时所述第一车辆应满足的第一触发条件。
  19. 根据权利要求16-18任一项所述的装置，其特征在于，所述第一指令还用于指示第一车辆开始以所述第一指令指示的方式上报地图数据时所述第一车辆应满足的第二触发条件。
  20. 根据权利要求16-19任一项所述的装置，其特征在于，所述发送模块还用于：
    向所述第一车辆发送采集对象的鲜度信息，所述鲜度信息用于所述第一车辆向所述网络侧设备发送所述地图数据。
  21. 一种地图数据采集装置，其特征在于，所述装置应用于第一车辆，包括：包括存储器和处理器，所述存储器存储计算机程序指令，所述处理器运行所述计算机程序指令以执行权利要求1-5任一项所述的方法。
  22. 一种地图数据采集装置，其特征在于，所述装置应用于网络侧设备，包括：包括存储器和处理器，所述存储器存储计算机程序指令，所述处理器运行所述计算机程序指令以执行权利要求6-10任一项所述的方法。
  23. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机指令，当所述计算机指令被处理器执行时，实现如权利要求1-5任一项，或者权利要求6-10任一项所述的方法。
  24. 一种计算机程序产品，其特征在于，当所述计算机程序产品在处理器上运行时，实现如权利要求1-5任一项，或者权利要求6-10任一项所述的方法。
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