WO2022179222A1 - 一种地图更新方法、装置及系统 - Google Patents

一种地图更新方法、装置及系统 Download PDF

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Publication number
WO2022179222A1
WO2022179222A1 PCT/CN2021/133315 CN2021133315W WO2022179222A1 WO 2022179222 A1 WO2022179222 A1 WO 2022179222A1 CN 2021133315 W CN2021133315 W CN 2021133315W WO 2022179222 A1 WO2022179222 A1 WO 2022179222A1
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WO
WIPO (PCT)
Prior art keywords
map
map update
update
vehicle
message
Prior art date
Application number
PCT/CN2021/133315
Other languages
English (en)
French (fr)
Inventor
周铮
陈幼雷
王勇
马涛
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.)
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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 EP21927646.6A priority Critical patent/EP4284035A4/en
Publication of WO2022179222A1 publication Critical patent/WO2022179222A1/zh
Priority to US18/237,802 priority patent/US20230401052A1/en

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates
    • 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
    • G06F16/29—Geographical information databases
    • 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
    • G01C21/3896—Transmission of map data from central databases
    • 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
    • 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
    • G06F16/24—Querying
    • G06F16/245—Query processing
    • G06F16/2458—Special types of queries, e.g. statistical queries, fuzzy queries or distributed queries
    • G06F16/2474—Sequence data queries, e.g. querying versioned data
    • 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
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • 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
    • H04L67/34—Network arrangements or protocols for supporting network services or applications involving the movement of software or configuration parameters 
    • 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
    • H04W4/50—Service provisioning or reconfiguring
    • 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
    • G01C21/3859—Differential updating map data

Definitions

  • the present application relates to the fields of intelligent driving and map technology, and in particular, to a map update method, device and system.
  • OTA Over the Air
  • the automobile as a consumer product is presented to the user as a complex whole.
  • Each vehicle contains dozens or even hundreds of electronic control units (ECUs), and the complex functions of the car also require cooperation among multiple ECUs.
  • the maintenance and upgrade of the vehicle by the car factory mainly uses the single vehicle as the unit to carry out the OTA upgrade of the whole vehicle, and the OTA upgrade of the whole vehicle includes the upgrade of multiple functions, including core functions and non-core functions, generally involving multiple ECUs , only when all functions have been successfully upgraded can the entire vehicle be marked as successfully upgraded.
  • the map data includes high-precision data, and also participates in the OTA upgrade of the vehicle as part of the vehicle upgrade.
  • the present application provides a map update method, device and system, which separates the map in the vehicle from the car software, and performs the OTA upgrade of the map independently, which ensures the timeliness of the map and solves the problem of changing the map in the vehicle and the car.
  • a map update method, device and system which separates the map in the vehicle from the car software, and performs the OTA upgrade of the map independently, which ensures the timeliness of the map and solves the problem of changing the map in the vehicle and the car.
  • the present application provides a map update method, which is applied to a map update device in a vehicle.
  • the method includes: receiving a map update instruction message from a map server, where the map update instruction message is used to indicate a map update task;
  • the instruction message sends a first map update query request message to the OTA upgrade master node device in the vehicle, where the first map update query request message includes relevant information of the map update task; receives feedback from the OTA upgrade master node device based on the first map update query request message
  • the first map update query feedback message, the first map update query feedback message includes at least one of the status information of the vehicle or the map update permission information; send the map data download start message to the map server, and the map data download start message is used to trigger
  • the map server sends map update data to the map update device; receives the map update data sent by the map server; and updates the map in the vehicle according to the map update data.
  • the map update device may be at least one software module, at least one hardware entity device, or a combination of the two;
  • the OTA upgrade master node device may also be at least one software module, or at least one hardware entity device It can also be a combination of the two;
  • a map server can be either an independent server with map data storage and transmission functions, or a collection of multiple discrete servers that work together to achieve map data storage and transmission functions.
  • the solution shown in this application separates the map update from the software update of the vehicle.
  • the OTA update of the map in the vehicle is performed separately, which simplifies the map update process.
  • the map and car software are updated synchronously at the same time, which shortens the cycle of map update, improves the timeliness of the map, and improves the user experience.
  • the above method before sending the map data download start message to the map server, the above method further includes: determining that map update can be performed in the vehicle according to the first map update query feedback message.
  • the state information of the vehicle includes at least one of a state of an intelligent driving function of the vehicle or a state of a map in the vehicle.
  • the OTA upgrade master node device such as the status of the intelligent driving function of the vehicle
  • the fault occurs when the map is upgraded, which affects the user's use and improves the user experience.
  • the above method further includes: generating a map update log of the vehicle, and sending the map update log to a map server, wherein the map update log may include the vehicle At least one of the update time of the map in the vehicle, the state information of the vehicle, the update result of the map in the vehicle, or the version number of the map in the vehicle, and the update result includes the update success and the update failure.
  • the map update log may include the vehicle At least one of the update time of the map in the vehicle, the state information of the vehicle, the update result of the map in the vehicle, or the version number of the map in the vehicle, and the update result includes the update success and the update failure.
  • the map update log is sent to the map server, and the map server can be informed of the update result of the vehicle, so as to update the mission status of the vehicle.
  • the map server can be prevented from repeatedly issuing the update task to the vehicle, and at the same time, when the update fails, the map server can also repeatedly issue the update task to the vehicle again.
  • the present application also provides a map update method, which is applied to an OTA upgrade master node device in a vehicle.
  • the method includes: receiving a first map update query request message from a map update device in the vehicle, and the first map update query The request message includes the relevant information of the map update task; the first map update query feedback message is sent to the map update device according to the first map update query request message, and the first map update query feedback message includes the state information of the vehicle or the map update permission information.
  • the map update query feedback message is used to trigger the map update device to update the map in the vehicle.
  • the above method before sending the first map update query feedback message, further includes: sending a second map update query request message to the user; receiving the second map update query feedback message fed back by the user; The second map update query feedback message generates the first map update query feedback message.
  • the above method before sending the first map update query feedback message, further includes: sending a third map update query request message to the vehicle upgrade server; receiving the third map update feedback from the vehicle upgrade server query feedback message; generate a first map update query feedback message according to the third map update query feedback message.
  • the OTA upgrade master node device queries the user or the vehicle upgrade server, obtains the map update permission of the user and the vehicle upgrade server, and updates after obtaining the permission, which can improve the user experience.
  • the present application also provides a map update method, which is applied to a map update device in a vehicle, the method comprising: receiving a map update notification message from an OTA upgrade master node device in the vehicle; Download the map update data; send a map data download completion message to the OTA upgrade master node device, and the map data download complete message is used to indicate that the map update device has completed the download of the map update data; Receive a map data update start message from the OTA upgrade master node device; In response to the map data update start message, the map in the vehicle is updated using the downloaded map update data.
  • downloading the map update data from the map server according to the map update notification message includes: establishing a connection with the map server according to the map update notification message; sending a map data download start message to the map server, the map data download start message It is used to trigger the map server to send map update data to the map update device; and receive the map update data sent by the map server.
  • the map update notification message includes the address of the map server or the download address of the map update data.
  • the method of the third aspect further includes: generating a map update log of the vehicle, and updating the map server or OTA in the master node device At least one sends a map update log, wherein the map update log may include at least one of the update time of the map in the vehicle, the status information of the vehicle, the update result of the map in the vehicle, or the version number of the map in the vehicle, and the update result includes the update success. and update failed.
  • the solution shown in this application separates map data from car software data, eliminates the process of packaging and splitting map data and software data, reduces the complexity of map update, shortens the time for map update, and improves user experience.
  • the present application further provides a map update method, which is applied to an OTA upgrade master node device in a vehicle, the method includes: receiving a vehicle upgrade instruction message from a vehicle upgrade server, and the vehicle upgrade instruction message includes a map update related message.
  • map update notification message to the map update device in the vehicle according to the map update related information, the map update notification message is used to trigger the map update device to download the map update data from the map server; receive the map data download completion message from the map update device, the map The data download completion message is used to indicate that the map update device has finished downloading the map update data; send a map data update start message to the map update device, and the map data update start message is used to trigger the map update device to use the downloaded map update data to update the data in the vehicle. map.
  • the vehicle upgrade server may be an independent server with OTA upgrade data storage and transmission functions, or a collection of multiple discrete servers that work together to achieve OTA upgrade data storage and transmission functions.
  • the map update notification message includes the address of the map server or the download address of the map update data.
  • the present application also provides a map update device, which is applied to a map update device in a vehicle.
  • the map update device includes: a first receiving module for receiving a map update instruction message from a map server, and the map update instruction message uses is used to instruct the map update task; the query module is used to send a first map update query request message to the OTA upgrade master node device in the vehicle according to the map update instruction message, and the first map update query request message includes the relevant information of the map update task; a receiving module, further configured to receive the first map update query feedback message fed back by the OTA upgrade master node device based on the first map update query request message, where the first map update query feedback message includes the status information of the vehicle or the map update permission information.
  • At least one item a first download module, used to send a map data download start message to the map server, where the map data download start message is used to trigger the map server to send map update data to a map update device; a first receiving module, also used to receive a map The map update data sent by the server; the first update module is used to update the map in the vehicle according to the map update data.
  • the above-mentioned map updating apparatus further includes: a determining module, configured to determine, according to the first map update query feedback message, that the map update can be performed in the vehicle.
  • the state information of the vehicle includes at least one of a state of an intelligent driving function of the vehicle or a state of a map in the vehicle.
  • the above-mentioned map update apparatus further includes: a first log module, configured to generate a map update log of the vehicle, and send the map update log to the map server.
  • the present application further provides a map update device, which is applied to an OTA upgrade master node device in a vehicle.
  • the map update device includes: a second receiving module for receiving a first map update query from the map update device in the vehicle.
  • the request message, the first map update query request message includes the relevant information of the map update task;
  • the first sending module is configured to send the first map update query feedback message to the map update device according to the first map update query request message, the first map update
  • the query feedback message includes at least one of status information of the vehicle or map update permission information.
  • the above-mentioned map update device further includes a first query module, configured to: send a second map update query request message to the user; receive a second map update query feedback message fed back by the user; The update query feedback message generates a first map update query feedback message.
  • a first query module configured to: send a second map update query request message to the user; receive a second map update query feedback message fed back by the user; The update query feedback message generates a first map update query feedback message.
  • the above-mentioned map update device further includes a first query module, configured to: send a third map update query request message to the vehicle upgrade server; and receive the third map update query feedback fed back by the vehicle upgrade server message; generating a first map update query feedback message according to the third map update query feedback message.
  • a first query module configured to: send a third map update query request message to the vehicle upgrade server; and receive the third map update query feedback fed back by the vehicle upgrade server message; generating a first map update query feedback message according to the third map update query feedback message.
  • the embodiments of the present application further provide a map update device, which is applied to a map update device in a vehicle.
  • the map update device includes: a third receiving module, configured to receive a map update notification from an OTA upgrade master node device in the vehicle message; the second download module is used to download map update data from the map server according to the map update notification message; the second sending module is used to send the map data download completion message to the OTA upgrade master node device, and the map data download completion message is used to indicate The map update device has completed the download of map update data; the third receiving module is also used to receive the map data update start message from the OTA upgrade master node device; the second update module, in response to the map data update start message, uses the downloaded map update The data updates the map in the vehicle.
  • the second download module is specifically configured to: establish a connection with the map server according to the map update notification message; send a map data download start message to the map server, and the map data download start message is used to trigger the map server Send map update data to the map update device; receive map update data sent by the map server.
  • the map update notification message includes the address of the map server or the download address of the map update data.
  • the above-mentioned map update device further includes a second log module, configured to: generate a map update log of the vehicle, and send the map update log to at least one of a map server or an OTA upgrade master node device.
  • the present application further provides a map update device, which is applied to an OTA upgrade master node device in a vehicle.
  • the map update device includes: a fourth receiving module, configured to receive a vehicle upgrade instruction message from a vehicle upgrade server, and the map update device includes: The vehicle upgrade instruction message includes map update related information; the third sending module is used to send a map update notification message to the map update device in the vehicle according to the map update related information, and the map update notification message is used to trigger the map update device to download the map from the map server update data; the fourth receiving module is also used to receive a map data download completion message from the map update device, and the map data download completion message is used to indicate that the map update device has completed the download of the map update data; the third sending module is also used to send the map data to the map update device.
  • the map update device sends a map data update start message, where the map data update start message is used to trigger the map update device to update the map in the vehicle using the downloaded map update data.
  • the map update notification message includes the address of the map server or the download address of the map update data.
  • the present application further provides a map update system, comprising: a map update device and an OTA upgrade master node device, the map update device is configured to execute the method in the above-mentioned first aspect and its possible implementations, and the OTA upgrade master node device For carrying out the method in the above second aspect and possible embodiments thereof.
  • the present application further provides a map update system, comprising: a map update device and a map server, where the map update device is used to execute the method in the first aspect and its possible implementations; the map server is used to send the map update device to the map update device. Send map update indication messages and map update data.
  • the present application further provides a map update system, comprising: a map update device and an OTA upgrade master node device, the map update device is configured to execute the method in the third aspect and its possible implementations, and the OTA upgrade master node
  • a map update system comprising: a map update device and an OTA upgrade master node device, the map update device is configured to execute the method in the third aspect and its possible implementations, and the OTA upgrade master node
  • An apparatus is used to implement the method in the above-mentioned fourth aspect and possible embodiments thereof.
  • the present application further provides a map update system, including: a map update device and a map server, where the map update device is configured to execute the method in the third aspect and possible implementations thereof, and the map server is configured to update the map to the map The device sends map update data.
  • a map update system including: a map update device and a map server, where the map update device is configured to execute the method in the third aspect and possible implementations thereof, and the map server is configured to update the map to the map The device sends map update data.
  • the present application further provides a map updating device, comprising: a memory and a processor, where the memory is used to store computer instructions, and the processor executes the computer instructions stored in the memory to execute the first aspect and its possible implementations. , or perform the method in the above second aspect and its possible implementations, or perform the above third aspect and its possible implementations, or perform the above fourth aspect and its possible implementations.
  • the present application further provides a computer-readable storage medium, where computer program codes are stored in the computer-readable storage medium, and when the computer program codes are executed by the map updating apparatus, the map updating apparatus executes the above-mentioned first aspect and its possibility
  • the map updating apparatus executes the above-mentioned first aspect and its possibility
  • the present application further provides a computer program product, which, when the computer program product runs on the map update device, causes the map update device to execute the method in the first aspect and its possible implementations, or execute the second method described above.
  • any device or computer storage medium or computer program product provided above is used to execute the method provided above. Therefore, the beneficial effect that can be achieved can refer to the beneficial effect of the corresponding scheme in the corresponding method provided above. The effect will not be repeated here.
  • Fig. 1 is the scene schematic diagram that the vehicle provided by this application carries out the map OTA upgrade
  • FIG. 2 is a flowchart of a map updating method provided by an embodiment of the present application.
  • Fig. 3 is a kind of OTA upgrade master node device that the embodiment of the present application provides to generate the schematic diagram of the first map update query feedback message;
  • FIG. 4 is a schematic functional structure diagram of a map updating device provided by an embodiment of the present application.
  • FIG. 5 is a schematic functional structure diagram of a map updating device provided by an embodiment of the present application.
  • FIG. 6 is a schematic functional structure diagram of an OTA upgrade master node device provided by an embodiment of the present application.
  • FIG. 7a is a schematic functional structure diagram of a map server provided by an embodiment of the present application.
  • FIG. 7b is a schematic diagram of a deployment structure of a map server provided by an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of another map update device provided by an embodiment of the present application.
  • FIG. 10 is a schematic functional structure diagram of another OTA upgrade master node device provided by an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a functional structure of another map server provided by an embodiment of the present application.
  • FIG. 12a is a schematic structural diagram of a map update system provided by an embodiment of the present application.
  • FIG. 12b is a schematic structural diagram of a map updating system provided by an embodiment of the present application.
  • words such as “exemplary”, “such as” or “for example” are used to mean serving as an example, illustration or illustration. Any embodiments or designs described in the embodiments of the present application as “exemplary,” “such as,” or “by way of example” should not be construed as preferred or advantageous over other embodiments or designs. Rather, use of words such as “exemplary,” “such as,” or “by way of example” is intended to present the related concepts in a specific manner.
  • the term "and/or" is only an association relationship for describing associated objects, indicating that there may be three relationships, for example, A and/or B, which may indicate: A alone exists, A alone exists There is B, and there are three cases of A and B at the same time.
  • the term “plurality” means two or more.
  • multiple systems refer to two or more systems
  • multiple screen terminals refer to two or more screen terminals.
  • At least one item(s) below" or similar expressions thereof refer to any combination of these items, including any combination of single item(s) or plural item(s).
  • At least one (a) of a, b, or c can mean: a, b, c, "a and b", “a and c", “b and c", or "a and b and c" ", where a, b, c can be single or multiple.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implying the indicated technical features. Thus, a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
  • the terms “including”, “including”, “having” and their variants mean “including but not limited to” unless specifically emphasized otherwise.
  • FIG. 1 is a schematic diagram of a scenario in which a vehicle performs a map OTA upgrade according to an embodiment of the present application.
  • this scenario includes a vehicle and a server in the cloud that communicates with the vehicle.
  • a map update device 100 and an OTA upgrade master node device 200 are deployed in the vehicle, and the servers in the cloud include: a map server 300 and a vehicle upgrade server 400 .
  • the map server 300 is used to store and transmit the map data provided to the vehicle by the map supplier
  • the vehicle upgrade server 400 is used to store and transmit the software data of various types of vehicles, wherein the software data includes the map data of the vehicle and the data of the vehicle. other data.
  • the map updating device 100 is a map updating client provided by a map supplier, and is an electronic control unit (electronic control unit, ECU) of a slave role in the vehicle, which is responsible for updating the map in the vehicle.
  • the OTA upgrade master node device 200 is a software upgrade client deployed in the vehicle by the vehicle manufacturer, and is an electronic control unit in the role of Master in the vehicle, which is responsible for the software upgrade of the entire vehicle.
  • the OTA upgrade master node device 200 may specifically be any one of the intelligent driving computing platform (mobile data center in the car, mobile data center, MDC) and the vehicle control center such as the in-vehicle system TBox.
  • the map update device 100 communicates with the map server 300 and the OTA upgrade master node device 200, respectively.
  • the map update device 100 can receive a map update instruction message from the map server 300, and can also receive a map update notification message from the OTA upgrade master node device 200, for updating the map in the vehicle it belongs to.
  • the digital mobile communication technology can be the second generation digital mobile communication technology (2G), the first One of the third generation digital mobile communication technology (3G), the fourth generation digital mobile communication technology (4G) and the fifth generation digital mobile communication technology (5G);
  • 2G mobile communication technology can be GSM communication technology or CDMA communication technology
  • 3G mobile communication technology can be one of WCDMA communication technology, CDMA2000 communication technology or TD-SCDMA communication technology;
  • 4G mobile communication technology can be one of LTE-FDD communication technology or LTE-TDD;
  • wireless The local area network communication technology can be any generation of wireless network technology, such as WiFi5, WiFi6, or WiFi6+.
  • an embodiment of the present application provides a map update method. As shown in FIG. 2 , the method includes the following steps S101 to S106 .
  • Step S01 The map server 300 sends a map update instruction message to the map update apparatus 100 .
  • the map server 300 when the map server 300 detects that the stored map data changes, the map server 300 generates map update data and a map update instruction message, and obtains the vehicle list from the vehicle upgrade server 400; then, in the vehicle list After establishing a communication connection with the map server 300, the vehicle in the map sends a map update instruction message to the vehicles in the vehicle list.
  • the map update instruction message is used to instruct the map update task.
  • the map server 300 when the map server 300 obtains the vehicle list, it may send a vehicle list query request message to the vehicle upgrade server 400, wherein the vehicle list query request message includes the relevant information of the map update data; the vehicle upgrade server 400 receives the vehicle list.
  • the vehicle list corresponding to the map update data is sent to the map server 300 .
  • the relevant information of the map update data may include the version number of the map update data
  • the vehicle upgrade server 400 may determine the vehicle using the map according to the version number of the map update data, and then generate a vehicle list corresponding to the map update data.
  • the map server 300 may determine, according to the information in the vehicle list, the vehicles that can update the current map update data and the time for each vehicle to update the map, and send the map to each vehicle according to the set time.
  • Update instruction message The information in the vehicle list may include: one or more of the ID of each vehicle, the map payment status of each vehicle, the software version of each vehicle, the priority of each vehicle for updating the map, and the scheduled time for updating the map set by each vehicle. .
  • the vehicle when the map payment status of a certain vehicle is unpaid, the vehicle does not have the right to update the current map update data; or, when the software version of a vehicle is incompatible with the version of the map update data, the vehicle does not have the right to update the current map update data. No permission to upgrade current map update data.
  • Step S102 The map update device 100 receives the map update instruction message from the map server 300, and sends a first map update query request to the OTA upgrade master node device 200 in the vehicle according to the map update instruction message.
  • the map update device 100 when the map update device 100 receives the map update instruction message, it generates a first map update query request message according to the map update instruction message, and sends it to the OTA upgrade master node device 200 .
  • the first map update query request may include related information of the map update task, wherein the related information of the map update task may include the version number of the map update data.
  • Step S103 The OTA upgrade master node device 200 receives the first map update query request message, generates a first map update query feedback message according to the first map update query request message, and sends it to the map update device 300 .
  • the first map update query feedback message includes at least one item of vehicle status information or map update permission information.
  • the OTA upgrade master node device 200 queries at least one of the state information of the vehicle and obtains the map update permission information of the vehicle, and according to the obtained state information of the vehicle and the map
  • the update permission information generates a first map update query feedback message.
  • the state information of the vehicle may include at least one of a state of an intelligent driving function of the vehicle or a state of a map in the vehicle.
  • the OTA upgrade master node device 200 may further include step S1031 or step S1032 as shown in FIG. 3 when generating the first map update query feedback message.
  • the OTA upgrade master node device 200 may generate a second map update query request message according to the first map update query request message and send it to the user, and then generate the first map update according to the second map update query feedback message fed back by the user Query feedback messages.
  • the OTA upgrade master node device 200 sends the second map update query request message to a terminal module deployed in the vehicle, and the terminal module is also provided with a human machine interface (human machine interface, HMI) or a user The interface is used to present the second map update query request message to the user, and collect the second map update query feedback message fed back by the user and send it to the OTA upgrade master node device 200 .
  • HMI human machine interface
  • the terminal module may be a voice module, including: a microphone and an audio player.
  • the voice module presents the second map update query request message to the user in the form of voice through the audio player, and uses the microphone to receive the second map update query feedback message fed back by the user and send it to the OTA upgrade master node device 200 .
  • the terminal module can also be a display module, including a display component and an input component.
  • the display module may present the second map update query request message to the user through the display component in the form of an interface, and use the input component to receive the second map update query feedback message fed back by the user and send it to the OTA upgrade master node device 200 .
  • the input component can be a touch component or a key component.
  • the OTA upgrade master node device 200 may also generate a third map update query request message according to the first map update query request message and send it to the vehicle upgrade server 400, and update the third map based on the feedback from the vehicle upgrade server 400.
  • the query feedback message generates a first map update query feedback message.
  • Step S104 The map update device 100 determines that map update can be performed in the vehicle according to the first map update query feedback message fed back by the OTA upgrade master node device 200 , and then sends a map data download start message to the map server 300 .
  • the map update apparatus 100 judges the obtained first map update query feedback message based on the preset update conditions.
  • the map update apparatus 100 determines that the map update apparatus 100 can Map updates in the vehicle.
  • the map update apparatus 100 After determining that map update can be performed in the vehicle, the map update apparatus 100 generates a map data download start message and sends it to the map server 300 .
  • the update condition matches the first map update query feedback message.
  • the update condition includes the intelligent driving function of the vehicle. is not turned on or the map in the vehicle is not in use.
  • Step S105 After receiving the map data download start message, the map server 300 sends the map update data to the map update device 100, and the map update device 100 receives the map update data and completes the download of the map data.
  • the map server 300 when the map server 300 transmits the map update data to the map update device 100, the file transfer protocol (FTP) is used for transmission, and the content delivery network (CDN) technology can also be used to improve the The transfer speed of map update data.
  • the map server 300 divides the data packet of the map update data to be downloaded into several parts, and each part uses a thread for transmission.
  • the map update device 100 downloads the map update data, an accident such as a network failure occurs, which causes the download to be blocked.
  • interrupted the map update apparatus 100 can continue to download from the interrupted data location, and it is not necessary to start the download from the beginning, which improves user experience.
  • the data package of the map update data may be a full package or a differential package; wherein, the full package includes the complete data of the map, and the differential package includes the data of the to-be-updated part of the map in the vehicle.
  • This embodiment can save the download time of the map upgrade client to the greatest extent when the differential packet is transmitted by the breakpoint resume protocol, and can also save the cost of downloading the map update data for the user.
  • Step S106 The map update device 100 updates the map in the vehicle according to the map update data, generates a map update log, and sends it to the map server 300 .
  • the map update device 100 can update the map installed in the vehicle by using the map update data after the map update data is downloaded, and can also send a download completion message and an update time list to the user after the map update data is downloaded. , wait for the user and feedback the selection and update the update time, and then update the map according to the update time selected by the user.
  • the map update device 100 generates a map update log after the map update is completed to record the relevant information of the map update, and sends the map update log to the map server 300 for the map server 300 to update the task status of the vehicle according to the map update log.
  • the map update log may include at least one of the update time of the map in the vehicle, the state information of the vehicle, the update result of the map in the vehicle, or the version number of the map in the vehicle, and the update result includes update success and update failure.
  • the map update device 100 can use the backup mechanism to update the map. When the map update fails, the map update device 100 can roll back the map in the vehicle to the original version, so as to avoid the failure of the update and the unavailability of the functions of the vehicle. user experience.
  • the map update in the vehicle is separated from the software update of the vehicle, and the map in the vehicle is independently OTA updated when the map has a new version, so as to avoid the time limit of the map update data being affected by the long update cycle of the vehicle software. It allows users to use the latest version of the map in a timely manner.
  • the embodiments of the present application provide a map updating apparatus 100.
  • the map updating apparatus 100 may be implemented by at least one software device, or at least one hardware entity device, or may be implemented by a software device and a hardware device. The combination of physical equipment to achieve.
  • FIG. 4 shows a schematic structural diagram of a map updating apparatus 100 provided by an embodiment of the present application.
  • the map updating apparatus 100 includes: a first receiving module 101 , a query module 102 , a first downloading module 103 and a first updating module 104 .
  • the embodiment of the present application only exemplarily divides the structure and functional modules of the map updating apparatus 100, but does not make any limitation on the specific division.
  • the first receiving module 101 is configured to receive a map update instruction message from the map server 300 .
  • the query module 102 is configured to send a first map update query request message to the OTA upgrade master node device in the vehicle according to the map update instruction message, wherein the first map update query request message includes the relevant information of the map update task, the first map update The query request message is used to obtain the upgrade permission of the OTA upgrade master node device.
  • the first receiving module 101 is further configured to receive a first map update query feedback message fed back by the OTA upgrade master node device based on the first map update query request message, where the first map update query feedback message includes vehicle status information or map update permission information at least one of .
  • the first download module 103 in response to the map update query feedback message, sends a map data download start message to the map server 300, where the map data download start message is used to trigger the map server 300 to send map update data to the map update device.
  • the first receiving module 101 is further configured to receive map update data sent by the map server 300 .
  • the first update module 104 is configured to update the map in the vehicle according to the received map update data.
  • the above-mentioned map updating apparatus 100 may further include: a determining module 105, configured to query the feedback message according to the map update, and determine that the map update can be performed in the vehicle.
  • the first log module 106 is configured to generate a map update log of the vehicle, and send the map update log to the map server 300 .
  • the map update log is used for the map server 300 to update the status of the map update task of the vehicle.
  • the map server 300 receives the map update log of the vehicle, it updates the status of the map update task of the vehicle according to the information in the map update log.
  • some of the modules included in the above-mentioned map updating apparatus 100 may also be combined into one module, for example, the above-mentioned first update module 104 and first log module 106 may be combined It is one module, that is, the combined module integrates the functions of the first update module 104 and the first log module 106 .
  • FIG. 5 is a schematic structural diagram of a map updating apparatus 500 provided by an embodiment of the present application.
  • the map updating apparatus 500 includes a processor 501 , a communication bus 502 , a memory 503 and at least one communication interface 504 .
  • the processor 501 may be a general-purpose central processing unit (Central Processing Unit, CPU), an application-specific integrated circuit (application-specific integrated circuit, ASIC), a graphics processing unit (graphics processing unit, GPU) or any combination thereof.
  • the processor 501 may include one or more chips, and the processor 501 may include an AI accelerator, such as a neural network processor (neural processing unit, NPU).
  • NPU neural network processor
  • Communication bus 502 may include pathways for communicating information between various components of map update apparatus 500 (eg, processor 501, memory 503, communication interface 504).
  • the memory 503 may 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 of static storage devices that can store information and instructions.
  • Type of dynamic storage device it can also be electrically erasable programmable read-only memory (electrically Erasable programmable read-only memory, EEPROM), compact disc read-only memory (CD-ROM) or other optical disk storage, CD-ROM 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 capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by Any other medium accessed by the computer, but not limited to this.
  • the memory 503 can exist independently and is connected to the processor 501 through the communication bus 502 .
  • the memory 503 may also be integrated with the processor 501 .
  • the memory 503 can store computer instructions, and when the computer instructions stored in the memory 503 are executed by the processor 501, the model optimization method of the present application can be implemented.
  • the memory 503 may also store the data required by the processor in the process of executing the above method and the generated intermediate data and/or result data.
  • Communication interface 504 using any transceiver-like device, for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc. .
  • RAN radio access network
  • WLAN wireless local area networks
  • the processor 501 may include one or more CPUs.
  • a computer device may include multiple processors.
  • processors can be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor.
  • a processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).
  • the embodiment of the present application further provides an OTA upgrade master node device 200.
  • the OTA upgrade master node device 200 may be implemented by at least one software device or by at least one hardware entity device. , can also be implemented by a combination of software devices and hardware entity devices.
  • FIG. 6 shows a schematic structural diagram of an OTA upgrade master node apparatus 200 provided by an embodiment of the present application.
  • the OTA upgrade master node device 200 includes: a second receiving module 201 and a first sending module 202 .
  • the embodiment of the present application only exemplarily divides the structure and functional modules of the OTA upgrade master node device 200, but does not make any limitation on the specific division.
  • the second receiving module 201 is configured to receive a first map update query request message from the map update device 100 in the vehicle, where the first map update query request message includes relevant information of the map update task; the first sending module 202 , for sending a first map update query feedback message to the map update device 100 according to the first map update query request message, where the first map update query feedback message includes at least one of vehicle status information or map update permission information.
  • the OTA upgrade master node device 200 further includes a first query module 203 and a second query module 204 .
  • the first query module 203 is configured to send a second map update query request message to the user, receive a second map update query feedback message fed back by the user, and generate a first map update query feedback message according to the second map update query feedback message.
  • the second query module 204 is configured to send a third map update query request message to the vehicle upgrade server, receive a third map update query feedback message fed back by the vehicle upgrade server, and generate a first map update according to the third map update query feedback message Query feedback messages.
  • the OTA upgrade master node device 200 may be any map update device in the vehicle.
  • the structure of the map updating apparatus may be the structure of the map updating apparatus shown in FIG. 5 , which will not be described in detail here.
  • the present application further provides a map server 300, and the map server 300 may be deployed in a cloud data center by a map service provider.
  • the map server 300 may include: a storage module 301 and a first task module 302 .
  • the storage module 301 is used for storing map data
  • the first task module 302 is used for judging whether the map data stored in the storage module 301 has changed.
  • the first task module 302 is further configured to acquire map update data from the storage module 301 and send it to the vehicle when receiving the map data download start message of the vehicle.
  • the map server 300 may be an independent server with a map data storage function and a transmission function, and the map server 300 communicates with the vehicle and provides map updates to the vehicle.
  • the map server 300 may also be a set of multiple discrete servers that realize map data storage and transmission functions through cooperative work. As shown in FIG. 7b, the functional modules of the map server 300 Each of the servers 310 may communicate with the vehicle and implement respective functions to provide map updates to the vehicle.
  • An embodiment of the present application further provides a map updating method. As shown in FIG. 8 , the method includes the following steps S201 to S207.
  • Step S201 The map server 300 sends a map update instruction message to the vehicle upgrade server 400 .
  • the map server 300 when the map server 300 detects that the stored map data has changed, it generates map update data and a map update instruction message, and sends the map update instruction message to the vehicle upgrade server, so as to add the map update to the vehicle upgrade. intend.
  • Step S202 The vehicle upgrade server 400 generates a vehicle upgrade instruction message according to the map update instruction message, and sends it to the OTA upgrade master node device 200 .
  • the vehicle upgrade server 400 after receiving the map update instruction message, adds the map update to the vehicle upgrade plan, and generates a vehicle upgrade instruction message when the software of the vehicle needs to be updated, wherein the vehicle upgrade instruction message Include a map update indication message.
  • the vehicle upgrade instruction message may further include at least one of the address of the map server or the download address of the map update data.
  • Step S203 The OTA upgrade master node device 200 generates a map update notification message according to the vehicle upgrade instruction message, and sends it to the map update device 100 .
  • the OTA upgrade master node device 200 after receiving the vehicle upgrade instruction message, the OTA upgrade master node device 200 generates a map update notification message based on the vehicle upgrade instruction message according to the progress of the vehicle soft armor update, wherein the map update notification message includes map update Information about the task, such as the version number of the map update data.
  • the map update notification message further includes at least one of the address of the map server or the download address of the map update data.
  • Step S204 The map update apparatus 100 downloads map update data from the map server 200 according to the map update notification message.
  • the map update device 100 after receiving the map update notification message, the map update device 100 establishes a connection with the map server, and then sends a map data download start message to the map server 200.
  • the map data download start message is used to trigger the map server 200 to send the map update device 100 sends the map update data; when the map server 200 sends the map update data, the map update device 100 receives the map update data until the data transmission ends.
  • Step S205 The map update device 100 sends a map data download completion message to the OTA upgrade master node device.
  • the map update device 100 generates a map data download completion message after the map update data download is completed, and sends it to the OTA upgrade master node device 200, and then waits to update the map in the vehicle.
  • Step S206 After receiving the map data download completion message, the OTA upgrade master node device 200 sends a map data update start message to the map update device 100 .
  • Step S207 After receiving the map data update start message, the map update device 100 updates the map in the vehicle according to the map update data, and after the update is completed, generates a map update log of the vehicle and sends it to the map server 300 .
  • the map update log may include at least one of the update time of the map in the vehicle, the status information of the vehicle, the update result of the map in the vehicle, or the version number of the map in the vehicle, and the update result includes update success and update failure.
  • the map update device 100 can use the backup mechanism to update the map. When the map update fails, the map update device 100 can roll back the map in the vehicle to the original version, so as to avoid the failure of the update and the unavailability of the functions of the vehicle. user experience.
  • the present application further provides a map updating apparatus 100.
  • the map updating apparatus 100 may be implemented by at least one software device, or at least one hardware entity device, or may be implemented by a software device and a hardware entity The combination of equipment is realized.
  • FIG. 9 shows a schematic structural diagram of another map updating apparatus 100 provided by an embodiment of the present application.
  • the map updating apparatus 100 includes: a third receiving module 901 , a second downloading module 902 , a second sending module 903 and a second updating module 904 .
  • the embodiment of the present application only exemplarily divides the structure and functional modules of the map update apparatus 100, but does not make any limitation on the specific division.
  • the third receiving module 901 is used to receive a map update notification message from the OTA upgrade master node device 200 in the vehicle; the second download module 902 is used to download map update data from the map server 300 according to the map update notification message
  • the second sending module 903 is used to send a map data download completion message to the OTA upgrade master node device 200, and the map data download completion message is used to indicate that the map update device 100 has completed the download of the map update data;
  • the third receiving module 901 also for receiving the map data update start message from the OTA upgrade master node device 200;
  • the second update module in response to the map data update start message, uses the downloaded map update data to update the map in the vehicle.
  • the map update device 100 may further include a second log module, configured to: generate a map update log of the vehicle, and send the map update log to at least one of a map server or an OTA upgrade master node device.
  • the second download module 902 is specifically configured to: establish a connection with the map server 300 according to the map update notification message; then send a map data download start message to the map server 300, and the map data download start message is used to trigger the map server 300 to update the map
  • the device 100 sends the map update data; and then receives the map update data sent by the map server 300 .
  • the map updating apparatus 100 may be any map updating apparatus in the vehicle.
  • the specific structure of the map updating apparatus may be the structure shown in FIG. 5 , which will not be described in detail here.
  • the present application further provides an OTA upgrade master node device 200.
  • the OTA upgrade master node device 200 may be implemented by at least one software device, or at least one hardware entity device. It can be implemented by a combination of software devices and hardware entity devices.
  • FIG. 10 is a schematic structural diagram of an OTA upgrade master node device 200 provided by an embodiment of the present application.
  • the OTA upgrade master node device 200 includes: a fourth receiving module 1001 and a third sending module 1002 .
  • the embodiment of the present application only exemplarily divides the structure and functional modules of the OTA upgrade master node device 200, but does not make any limitation on the specific division.
  • the fourth receiving module 1001 is configured to receive the vehicle upgrade instruction message from the vehicle upgrade server; the third sending module 1002 is configured to send the map update notification message to the map update device in the vehicle according to the map update related information
  • the fourth receiving module 1001 is also used for receiving the map data download completion message from the map updating device; the third sending module 1002 is also used for sending the map data updating start message to the map updating device.
  • the OTA upgrade master node device 200 may be any map update device in the vehicle.
  • the structure of the map updating apparatus may be the structure of the map updating apparatus shown in FIG. 5 , which will not be described in detail here.
  • the embodiment of the present application further provides a map server 300 .
  • the map server 300 includes: a storage module 301 and a second task module 303 .
  • the storage module 301 is used to store map data
  • the second task module 303 is used to determine whether the map data stored in the storage module 301 has changed, and when the map data has changed, a map update instruction message is generated and sent to the vehicle upgrade server 400 .
  • the second task module 303 is further configured to acquire map update data from the storage module 301 and send it to the vehicle when receiving the map data download start message of the vehicle.
  • the map server 300 may be an independent server with a map data storage function and a transmission function, and the map server 300 communicates with the vehicle and provides map updates to the vehicle.
  • the map server 300 can also be a set of multiple discrete servers that realize map data storage and transmission functions through cooperative work as shown in FIG. 7b.
  • the functional modules of the map server 300 can be distributed in multiple sub-servers Each of the servers 310 may communicate with the vehicle and implement respective functions to provide map updates to the vehicle.
  • the embodiments of the present application further provide a map updating system for updating a map in a vehicle.
  • the map update system may include a map update device 100 and an OTA upgrade master node device 200 as shown in FIG. 12a.
  • the map update apparatus 100 may be the map update apparatus 100 shown in FIG. 4 , or the map update apparatus 100 shown in FIG. 9 ;
  • the OTA upgrade master node apparatus 200 may be the OTA shown in FIG. 6 .
  • the upgrade of the master node device 200 may also be an OTA upgrade of the master node device 200 as shown in FIG. 10 .
  • the map updating system may further include a map updating apparatus 100 and a map server 300 as shown in FIG. 12b.
  • the map update device 100 may be the map update device 100 shown in FIG. 4 , or the map update device 100 shown in FIG. 9 ;
  • the map server may be the map server 300 shown in FIG. It may be the map server 300 shown in FIG. 11 .
  • Embodiments of the present application further provide a computer-readable storage medium, where computer program codes are stored in the computer-readable storage medium.
  • the map updating apparatus executes the steps in the above-mentioned map updating method embodiments.
  • Embodiments of the present application further provide a computer program product, which, when the computer program product runs on the map updating device, causes the map updating device to execute the steps in the above-mentioned map updating method embodiments.
  • processor in the embodiments of the present application may be a central processing unit (central processing unit, CPU), and may also be other general-purpose processors, digital signal processors (digital signal processors, DSP), application-specific integrated circuits (application specific integrated circuit, ASIC), field programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof.
  • CPU central processing unit
  • DSP digital signal processors
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • a general-purpose processor may be a microprocessor or any conventional processor.
  • the method steps in the embodiments of the present application may be implemented in a hardware manner, or may be implemented in a manner in which a processor executes software instructions.
  • Software instructions can be composed of corresponding software modules, and software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (programmable rom) , PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically erasable programmable read-only memory (electrically EPROM, EEPROM), registers, hard disks, removable hard disks, CD-ROMs or known in the art in any other form of storage medium.
  • An exemplary storage medium is coupled to the processor, such that the processor can read information from, and write information to, the storage medium.
  • the storage medium can also be an integral part of the processor.
  • the processor and storage medium may reside in an ASIC.
  • the above-mentioned embodiments it may be implemented in whole or in part by software, hardware, firmware or any combination thereof.
  • software it can be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated.
  • the computer may be a general purpose computer, special purpose computer, computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted over a computer-readable storage medium.
  • the computer instructions can be sent from one website site, computer, server, or data center to another website site by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.) , computer, server or data center.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage vehicle such as a server, data center, or the like that contains an integration of one or more available media.
  • the usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)), and the like.

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Abstract

本申请提供了一种地图数据更新方法、装置及系统。涉及智能驾驶和地图技术领域，该方法包括：接收来自地图服务器的地图更新指示消息；根据地图更新指示消息向车辆中的OTA升级主节点装置发送第一地图更新查询请求消息；接收OTA升级主节点装置基于第一地图更新查询请求消息反馈的第一地图更新查询反馈消息；响应于第一地图更新查询反馈消息，向地图服务器发送地图数据下载启动消息；接收地图服务器发送的地图更新数据；根据地图更新数据更新车辆中的地图。该方法将车辆中的地图脱离汽车软件，单独进行地图OTA升级更新，保证了地图的时效性，解决了将车辆中地图和软件打包升级时，流程复杂和升级周期长的问题。

Description

一种地图更新方法、装置及系统
相关申请的交叉引用
本申请要求在2021年02月26日提交中国专利局、申请号为202110215706.X、申请名称为“一种地图更新方法、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
本申请涉及智能驾驶和地图技术领域，尤其涉及一种地图更新方法、装置及系统。
背景技术
随着自动驾驶的发展，人们对车辆的计算和控制能力要求越来越高。越来越多的车辆功能通过软件的形式提供，软件定义车辆正在成为车辆发展的重要趋势。软件定义车辆要求车辆能够像计算机或智能手机一样，便捷地安装软件和更新软件，使车辆“常用常新”。传统的车辆软件更新需要用户将车开到4S店或维修网点，由专业技术人员通过专用车辆去刷新车内的软件。空中下载技术(over the Air，OTA)提供了一种远程升级车辆软件或修复车辆软件缺陷的技术手段，用户可以借助OTA技术联网到云端去下载和安装软件，大大减轻了车辆升级软件的时间和空间限制。
汽车作为消费品是以一个复杂的整体呈现给用户。每个车辆包含几十个甚至上百个电子控制单元(electronic control unit，ECU)，汽车复杂的功能也需要多个ECU之间的协作。车厂对于车辆的维护和升级主要是以单车为单位来进行整车OTA升级，并且整车OTA升级中包括多项功能的升级，有核心功能，也有非核心功能，一般都要涉及到多个ECU，只有全部功能都升级成功才能标记车辆整车升级成功。地图数据包括高精度数据，也作为整车升级的一部分参与整车OTA升级。
虽然OTA技术使得车辆软件升级更加便利，但也带来了额外的风险。现有技术对车辆进行OTA升级时，将高精度地图数据同车辆软件版本一起打包升级。由于，车辆的软件版本的升级周期较长，而高精度地图数据随着交通环境变化而变化，升级周期较短，将地图数据和软件版本打包升级，会影响地图保证数据的时效性。
发明内容
为了解决上述的问题，本申请提供了一种地图更新方法、装置及系统，将车辆中的地图脱离汽车软件，单独进行地图OTA升级，保证了地图的时效性，解决了将车辆中地图和汽车软件打包升级时，流程复杂和升级周期长的问题。
第一方面，本申请提供一种地图更新方法，应用于车辆中的地图更新装置，该方法包括：接收来自地图服务器的地图更新指示消息，地图更新指示消息用于指示地图更新任务；根据地图更新指示消息向车辆中的OTA升级主节点装置发送第一地图更新查询请求消息，第一地图更新查询请求消息包括地图更新任务的相关信息；接收OTA升级主节点装置基于第一地图更新查询请求消息反馈的第一地图更新查询反馈消息，第一地图更新查询反馈消 息包括车辆的状态信息或者地图更新许可信息中的至少一项；向地图服务器发送地图数据下载启动消息，地图数据下载启动消息用于触发地图服务器向地图更新装置发送地图更新数据；接收地图服务器发送的地图更新数据；根据地图更新数据更新车辆中的地图。
其中，地图更新装置可以是至少一个软件模块，也可以是至少一个硬件实体装置，还可以是二者的结合；OTA升级主节点装置同样可以是至少一个软件模块，也可以是至少一个硬件实体装置，还可以是二者的结合；地图服务器既可以是一个独立的具有地图数据存储功能和传输功能的服务器，也可以是多个分立且通过协同工作实现地图数据存储和传输功能的服务器集合。
本申请所示的方案，将地图更新从车辆的软件更新中独立出来，在地图版本发生变化时，单独对车辆中的地图进行OTA升级，简化了地图更新的流程，同时，相比现有技术中地图和汽车软件同步同时更新，缩短了地图更新的周期，提高了地图的时效性，也提升了用户的体验。
在一种可能的实施方式中，在向地图服务器发送地图数据下载启动消息之前，上述方法还包括：根据第一地图更新查询反馈消息，确定可在车辆中进行地图更新。
在一种可能的实施方式中，车辆的状态信息包括车辆的智能驾驶功能的状态或者车辆中地图的状态中的至少一项。
本申请所示的方案，根据OTA升级主节点装置反馈的第一地图更新查询反馈消息，如车辆的智能驾驶功能的状态，确定可在车辆中进行地图更新，避免车辆在不能进行升级的情况下升级地图而出现故障，影响用户使用，提升了用户体验。
在一种可能的实施方式中，在根据地图更新数据更新车辆中的地图之后，上述方法还包括：生成车辆的地图更新日志，并向地图服务器发送地图更新日志，其中，地图更新日志可以包括车辆中地图的更新时间、车辆的状态信息、车辆中地图的更新结果或者车辆中地图的版本号中的至少一项，更新结果包括更新成功和更新失败。
本申请所示的方案，将地图更新日志发送给地图服务器，可以告知地图服务器车辆的更新结果，以更新车辆的任务状态。同时，在更新成功时，可避免地图服务器向车辆重复下发更新任务，同时，在更新失败时，地图服务器还可以再次向车辆重复下发更新任务。
第二方面，本申请还提供一种地图更新方法，应用于车辆中的OTA升级主节点装置，该方法包括：从车辆中的地图更新装置接收第一地图更新查询请求消息，第一地图更新查询请求消息包括地图更新任务的相关信息；根据第一地图更新查询请求消息向地图更新装置发送第一地图更新查询反馈消息，第一地图更新查询反馈消息包括车辆的状态信息或者地图更新许可信息中的至少一项，其中，地图更新查询反馈消息用于触发地图更新装置更新所述车辆中的地图。
在一种可能的实施方式中，在发送第一地图更新查询反馈消息之前，上述方法还包括：向用户发送第二地图更新查询请求消息；接收用户反馈的第二地图更新查询反馈消息；根据第二地图更新查询反馈消息生成第一地图更新查询反馈消息。
在一种可能的实施方式中，在发送第一地图更新查询反馈消息之前，上述方法还包括：向整车升级服务器发送第三地图更新查询请求消息；接收整车升级服务器反馈的第三地图更新查询反馈消息；根据第三地图更新查询反馈消息生成第一地图更新查询反馈消息。
本申请所示的方案，OTA升级主节点装置向用户或者整车升级服务器查询，获得用户 和整车升级服务器的地图更新许可，在获得许可之后进行更新，可以提升用户体验。
第三方面，本申请还提供一种地图更新方法，应用于车辆中的地图更新装置，该方法包括：从车辆中的OTA升级主节点装置接收地图更新通知消息；根据地图更新通知消息从地图服务器下载地图更新数据；向OTA升级主节点装置发送地图数据下载完成消息，地图数据下载完成消息用于指示地图更新装置已完成地图更新数据的下载；从OTA升级主节点装置接收地图数据更新启动消息；响应于地图数据更新启动消息，使用下载的地图更新数据更新车辆中的地图。
在一种可能的实施方式中，根据地图更新通知消息从地图服务器下载地图更新数据包括：根据地图更新通知消息，与地图服务器建立连接；向地图服务器发送地图数据下载启动消息，地图数据下载启动消息用于触发地图服务器向地图更新装置发送地图更新数据；接收地图服务器发送的地图更新数据。
在一种可能的实施方式中，地图更新通知消息包括地图服务器的地址或者地图更新数据的下载地址。
在一种可能的实施方式中，在使用下载的地图更新数据更新车辆中的地图之后，第三方面的方法还包括：生成车辆的地图更新日志，并向地图服务器或OTA升级主节点装置中的至少一个发送地图更新日志，其中，地图更新日志可以包括车辆中地图的更新时间、车辆的状态信息、车辆中地图的更新结果或者车辆中地图的版本号中的至少一项，更新结果包括更新成功和更新失败。
本申请所示的方案，将地图数据从汽车软件数据中独立出来，免去了地图数据和软件数据打包和拆分的流程，减小了地图更新的复杂度，缩短了地图更新的时间，提升了用户了体验。
第四方面，本申请还提供一种地图更新方法，应用于车辆中的OTA升级主节点装置，该方法包括：从整车升级服务器接收整车升级指示消息，整车升级指示消息包括地图更新相关信息；根据地图更新相关信息向车辆中的地图更新装置发送地图更新通知消息，地图更新通知消息用于触发地图更新装置从地图服务器下载地图更新数据；从地图更新装置接收地图数据下载完成消息，地图数据下载完成消息用于指示地图更新装置已完成地图更新数据的下载；向地图更新装置发送地图数据更新启动消息，地图数据更新启动消息用于触发地图更新装置使用下载的地图更新数据更新车辆中的地图。
其中，整车升级服务器既可以是一个独立的具有OTA升级数据存储功能和传输功能的服务器，可以是多个分立且通过协同工作实现OTA升级数据存储和传输功能的服务器集合。
在一种可能的实施方式中，地图更新通知消息包括地图服务器的地址或者地图更新数据的下载地址。
第五方面，本申请还提供一种地图更新装置，应用于车辆中的地图更新装置，地图更新装置包括：第一接收模块，用于接收来自地图服务器的地图更新指示消息，地图更新指示消息用于指示地图更新任务；查询模块，用于根据地图更新指示消息向车辆中的OTA升级主节点装置发送第一地图更新查询请求消息，第一地图更新查询请求消息包括地图更新任务的相关信息；第一接收模块，还用于接收OTA升级主节点装置基于第一地图更新查询请求消息反馈的第一地图更新查询反馈消息，第一地图更新查询反馈消息包括车辆的状态信息或者地图更新许可信息中的至少一项；第一下载模块，用于向地图服务器发送地图 数据下载启动消息，地图数据下载启动消息用于触发地图服务器向地图更新装置发送地图更新数据；第一接收模块，还用于接收地图服务器发送的地图更新数据；第一更新模块，用于根据地图更新数据更新车辆中的地图。
在一种可能的实施方式中，上述地图更新装置还包括：确定模块，用于根据第一地图更新查询反馈消息，确定可在车辆中进行地图更新。
在一种可能的实施方式中，车辆的状态信息包括车辆的智能驾驶功能的状态或者车辆中地图的状态中的至少一项。
在一种可能的实施方式中，上述地图更新装置还包括：第一日志模块，用于生成车辆的地图更新日志，并向地图服务器发送地图更新日志。
第六方面，本申请还提供一种地图更新装置，应用于车辆中的OTA升级主节点装置，地图更新装置包括：第二接收模块，用于从车辆中的地图更新装置接收第一地图更新查询请求消息，第一地图更新查询请求消息包括地图更新任务的相关信息；第一发送模块，用于根据第一地图更新查询请求消息向地图更新装置发送第一地图更新查询反馈消息，第一地图更新查询反馈消息包括车辆的状态信息或者地图更新许可信息中的至少一项。
在一种可能的实施方式中，上述地图更新装置还包括第一查询模块，用于：向用户发送第二地图更新查询请求消息；接收用户反馈的第二地图更新查询反馈消息；根据第二地图更新查询反馈消息生成第一地图更新查询反馈消息。
在一种可能的实施方式中，上述地图更新装置还包括第一查询模块，用于：向整车升级服务器发送第三地图更新查询请求消息；接收整车升级服务器反馈的第三地图更新查询反馈消息；根据第三地图更新查询反馈消息生成第一地图更新查询反馈消息。
第七方面，本申请实施例还提供一种地图更新装置，应用于车辆中的地图更新装置，地图更新装置包括：第三接收模块，用于从车辆中的OTA升级主节点装置接收地图更新通知消息；第二下载模块，用于根据地图更新通知消息从地图服务器下载地图更新数据；第二发送模块，用于向OTA升级主节点装置发送地图数据下载完成消息，地图数据下载完成消息用于指示地图更新装置已完成地图更新数据的下载；第三接收模块，还用于从OTA升级主节点装置接收地图数据更新启动消息；第二更新模块，响应于地图数据更新启动消息，使用下载的地图更新数据更新车辆中的地图。
在一种可能的实施方式中，第二下载模块，具体用于：根据地图更新通知消息，与地图服务器建立连接；向地图服务器发送地图数据下载启动消息，地图数据下载启动消息用于触发地图服务器向地图更新装置发送地图更新数据；接收地图服务器发送的地图更新数据。
在一种可能的实施方式中，地图更新通知消息包括地图服务器的地址或者地图更新数据的下载地址。
在一种可能的实施方式中，上述地图更新装置还包括第二日志模块，用于：生成车辆的地图更新日志，并向地图服务器或OTA升级主节点装置中的至少一个发送地图更新日志。
第八方面，本申请还提供一种地图更新装置，应用于车辆中的OTA升级主节点装置，地图更新装置包括：第四接收模块，用于从整车升级服务器接收整车升级指示消息，整车升级指示消息包括地图更新相关信息；第三发送模块，用于根据地图更新相关信息向车辆中的地图更新装置发送地图更新通知消息，地图更新通知消息用于触发地图更新装置从地 图服务器下载地图更新数据；第四接收模块，还用于从地图更新装置接收地图数据下载完成消息，地图数据下载完成消息用于指示地图更新装置已完成地图更新数据的下载；第三发送模块，还用于向地图更新装置发送地图数据更新启动消息，地图数据更新启动消息用于触发地图更新装置使用下载的地图更新数据更新车辆中的地图。
在一种可能的实施方式中，地图更新通知消息包括地图服务器的地址或者地图更新数据的下载地址。
第九方面，本申请还提供一种地图更新系统，包括：地图更新装置和OTA升级主节点装置，地图更新装置用于执行上述第一方面及其可能实施方式中的方法，OTA升级主节点装置用于执行上述第二方面及其可能实施方式中的方法。
第十方面，本申请还提供一种地图更新系统，包括：地图更新装置和地图服务器，地图更新装置用于执行上述第一方面及其可能实施方式中的方法；地图服务器用于向地图更新装置发送地图更新指示消息和地图更新数据。
第十一方面，本申请还提供一种地图更新系统，包括：地图更新装置和OTA升级主节点装置，地图更新装置用于执行上述第三方面及其可能实施方式中的方法，OTA升级主节点装置用于实现上述第四方面及其可能实施方式中的方法。
第十二方面，本申请还提供一种地图更新系统，包括：地图更新装置和地图服务器，地图更新装置用于执行上述第三方面及其可能实施方式中的方法，地图服务器用于向地图更新装置发送地图更新数据。
第十三方面，本申请还提供一种地图更新装置，包括：存储器和处理器，存储器用于存储计算机指令，处理器执行存储器存储的计算机指令，以执行上述第一方面及其可能实施方式中的方法，或者执行上述第二方面及其可能实施方式中的方法，或者执行上述第三方面及其可能实施方式中的方法，或者执行上述第四方面及其可能实施方式中的方法。
第十四方面，本申请还提供一种计算机可读存储介质，计算机可读存储介质存储有计算机程序代码，当计算机程序代码被地图更新装置执行时，地图更新装置执行上述第一方面及其可能实施方式中的方法，或者执行上述第二方面及其可能实施方式中的方法，或者执行上述第三方面及其可能实施方式中的方法，或者执行上述第四方面及其可能实施方式中的方法。
第十五方面，本申请还提供一种计算机程序产品，当计算机程序产品在地图更新装置上运行时，使得地图更新装置执行上述第一方面及其可能实施方式中的方法，或者执行上述第二方面及其可能实施方式中的方法，或者执行上述第三方面及其可能实施方式中的方法，或者执行上述第四方面及其可能实施方式中的方法。
上述提供的任一种装置或计算机存储介质或计算机程序产品，均用于执行上文所提供的方法，因此，其所能达到的有益效果可参考上文提供的对应方法中的对应方案的有益效果，此处不再赘述。
附图说明
图1是本申请提供的车辆进行地图OTA升级的场景示意图；
图2是本申请实施例提供的一种地图更新方法的流程图。
图3是本申请实施例提供的一种OTA升级主节点装置生成第一地图更新查询反馈 消息的示意图；
图4是本申请实施例提供的一种地图更新装置的功能结构示意图；
图5是本申请实施例提供的一种地图更新装置的功能结构示意图；
图6是本申请实施例提供的一种OTA升级主节点装置的功能结构示意图；
图7a是本申请实施例提供的一种地图服务器的功能结构示意图；
图7b是本申请实施例提供的一种地图服务器的部署结构示意图；
图8是本申请实施例提供的另一种地图更新方法的流程图；
图9是本申请实施例提供的另一种地图更新装置的结构示意图；
图10是本申请实施例提供的另一种OTA升级主节点装置的功能结构示意图；
图11是本申请实施例提供的另一种地图服务器的功能结构示意图；
图12a是本申请实施例提供的一种地图更新系统的结构示意图；
图12b是本申请实施例提供的一种地图更新系统的结构示意图。
具体实施方式
为了使本申请实施例的目的、技术方案和优点更加清楚，下面将结合附图，对本申请实施例中的技术方案进行描述。
在本申请实施例的描述中，“示例性的”、“例如”或者“举例来说”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”、“例如”或者“举例来说”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”、“例如”或者“举例来说”等词旨在以具体方式呈现相关概念。
在本申请实施例的描述中，术语“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，单独存在B，同时存在A和B这三种情况。另外，除非另有说明，术语“多个”的含义是指两个或两个以上。例如，多个系统是指两个或两个以上的系统，多个屏幕终端是指两个或两个以上的屏幕终端。"以下至少一项(个)"或其类似表达，是指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和b"，"a和c"，"b和c"，或"a和b和c"，其中a，b，c可以是单个，也可以是多个。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。术语“包括”、“包含”、“具有”及它们的变形都意味着“包括但不限于”，除非是以其他方式另外特别强调。
图1是本申请实施例提供的车辆进行地图OTA升级的场景示意图。如图1所示，该场景中包括车辆和与车辆通信的位于云端的服务器。车辆中部署有地图更新装置100和OTA升级主节点装置200，云端的服务器包括：地图服务器300和整车升级服务器400。
具体地，地图服务器300用于存储和传输地图供应商提供给车辆的地图数据，整车升级服务器400用于存储和传输各类车辆的软件数据，其中，软件数据包括车辆的地图数据和车辆的其他数据。
地图更新装置100是地图供应商提供的一个地图升级客户端，是车辆中的一个slave 角色的电子控制单元(electronic control unit，ECU)，负责车辆中地图的更新。OTA升级主节点装置200是车辆生产商在车辆中部署的一个软件升级客户端，是车辆中的一个Master角色的电子控制单元，负责车辆整车软件升级。OTA升级主节点装置200具体可以是智能驾驶计算平台(汽车中的移动数据中心，mobile data center，MDC)和车载系统TBox等汽车控制中心中的任意一种。地图更新装置100分别与地图服务器300和OTA升级主节点装置200进行通信。相应的，地图更新装置100可以接收来自地图服务器300的地图更新指示消息，也可以接收来自OTA升级主节点装置200的地图更新通知消息，用于对所属车辆中的地图进行升级更新。上述车辆与服务器通信时可以采用数字移动通信技术、无线局域网通信技术或者人造卫星通信技术中的任意一种技术进行，其中，数字移动通信技术可以时第二代数字移动通信技术(2G)、第三代数字移动通信技术(3G)、第四代数字移动通信技术(4G)和第五代数字移动通信技术(5G)等中的一种；2G移动通信技术可以是GSM通信技术或CDMA通信技术中的一种；3G移动通信技术可以是WCDMA通信技术、CDMA2000通信技术或TD-SCDMA通信技术中的一种；4G移动通信技术可以是LTE-FDD通信技术或LTE-TDD中的一种；无线局域网通信技术可以是任意一代的无线网络技术，例如WiFi5、WiFi6或WiFi6+等。
基于上述车辆进行地图OTA升级的场景，本申请实施例提供一种地图更新方法，如图2所示，该方法包括如下述的步骤S101～步骤S106。
步骤S01.地图服务器300向地图更新装置100发送地图更新指示消息。
在本实施例中，当地图服务器300检测到存储的地图数据发生变化时，地图服务器300生成地图更新数据和地图更新指示消息，并从整车升级服务器400中获取车辆列表；然后，在车辆列表中的车辆与地图服务器300建立通信连接后，将地图更新指示消息发送给车辆列表中的车辆。其中，地图更新指示消息用于指示地图更新任务。示例性的，地图服务器300获取车辆列表时，可向整车升级服务器400发送车辆列表查询请求消息，其中，车辆列表查询请求消息包括地图更新数据的相关信息；整车升级服务器400接收到该车辆列表查询请求消息时，向地图服务器300发送该地图更新数据对应的车辆列表。可选的，地图更新数据的相关信息可以包括地图更新数据的版本号，整车升级服务器400可以根据地图更新数据的版本号确定正在使用该地图的车辆，进而生成地图更新数据对应的车辆列表。
可选的，地图服务器300在发送地图更新指示消息之前，可以根据车辆列表中的信息确定可以更新当前地图更新数据的车辆以及制定各个车辆更新地图的时间，并按照制定的时间向各个车辆发送地图更新指示消息。其中，车辆列表中的信息可以包括：各个车辆的ID、各个车辆的地图付费状态、各个车辆的软件版本、各个车辆更新地图的优先级和各个车辆设置的更新地图的计划时间中一个或多个。示例性的，当某一车辆的地图付费状态为未付费时，该车辆即没有权限升级当前的地图更新数据；或者，某一车辆的软件版本与地图更新数据的版本不兼容时，该车辆即没有权限升级当前的地图更新数据。
步骤S102.地图更新装置100接收来自地图服务器300的地图更新指示消息，并根据地图更新指示消息向车辆中的OTA升级主节点装置200发送第一地图更新查询请求。
本实施例中，地图更新装置100接收到地图更新指示消息时，根据地图更新指示消息生成第一地图更新查询请求消息，并发送给OTA升级主节点装置200。第一地图更新查询请求可以包括地图更新任务的相关信息，其中，地图更新任务的相关信息可以包括地图更 新数据的版本号。
步骤S103.OTA升级主节点装置200接收第一地图更新查询请求消息，并根据第一地图更新查询请求消息生成第一地图更新查询反馈消息并发送给地图更新装置300。
本实施例中，第一地图更新查询反馈消息包括车辆的状态信息或者地图更新许可信息中的至少一项。具体地，OTA升级主节点装置200在接收到第一地图更新查询请求消息后，查询车辆的状态信息和获取车辆的地图更新许可信息中的至少一项，并根据获得的车辆的状态信息和地图更新许可信息生成第一地图更新查询反馈消息。示例性的，车辆的状态信息可以包括车辆的智能驾驶功能的状态或者车辆中地图的状态中的至少一项。
可选的，OTA升级主节点装置200在接收到第一地图更新查询请求消息之后，生成第一地图更新查询反馈消息时，还可以包括如图3所示的步骤S1031或步骤S1032。
在步骤S1031中，OTA升级主节点装置200可以根据第一地图更新查询请求消息生成第二地图更新查询请求消息并发送给用户，然后根据用户反馈的第二地图更新查询反馈消息生成第一地图更新查询反馈消息。在一种可能的实施方式中，OTA升级主节点装置200将第二地图更新查询请求消息发送给车辆中部署的终端模块，该终端模块并且设置有人机交互接口(human machine interface，HMI)或者用户界面，用于向用户呈现第二地图更新查询请求消息，以及采集用户反馈的第二地图更新查询反馈消息并发送给OTA升级主节点装置200。
可选地，终端模块可以是语音模块，包括：麦克风和音频播放器。语音模块通过音频播放器以语音的形式向用户呈现第二地图更新查询请求消息，并利用麦克风接收用户反馈的第二地图更新查询反馈消息并发送给OTA升级主节点装置200。
终端模块还可以是显示模块，包括显示组件和输入组件。显示模块可通过显示组件以界面的形式向用户呈现第二地图更新查询请求消息，并利用输入组件接收用户反馈的第二地图更新查询反馈消息并发送给OTA升级主节点装置200。输入组件可以是触控组件，或者是按键组件。
在步骤S1032中，OTA升级主节点装置200还可以根据第一地图更新查询请求消息生成第三地图更新查询请求消息并发送给整车升级服务器400，根据整车升级服务器400反馈的第三地图更新查询反馈消息生成第一地图更新查询反馈消息。
步骤S104.地图更新装置100根据OTA升级主节点装置200反馈的第一地图更新查询反馈消息，确定可以在车辆中进行地图更新，然后向地图服务器300发送地图数据下载启动消息。
本实施例中，地图更新装置100基于预设的更新条件对获得的第一地图更新查询反馈消息进行判断，当第一地图更新查询反馈消息满足更新条件时，即可确定地图更新装置100可以在车辆中进行地图更新。在确定可以在车辆中进行地图更新后，地图更新装置100生成地图数据下载启动消息并发送给地图服务器300。具体地，更新条件与第一地图更新查询反馈消息相匹配，当第一地图更新查询反馈消息包括上述车辆的智能驾驶功能的状态或者车辆中地图的状态时，更新条件则包括车辆的智能驾驶功能的未开启或者车辆中地图的未被正在使用。
步骤S105.地图服务器300接收到地图数据下载启动消息后，向地图更新装置100发送地图更新数据，地图更新装置100接收地图更新数据，完成地图数据的下载。
本实施例中，地图服务器300向地图更新装置100传输地图更新数据时采用断点续传协议(file transfer protocol，FTP)进行传输，同时还可以采用内容分发网络(Content Delivery Network，CDN)技术提高地图更新数据的传输速度。具体地，地图服务器300将待下载的地图更新数据的数据包划分为几个部分，每一个部分采用一个线程进行传输，当地图更新装置100下载地图更新数据时，出现网络故障等意外导致下载被中断时，地图更新装置100可以从中断的数据位置继续下载，而没有必要从头开始下载，提升用户体验。可选的，地图更新数据的数据包可以是全量包，也可以是差分包；其中，全量包中包括地图的完整数据，差分包中包括车辆中地图待更新部分的数据。本实施例采用断点续传协议传输差分包时，可以最大程度的节省地图升级客户端的下载时间，还可以为用户节省下载地图更新数据的费用。
步骤S106.地图更新装置100根据地图更新数据更新车辆中的地图，以及生成地图更新日志，并发送给地图服务器300。
本实施例中，地图更新装置100可以在地图更新数据下载完成后，即利用地图更新数据更新车辆中已安装的地图，还可以在地图更新数据下载完成后向用户发送下载完成消息和更新时间列表，等待用户并反馈选择并反馈更新时间，然后按照用户选定的更新时间更新地图。地图更新装置100在地图更新结束后生成地图更新日志，以记录此次地图更新的相关信息，并将地图更新日志发送地图服务器300，以用于地图服务器300根据地图更新日志更新车辆的任务状态。其中，地图更新日志可以包括车辆中地图的更新时间、车辆的状态信息、车辆中地图的的更新结果或者车辆中地图的版本号中的至少一项，更新结果包括更新成功和更新失败。此外，地图更新装置100可采用备份机制更新地图，当更新地图失败时，地图更新装置100可将车辆中的地图回滚到原始的版本，避免出现升级失败，导致汽车功能不可用的情况，提升了用户体验。
本申请的实施例中，将车辆中的地图更新脱离车辆的软件更新，在地图有新版本时对车辆中的地图单独进行OTA升级，避免由于车辆软件较长的升级周期影响地图更新数据的时效性，可以让用户及时使用最新版本的地图。
基于上述的地图更新方法实施例，本申请实施例提供一种地图更新装置100，地图更新装置100可以由至少一个软件装置实现，也可以由至少一个硬件实体设备实现，还可以由软件装置和硬件实体设备的结合来实现。
当地图更新装置100为软件装置时，该地图更新装置100可以在逻辑上分成多个模块，每个模块可以具有不同的功能，每个模块的功能由地图更新装置中的处理器读取并执行存储器中的指令来实现。图4示出了本申请实施例提供的一种地图更新装置100的结构示意图。如图4所示，该地图更新装置100包括：第一接收模块101、查询模块102、第一下载模块103和第一更新模块104。需要说明的是，本申请实施例仅对地图更新装置100的结构和功能模块进行示例性划分，但是并不对其具体划分做任何限定。
本实施例中，第一接收模块101，用于接收来自地图服务器300的地图更新指示消息。查询模块102，用于根据地图更新指示消息向车辆中的OTA升级主节点装置发送第一地图更新查询请求消息，其中，第一地图更新查询请求消息包括地图更新任务的相关信息，第一地图更新查询请求消息用于获取OTA升级主节点装置的升级许可。第一接收模块101，还用于接收OTA升级主节点装置基于第一地图更新查询请求消息反馈的第一地图更新查 询反馈消息，第一地图更新查询反馈消息包括车辆的状态信息或者地图更新许可信息中的至少一项。第一下载模块103，响应于地图更新查询反馈消息，向地图服务器300发送地图数据下载启动消息，地图数据下载启动消息用于触发地图服务器300向地图更新装置发送地图更新数据。第一接收模块101，还用于接收地图服务器300发送的地图更新数据。第一更新模块104，用于根据接收的地图更新数据更新车辆中的地图。
此外，上述地图更新装置100还可以包括：确定模块105，用于根据地图更新查询反馈消息，确定可在车辆中进行地图更新。第一日志模块106，用于生成车辆的地图更新日志，并向地图服务器300发送地图更新日志。其中，地图更新日志用于地图服务器300更新该车辆的地图更新任务的状态，当地图服务器300接收到车辆的地图更新日志时，根据地图更新日志中的信息更新该车辆的地图更新任务的状态。
另外，在一些可能的情况中，上述的该地图更新装置100包括的多个模块中的部分模块的也可以合并为一个模块，例如，上述的第一更新模块104和第一日志模块106可以合并为一个模块，也即，合并后的模块集合了第一更新模块104和第一日志模块106的功能。
当地图更新装置100为硬件设备时，该地图更新装置100可以为车辆中的任意一个地图更新装置。图5是本申请实施例提供的一种地图更新装置500的结构示意图。如图5所示，该地图更新装置500包括处理器501，通信总线502，存储器503以及至少一个通信接口504。
处理器501可以是一个通用中央处理器(Central Processing Unit，CPU)，特定应用集成电路(application-specific integrated circuit，ASIC)，图形处理器(graphics processing unit，GPU)或其任意组合。处理器501可以包括一个或多个芯片，处理器501可以包括AI加速器，例如：神经网络处理器(neural processing unit，NPU)。
通信总线502可包括在地图更新装置500各个部件(例如，处理器501、存储器503、通信接口504)之间传送信息的通路。
存储器503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它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它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)或其它光盘存储、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它磁存储设备、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它介质，但不限于此。存储器503可以是独立存在，通过通信总线502与处理器501相连接。存储器503也可以和处理器501集成在一起。存储器503可以存储计算机指令，当存储器503中存储的计算机指令被处理器501执行时，可以实现本申请的模型优化方法。另外，存储器503中还可以存储有处理器在执行上述方法的过程中所需的数据以及所产生的中间数据和/或结果数据。
通信接口504，使用任何收发器一类的装置，用于与其它设备或通信网络通信，如以太网，无线接入网(radio access network，RAN)，无线局域网(wireless local area networks，WLAN)等。
在一种可能的实施方式中，处理器501可以包括一个或多个CPU。
在一种可能的实施方式中，作为一种实施例，计算机设备可以包括多个处理器。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。
基于上述的地图更新方法实施例，本申请实施例还提供一种OTA升级主节点装置200，同样地，OTA升级主节点装置200可以由至少一个软件装置实现，也可以由至少一个硬件实体设备实现，还可以由软件装置和硬件实体设备的结合来实现。
当OTA升级主节点装置200为软件装置时，该地图更新装置100可以在逻辑上分成多个模块，每个模块可以具有不同的功能，每个模块的功能由地图更新装置中的处理器读取并执行存储器中的指令来实现。图6示出了本申请实施例提供的一种OTA升级主节点装置200的结构示意图。如图6所示，该OTA升级主节点装置200包括：第二接收模块201和第一发送模块202。本申请实施例仅对OTA升级主节点装置200的结构和功能模块进行示例性划分，但是并不对其具体划分做任何限定。
本实施例中，第二接收模块201，用于从车辆中的地图更新装置100接收第一地图更新查询请求消息，第一地图更新查询请求消息包括地图更新任务的相关信息；第一发送模块202，用于根据第一地图更新查询请求消息向地图更新装置100发送第一地图更新查询反馈消息，第一地图更新查询反馈消息包括车辆的状态信息或者地图更新许可信息中的至少一项。
此外，OTA升级主节点装置200还包括第一查询模块203和第二查询模块204。第一查询模块203用于向用户发送第二地图更新查询请求消息，接收用户反馈的第二地图更新查询反馈消息，以及根据第二地图更新查询反馈消息生成第一地图更新查询反馈消息。第二查询模块204用于向整车升级服务器发送第三地图更新查询请求消息，接收整车升级服务器反馈的第三地图更新查询反馈消息，以及根据第三地图更新查询反馈消息生成第一地图更新查询反馈消息。
当OTA升级主节点装置200为硬件设备时，该OTA升级主节点装置200可以为车辆中的任意一个地图更新装置。在一种可能的实施方式中，该地图更新装置的结构可以是如图5所示的地图更新装置的结构，此处不再详细介绍。
基于上述的地图更新方法实施例，本申请还提供一种地图服务器300，该地图服务器300可以由地图服务提供商部署在云数据中心。如图7a所示，地图服务器300可以包括：存储模块301和第一任务模块302。其中，存储模块301用于存储地图数据，第一任务模块302用于判断存储模块301存储的地图数据是否发生变化，当地图数据发生变化时，生成地图更新指示消息以及从整车升级服务器400中获取车辆列表，以及判断车辆列表中的车辆是否可以更新地图，并将地图更新指示消息发送给可以更新地图的车辆。第一任务模块302还用于在接收到车辆的地图数据下载启动消息时，从存储模块301获取地图更新数据并发送给车辆。
可选地，地图服务器300可以是一个独立的具有地图数据存储功能和传输功能的服务器，地图服务器300与车辆进行通信，并向车辆提供地图更新。地图服务器300还可以是多个分立且通过协同工作实现地图数据存储和传输功能的服务器集合，如图7b所示，地图服务器300的功能模块可以分布式地部署在多台子服务器310中，各子服务器310均可 以与车辆进行通信，实现各自的功能，以向车辆提供地图更新。
本申请实施例还提供一种地图更新方法，如图8所示，该方法包括如下述的步骤S201～步骤S207。
步骤S201.地图服务器300向整车升级服务器400发送地图更新指示消息。
本实施例中，地图服务器300检测到存储的地图数据发生变化时，生成地图更新数据和地图更新指示消息，将地图更新指示消息发送给整车升级服务器，以将此次地图更新加入整车升级计划中。
步骤S202.整车升级服务器400根据地图更新指示消息后生成整车升级指示消息，并发送给OTA升级主节点装置200。
本实施例中，整车升级服务器400接收到地图更新指示消息后，将地图更新加入整车升级计划中，当车辆的软件需要更新时，生成整车升级指示消息，其中，整车升级指示消息中包括地图更新指示消息。可选地，整车升级指示消息还可以包括地图服务器的地址或者地图更新数据的下载地址中的至少一项。
步骤S203.OTA升级主节点装置200根据整车升级指示消息生成地图更新通知消息，并发送给地图更新装置100。
本实施例中，OTA升级主节点装置200接收到整车升级指示消息后，按照整车软甲更新的进度，基于整车升级指示消息生成地图更新通知消息，其中，地图更新通知消息包括地图更新任务的相关信息，比如：地图更新数据的版本号。地图更新通知消息还包括地图服务器的地址或者地图更新数据的下载地址中的至少一项。
步骤S204.地图更新装置100根据地图更新通知消息从地图服务器200下载地图更新数据。
本实施例中，地图更新装置100接收到地图更新通知消息之后，与地图服务器建立连接，然后向地图服务器200发送地图数据下载启动消息，地图数据下载启动消息用于触发地图服务器200向地图更新装置100发送地图更新数据；在地图服务器200发送地图更新数据时，地图更新装置100接收地图更新数据，直至数据传输结束。
步骤S205.地图更新装置100向OTA升级主节点装置发送地图数据下载完成消息。
本实施例中，地图更新装置100在地图更新数据下载结束后，生成地图数据下载完成消息，并发送给OTA升级主节点装置200，然后等待更新车辆中的地图。
步骤S206.OTA升级主节点装置200接收到地图数据下载完成消息之后，向地图更新装置100发送地图数据更新启动消息。
步骤S207.地图更新装置100接收到地图数据更新启动消息后，根据地图更新数据更新车辆中的地图，以及在更新结束之后，生成车辆的地图更新日志，并发送给地图服务器300。
本实施例中，地图更新日志可以包括车辆中地图的更新时间、车辆的状态信息、车辆中地图的更新结果或者车辆中地图的版本号中的至少一项，更新结果包括更新成功和更新失败。此外，地图更新装置100可采用备份机制更新地图，当更新地图失败时，地图更新装置100可将车辆中的地图回滚到原始的版本，避免出现升级失败，导致汽车功能不可用的情况，提升了用户体验。
基于上述的地图更新方法实施例，本申请还提供一种地图更新装置100，地图更新装 置100可以由至少一个软件装置实现，也可以由至少一个硬件实体设备实现，还可以由软件装置和硬件实体设备的结合来实现。
当地图更新装置100为软件装置时，该地图更新装置100可以在逻辑上分成多个模块，每个模块可以具有不同的功能，每个模块的功能由地图更新装置中的处理器读取并执行存储器中的指令来实现。图9示出了本申请实施例提供的另一种地图更新装置100的结构示意图。如图9所示，该地图更新装置100包括：第三接收模块901、第二下载模块902、第二发送模块903和第二更新模块904。需要说明的是，本申请实施例仅对地图更新装置100的结构和功能模块进行示例性划分，但是并不对其具体划分做任何限定
本实施例中，第三接收模块901，用于从车辆中的OTA升级主节点装置200接收地图更新通知消息；第二下载模块902，用于根据地图更新通知消息从地图服务器300下载地图更新数据；第二发送模块903，用于向OTA升级主节点装置200发送地图数据下载完成消息，地图数据下载完成消息用于指示地图更新装置100已完成地图更新数据的下载；第三接收模块901，还用于从OTA升级主节点装置200接收地图数据更新启动消息；第二更新模块，响应于地图数据更新启动消息，使用下载的地图更新数据更新所述车辆中的地图。此外，地图更新装置100还可以包括第二日志模块，用于：生成车辆的地图更新日志，并向地图服务器或OTA升级主节点装置中的至少一个发送地图更新日志。
其中，第二下载模块902具体用于：根据地图更新通知消息，与地图服务器300建立连接；然后向地图服务器300发送地图数据下载启动消息，地图数据下载启动消息用于触发地图服务器300向地图更新装置100发送地图更新数据；接着接收地图服务器300发送的地图更新数据。
当地图更新装置100为硬件设备时，该地图更新装置100可以为车辆中的任意一个地图更新装置。在一个可能的实施方式中，该地图更新装置的具体结构可以是图5所示的结构，此处不再详细描述。
基于上述的地图更新方法实施例，本申请还提供一种OTA升级主节点装置200，同样地，OTA升级主节点装置200可以由至少一个软件装置实现，也可以由至少一个硬件实体设备实现，还可以由软件装置和硬件实体设备的结合来实现。
当OTA升级主节点装置200为软件装置时，该地图更新装置100可以在逻辑上分成多个模块，每个模块可以具有不同的功能，每个模块的功能由地图更新装置中的处理器读取并执行存储器中的指令来实现。图10本申请实施例提供的一种OTA升级主节点装置200的结构示意图。如图10所示，该OTA升级主节点装置200包括：第四接收模块1001和第三发送模块1002。本申请实施例仅对OTA升级主节点装置200的结构和功能模块进行示例性划分，但是并不对其具体划分做任何限定。
本实施例中，第四接收模块1001，用于从整车升级服务器接收整车升级指示消息；第三发送模块1002，用于根据地图更新相关信息向车辆中的地图更新装置发送地图更新通知消息；第四接收模块1001，还用于从地图更新装置接收地图数据下载完成消息；第三发送模块1002，还用于向地图更新装置发送地图数据更新启动消息。
当OTA升级主节点装置200为硬件设备时，该OTA升级主节点装置200可以为车辆中的任意一个地图更新装置。在一种可能的实施方式中，该地图更新装置的结构可以是如图5所示的地图更新装置的结构，此处不再详细介绍。
基于上述的地图更新方法实施例，本申请实施例还提供一种地图服务器300，如图11所示，该地图服务器300包括：存储模块301和第二任务模块303。其中，存储模块301用于存储地图数据，第二任务模块303用于判断存储模块301存储的地图数据是否发生变化，当地图数据发生变化时，生成地图更新指示消息以及发送给整车升级服务器400。第二任务模块303还用于在接收到车辆的地图数据下载启动消息时，从存储模块301获取地图更新数据并发送给车辆。可选地，地图服务器300可以是一个独立的具有地图数据存储功能和传输功能的服务器，地图服务器300与车辆进行通信，并向车辆提供地图更新。地图服务器300还可以是如图7b所示的多个分立且通过协同工作实现地图数据存储和传输功能的服务器集合，地图服务器300的功能模块可以分布式地部署在多台子服务器310中，各子服务器310均可以与车辆进行通信，实现各自的功能，以向车辆提供地图更新。
基于上述的地图更新方法实施例，本申请实施例还提供一种地图更新系统，用于更新车辆中的地图。
在一种可能的实施方式中，该地图更新系统可以包括如图12a所示的地图更新装置100和OTA升级主节点装置200。可选的，地图更新装置100可以是如图4所示的地图更新装置100，也可以是如图9所示的地图更新装置100；OTA升级主节点装置200可以是如图6所示的OTA升级主节点装置200，也可以是如图10所示的OTA升级主节点装置200。
在一种可能的实施方式中，该地图更新系统还可以包括如图12b所示的地图更新装置100和地图服务器300。可选的，地图更新装置100可以是如图4所示的地图更新装置100，也可以是如图9所示的地图更新装置100；地图服务器可以是如图7a所示的地图服务器300，也可以是如图11所示的地图服务器300。
本申请实施例还提供一种计算机可读存储介质，计算机可读存储介质存储有计算机程序代码，当计算机程序代码被地图更新装置执行时，地图更新装置执行上述地图更新方法实施例中的步骤。
本申请实施例还提供一种计算机程序产品，当计算机程序产品在地图更新装置上运行时，使得地图更新装置执行上述地图更新方法实施例中的步骤。
可以理解的是，本申请的实施例中的处理器可以是中央处理单元(central processing unit，CPU)，还可以是其他通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、晶体管逻辑器件，硬件部件或者其任意组合。通用处理器可以是微处理器，也可以是任何常规的处理器。
本申请的实施例中的方法步骤可以通过硬件的方式来实现，也可以由处理器执行软件指令的方式来实现。软件指令可以由相应的软件模块组成，软件模块可以被存放于随机存取存储器(random access memory，RAM)、闪存、只读存储器(read-only memory，ROM)、可编程只读存储器(programmable rom，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)、寄存器、硬盘、移动硬盘、CD-ROM或者本领域熟知的任何其它形式的存储介质中。一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于ASIC中。
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。 当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述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所述计算机程序指令时，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，或者通过所述计算机可读存储介质进行传输。所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(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用介质集成的服务器、数据中心等数据存储车辆。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。
可以理解的是，在本申请的该实施例中涉及的各种数字编号仅为描述方便进行的区分，并不用来限制本申请的实施例的范围。

Claims (33)

  1. 一种地图更新方法，其特征在于，应用于车辆中的地图更新装置，所述方法包括：
    接收来自地图服务器的地图更新指示消息，所述地图更新指示消息用于指示地图更新任务；
    根据所述地图更新指示消息向所述车辆中的OTA升级主节点装置发送第一地图更新查询请求消息，所述第一地图更新查询请求消息包括所述地图更新任务的相关信息；
    接收所述OTA升级主节点装置基于所述第一地图更新查询请求消息反馈的第一地图更新查询反馈消息，所述第一地图更新查询反馈消息包括所述车辆的状态信息或者地图更新许可信息中的至少一项；
    向地图服务器发送地图数据下载启动消息，所述地图数据下载启动消息用于触发所述地图服务器向所述地图更新装置发送地图更新数据；
    接收所述地图服务器发送的地图更新数据；
    根据所述地图更新数据更新所述车辆中的地图。
  2. 根据权利要求1所述的方法，其特征在于，在所述向地图服务器发送地图数据下载启动消息之前，所述方法还包括：
    根据所述第一地图更新查询反馈消息，确定可在所述车辆中进行地图更新。
  3. 根据权利要求1或2所述的方法，其特征在于，所述车辆的状态信息包括所述车辆的智能驾驶功能的状态或者所述车辆中地图的状态中的至少一项。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，在所述根据所述地图更新数据更新所述车辆中的地图之后，所述方法还包括：
    生成所述车辆的地图更新日志，并向所述地图服务器发送所述地图更新日志。
  5. 一种地图更新方法，其特征在于，应用于车辆中的OTA升级主节点装置，所述方法包括：
    从所述车辆中的地图更新装置接收第一地图更新查询请求消息，所述第一地图更新查询请求消息包括地图更新任务的相关信息；
    根据所述第一地图更新查询请求消息向所述地图更新装置发送第一地图更新查询反馈消息，所述第一地图更新查询反馈消息包括所述车辆的状态信息或者地图更新许可信息中的至少一项。
  6. 根据权利要求5所述的方法，其特征在于，在所述发送第一地图更新查询反馈消息之前，所述方法还包括：
    向用户发送第二地图更新查询请求消息；
    接收所述用户反馈的第二地图更新查询反馈消息；
    根据所述第二地图更新查询反馈消息生成所述第一地图更新查询反馈消息。
  7. 根据权利要求5或6所述的方法，其特征在于，在所述发送第一地图更新查询反馈消息之前，所述方法还包括：
    向整车升级服务器发送第三地图更新查询请求消息；
    接收所述整车升级服务器反馈的第三地图更新查询反馈消息；
    根据所述第三地图更新查询反馈消息生成所述第一地图更新查询反馈消息。
  8. 一种地图更新方法，其特征在于，应用于车辆中的地图更新装置，所述方法包括：
    从所述车辆中的OTA升级主节点装置接收地图更新通知消息；
    根据所述地图更新通知消息从地图服务器下载地图更新数据；
    向所述OTA升级主节点装置发送地图数据下载完成消息，所述地图数据下载完成消息用于指示所述地图更新装置已完成所述地图更新数据的下载；
    从所述OTA升级主节点装置接收地图数据更新启动消息；
    响应于所述地图数据更新启动消息，使用下载的所述地图更新数据更新所述车辆中的地图。
  9. 根据权利要求8所述的方法，其特征在于，所述根据所述地图更新通知消息从地图服务器下载地图更新数据包括：
    根据所述地图更新通知消息，与所述地图服务器建立连接；
    向所述地图服务器发送地图数据下载启动消息，所述地图数据下载启动消息用于触发所述地图服务器向所述地图更新装置发送地图更新数据；
    接收所述地图服务器发送的地图更新数据。
  10. 根据权利要求8或9所述的方法，其特征在于，所述地图更新通知消息包括所述地图服务器的地址或者所述地图更新数据的下载地址。
  11. 根据权利要求8-10任一项所述的方法，其特征在于，在所述使用下载的所述地图更新数据更新所述车辆中的地图之后，所述方法还包括：
    生成所述车辆的地图更新日志，并向所述地图服务器或所述OTA升级主节点装置中的至少一个发送所述地图更新日志。
  12. 一种地图更新方法，其特征在于，应用于车辆中的OTA升级主节点装置，所述方法包括：
    从整车升级服务器接收整车升级指示消息，所述整车升级指示消息包括地图更新相关信息；
    根据所述地图更新相关信息向所述车辆中的地图更新装置发送地图更新通知消息，所述地图更新通知消息用于触发所述地图更新装置从地图服务器下载地图更新数据；
    从所述地图更新装置接收地图数据下载完成消息，所述地图数据下载完成消息用于指示所述地图更新装置已完成地图更新数据的下载；
    向所述地图更新装置发送地图数据更新启动消息，所述地图数据更新启动消息用于触发所述地图更新装置使用下载的所述地图更新数据更新所述车辆中的地图。
  13. 根据权利要求12所述的方法，其特征在于，所述地图更新通知消息包括所述地图服务器的地址或者所述地图更新数据的下载地址。
  14. 一种地图更新装置，其特征在于，应用于车辆中的地图更新装置，所述地图更新装置包括：
    第一接收模块，用于接收来自地图服务器的地图更新指示消息，所述地图更新指示消息用于指示地图更新任务；
    查询模块，用于根据所述地图更新指示消息向所述车辆中的OTA升级主节点装置发送第一地图更新查询请求消息，所述第一地图更新查询请求消息包括所述地图更新任务的相关信息；
    第一接收模块，还用于接收所述OTA升级主节点装置基于所述第一地图更新查询请求消息反馈的第一地图更新查询反馈消息，所述第一地图更新查询反馈消息包括所述车辆的状态信息或者地图更新许可信息中的至少一项；
    第一下载模块，用于向地图服务器发送地图数据下载启动消息，所述地图数据下载启动消息用于触发所述地图服务器向所述地图更新装置发送地图更新数据；
    第一接收模块，还用于接收所述地图服务器发送的地图更新数据；
    第一更新模块，用于根据所述地图更新数据更新所述车辆中的地图。
  15. 根据权利要求14所述的装置，其特征在于，还包括：
    确定模块，用于根据所述第一地图更新查询反馈消息，确定可在所述车辆中进行地图更新。
  16. 根据权利要求14或15所述的装置，其特征在于，所述车辆的状态信息包括所述车辆的智能驾驶功能的状态或者所述车辆中地图的状态中的至少一项。
  17. 根据权利要求14-16任一项所述的装置，其特征在于，还包括：
    第一日志模块，用于生成所述车辆的地图更新日志，并向所述地图服务器发送所述地图更新日志。
  18. 一种地图更新装置，其特征在于，应用于车辆中的OTA升级主节点装置，所述地图更新装置包括：
    第二接收模块，用于从所述车辆中的地图更新装置接收第一地图更新查询请求消息，所述第一地图更新查询请求消息包括地图更新任务的相关信息；
    第一发送模块，用于根据所述第一地图更新查询请求消息向所述地图更新装置发送第一地图更新查询反馈消息，所述第一地图更新查询反馈消息包括所述车辆的状态信息或者地图更新许可信息中的至少一项。
  19. 根据权利要求18所述的装置，其特征在于，还包括第一查询模块，用于：
    向用户发送第二地图更新查询请求消息；
    接收所述用户反馈的第二地图更新查询反馈消息；
    根据所述第二地图更新查询反馈消息生成所述第一地图更新查询反馈消息。
  20. 根据权利要求18或19所述的装置，其特征在于，还包括第二查询模块，用于：
    向整车升级服务器发送第三地图更新查询请求消息；
    接收所述整车升级服务器反馈的第三地图更新查询反馈消息；
    根据所述第三地图更新查询反馈消息生成所述第一地图更新查询反馈消息。
  21. 一种地图更新装置，其特征在于，应用于车辆中的地图更新装置，所述地图更新装置包括：
    第三接收模块，用于从所述车辆中的OTA升级主节点装置接收地图更新通知消息；
    第二下载模块，用于根据所述地图更新通知消息从地图服务器下载地图更新数据；
    第二发送模块，用于向所述OTA升级主节点装置发送地图数据下载完成消息，所述地图数据下载完成消息用于指示所述地图更新装置已完成所述地图更新数据的下载；
    第三接收模块，还用于从所述OTA升级主节点装置接收地图数据更新启动消息；
    第二更新模块，响应于所述地图数据更新启动消息，使用下载的所述地图更新数据更新所述车辆中的地图。
  22. 根据权利要求21所述的装置，其特征在于，所述第二下载模块，具体用于：
    根据所述地图更新通知消息，与所述地图服务器建立连接；
    向所述地图服务器发送地图数据下载启动消息，所述地图数据下载启动消息用于触发所述地图服务器向所述地图更新装置发送地图更新数据；
    接收所述地图服务器发送的地图更新数据。
  23. 根据权利要求21或22所述的装置，其特征在于，所述地图更新通知消息包括所述地图服务器的地址或者所述地图更新数据的下载地址。
  24. 根据权利要求21-23任一项所述的装置，其特征在于，还包括第二日志模块，用于：
    生成所述车辆的地图更新日志，并向所述地图服务器或所述OTA升级主节点装置中的至少一个发送所述地图更新日志。
  25. 一种地图更新装置，其特征在于，应用于车辆中的OTA升级主节点装置，所述地图更新装置包括：
    第四接收模块，用于从整车升级服务器接收整车升级指示消息，所述整车升级指示消息包括地图更新相关信息；
    第三发送模块，用于根据所述地图更新相关信息向所述车辆中的地图更新装置发送地图更新通知消息，所述地图更新通知消息用于触发所述地图更新装置从地图服务器下载地图更新数据；
    第四接收模块，还用于从所述地图更新装置接收地图数据下载完成消息，所述地图数据下载完成消息用于指示所述地图更新装置已完成地图更新数据的下载；
    第三发送模块，还用于向所述地图更新装置发送地图数据更新启动消息，所述地图数据更新启动消息用于触发所述地图更新装置使用下载的所述地图更新数据更新所述车辆中的地图。
  26. 根据权利要求25所述的装置，其特征在于，所述地图更新通知消息包括所述地图服务器的地址或者所述地图更新数据的下载地址。
  27. 一种地图更新系统，其特征在于，所述系统包括：地图更新装置和OTA升级主节点装置，所述地图更新装置用于执行权利要求1-4任一项所述的方法，所述OTA升级主节点装置用于执行权利要求5-7任一项所述的方法。
  28. 一种地图更新系统，其特征在于，所述系统包括：地图更新装置和地图服务器，所述地图更新装置用于执行权利要求1-4任一项所述的方法；所述地图服务器用于向所述地图更新装置发送地图更新指示消息和地图更新数据。
  29. 一种地图更新系统，其特征在于，所述系统包括：地图更新装置和OTA升级主节点装置，所述地图更新装置用于执行权利要求8-11任一项所述的方法，所述OTA升级主节点装置用于执行权利要求12或13所述的方法。
  30. 一种地图更新系统，其特征在于，所述系统包括：地图更新装置和地图服务器，所述地图更新装置用于执行权利要求8-11任一项所述的方法，所述地图服务器用于向所述地图更新装置发送地图更新数据。
  31. 一种地图更新装置，其特征在于，所述地图更新装置包括：存储器和处理器，所述存储器用于存储计算机指令，所述处理器执行所述存储器存储的计算机指令，以执行上述权利要求1-13中任一项所述的方法。
  32. 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存储有计算机程序代码，当所述计算机程序代码被地图更新装置执行时，所述地图更新装置执行上述权利要求1-13中任一项所述的方法。
  33. 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地图更新装置上运行时，使得所述地图更新装置执行如权利要求1-13任一项所述的方法。
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