WO2023108523A1 - 一种更新地图的方法和装置 - Google Patents

一种更新地图的方法和装置 Download PDF

Info

Publication number
WO2023108523A1
WO2023108523A1 PCT/CN2021/138659 CN2021138659W WO2023108523A1 WO 2023108523 A1 WO2023108523 A1 WO 2023108523A1 CN 2021138659 W CN2021138659 W CN 2021138659W WO 2023108523 A1 WO2023108523 A1 WO 2023108523A1
Authority
WO
WIPO (PCT)
Prior art keywords
map
update
message
client
updated
Prior art date
Application number
PCT/CN2021/138659
Other languages
English (en)
French (fr)
Inventor
张竞
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to PCT/CN2021/138659 priority Critical patent/WO2023108523A1/zh
Priority to EP21967658.2A priority patent/EP4439330A1/en
Priority to CN202180104932.9A priority patent/CN118369661A/zh
Publication of WO2023108523A1 publication Critical patent/WO2023108523A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • 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
    • G06F16/29—Geographical information databases

Definitions

  • the present application relates to the technical field of automatic driving, and in particular to a method and device for updating a map.
  • the map server can generate multiple maps corresponding to various tasks in advance. When a commercial vehicle needs to perform a certain task, the map server can switch the map to the map corresponding to the task.
  • this implementation method is not flexible enough to cover all job tasks, and has low adaptability to job task requirements.
  • the embodiment of the present application provides a method and device for updating a map.
  • the road network topology of the map can be dynamically changed according to the needs of different tasks, so that the map It can be flexibly applied to different job task scenarios.
  • the embodiment of the present application provides a method for updating maps, which can be executed by the client, or can also be executed by components (such as chips, chip systems, etc.) configured in the client.
  • the embodiment of the application does not limit this.
  • the method includes: the client responds to a user's first operation on a user interface (UI), generating a first message, where the first message is used to indicate to update the road network topology of the first map, so
  • the road network topology structure includes at least one of the pose, size and topological relationship of map elements; the client sends the first message to the map server.
  • the client can interact with the user through the UI, and generate a first message for instructing the map server to update the road network topology of the map in response to the user's operation.
  • the map server After receiving the first message, the map server , the road network topology of the map can be updated according to the first message, so that the map can be flexibly applied to various operation task scenarios, and the overall operation efficiency can be improved.
  • the map elements include real map elements and/or virtual map elements
  • the update of the road network topology of the first map includes one or more of the following: Splitting and deleting one or more map elements in the first map, and adding virtual map elements in the first map.
  • the map can be adapted to the job task as much as possible, thereby improving the job efficiency.
  • the first operation includes uploading a job task to the client, and the first message carries information about the job task; or the first operation includes uploading the job task to the client;
  • a map element to be updated is selected in the first map, and the first message carries a map update instruction, and the map update instruction is used to instruct to update the map element to be updated.
  • the client may generate a first message carrying information about the task in response to an operation on the task uploaded by the user.
  • the UI of the client needs to provide the user with an interface for uploading job tasks, so that the client can obtain the job tasks uploaded by the user.
  • the map server can automatically update the road network topology of the first map according to the job task information. This method can be referred to as automatically updating the map for short.
  • the client may respond to the user's operation of selecting the map element to be updated in the first map displayed on the UI, and generate a map update instruction.
  • the first message, the map update instruction may indicate to update the map element to be updated.
  • the UI of the client needs to provide the user with an interface that can select the map element to be updated on the map displayed on the UI, so that the client can obtain the information of the map element to be updated selected by the user .
  • the map server updates the map elements of the first map. It can be understood that the map server manually modifies the road network of the first map according to the user.
  • the operation of the topology structure is used to update the map elements of the first map, and this method can be referred to as manually updating the map for short.
  • the user can flexibly choose the update method of the map according to the demand, so that the updated map can meet the job tasks or the user's needs. need.
  • the first operation includes selecting a map element to be updated in the first map, and the first message carries the map update instruction; and the client The terminal generates the first message in response to the user's first operation on the UI, including: the client responds to the user selecting the map element to be updated on the UI, and sets the pixel coordinates of the map element to be updated to converted into map coordinates; the client generates the map update instruction based on the map coordinates, and the map update instruction carries the map coordinate information of the map element to be updated.
  • the first operation further includes selecting an update position of the map element to be updated in the first map; the map update instruction also carries the update The map coordinate information of the location, the map coordinate information of the updated location is used to indicate the location where the map element to be updated is updated.
  • the user can not only select the map element to be updated, but also specify the update location of the map element to be updated, so that the road network topology of the updated map is closer to the user's expected effect.
  • the uploading the job task includes: inputting or selecting the start point and the end point of the job task in the first map; and the client responds to the user in the UI
  • the first operation of generating a first message includes: the client determines the starting point and the The map coordinates of the destination; the client generates the first message based on the map coordinates of the starting point and the destination, and the first message carries the map coordinate information of the starting point and the destination.
  • the method further includes: the client receiving a route planning result from the map server, where the route planning result is used to indicate that a route is planned for the job task.
  • the passable path includes the virtual map elements added in the first map.
  • the client can receive the route planning result from the map server, and the client can present the route planning result to the user through the UI, and then the user can determine the final route planning result according to the requirement or personal experience.
  • the path of job tasks which helps to improve job efficiency.
  • the method further includes: the client obtains one or more of the following parameters based on one or more job tasks: the one or more job tasks correspond to The right-of-way parameters of each road in the path, the traffic attributes of each road in the path corresponding to the one or more operation tasks, and the capacity of each road and/or intersection in the path corresponding to the one or more operation tasks; The client sends the one or more parameters to the map server for updating the road network topology of the first map.
  • the client obtains some parameters of roads and/or intersections, and sends these parameters to the map server, so that the map server can analyze the road network topology of the first map by combining job tasks with some parameters of roads and/or intersections.
  • the structure is updated, so that the road network topology of the updated map can make better use of road resources and balance the utilization rate of roads while meeting the needs of the task, and avoid congestion caused by too many vehicles on the main road. situation, which can indirectly improve work efficiency.
  • the method further includes: the client receives a second map from the map server, and the second map is the map server's response to the first message It is obtained by updating the road network topology of the first map.
  • the client can receive the second map from the map server after updating the first map. In this way, the client can work according to the latest map, and the updated map is more suitable for the current task.
  • the embodiment of the present application provides a method for updating a map, which can be executed by a map server, or can also be executed by components (such as chips, chip systems, etc.) configured in the map server.
  • the embodiment of the application does not limit this.
  • the method includes: the map server receives a first message from the client, the first message is used to instruct the map server to update the road network topology of the first map, and the road network topology includes a map At least one of the pose, size, and topological relationship of the element; the map server updates the road network topology of the first map based on the first message to obtain a second map.
  • the map server can update the road network topology of the map according to the first message by receiving the first message from the client to instruct the map server to update the road network topology of the map, so that Maps can be flexibly applied to various job task scenarios, which in turn can improve overall job efficiency.
  • the map elements include real map elements and/or virtual map elements
  • the update of the road network topology of the first map includes one or more of the following: Splitting and deleting one or more map elements in the first map, and adding virtual map elements in the first map.
  • the map can be made to meet the needs of the job task as much as possible, thereby improving the job efficiency.
  • the first message carries task information; or the first message carries a map update instruction, and the map update instruction is used to indicate that the map element to be updated should be updated. renew.
  • the map server can automatically update the road network topology of the first map according to the information of the task.
  • This method can be referred to as automatically updating the map;
  • the map server is equivalent to updating the road network topology of the first map according to the user's manual modification of the road network topology of the first map, This approach can be referred to as manually updating the map.
  • the user can flexibly choose the way to update the map according to the needs, and the map server can update the road network topology of the first map according to the way the user chooses to update the map.
  • the structure is updated so that the updated map meets the needs of job tasks or users.
  • the first message carries the map update instruction
  • the map update instruction carries map coordinate information of the map element to be updated.
  • the map update instruction also carries map coordinate information of the update location, and the map coordinate information of the update location is used to indicate the update location of the map element to be updated. Location.
  • the map server can not only update the road network topology of the first map according to the map element selected by the user to be updated, but also update the first map according to the update location of the map element specified by the user.
  • the road network topology of the map is updated, so that the road network topology of the updated map is closer to the expected effect of the user.
  • the first message carries information about the job task, and the first message carries map coordinate information of a start point and an end point of the job task.
  • the first message carries information about the job task
  • the method further includes: the map server generates a path planning result based on the information about the job task , the path planning result is used to indicate the passable path planned for the job task, and the passable path includes virtual map elements added in the first map; the map server sends the The client sends the path planning result.
  • the map server can automatically plan at least one passable path between the starting point and the ending point of the task according to the map coordinate information of the starting point and the ending point of the job task carried in the first message, and generate a path plan
  • the path planning result can be fed back to the client, so that the client can present the path planning result to the user through the UI, and then the user can determine the final path for the job task according to the needs or personal experience, so that Helps improve work efficiency.
  • the method further includes: the map server receiving one or more of the following parameters from the client: The right-of-way parameters of each road, the traffic attributes of each road in the path corresponding to the one or more operation tasks, and the capacity of each road and/or intersection in the path corresponding to the one or more operation tasks; the map The server updates the road network topology of the first map based on the one or more parameters.
  • the map server can update the road network topology of the first map by combining the job tasks with some parameters of roads and/or intersections, so that the road network topology of the updated map can meet the requirements of the job tasks. , make better use of road resources, balance the utilization rate of roads, and avoid congestion caused by too many vehicles on the main roads, thereby indirectly improving operating efficiency.
  • the method further includes: the map server sending the second map.
  • the map server can send the second map updated to the first map to the client and/or the vehicle, so that the client and/or the vehicle and the map server can work according to the latest map, and the updated map is more suitable for The current job task.
  • the vehicle there is no need for the vehicle to calculate the map elements that need to be updated, which can reduce the calculation pressure of the vehicle, improve the operation efficiency and improve the driving safety of the vehicle.
  • the method further includes: the map server receiving indication information from the vehicle, the indication information being used to indicate that part or all of the driving route of the vehicle is not the map elements in the second map; the map server updates the second map based on the indication information.
  • the map server can further update the map according to the new map elements indicated in the instruction information from the vehicle, and can further make the map suitable for the current operation task, thereby improving the operation efficiency.
  • the embodiment of the present application provides a method for updating maps.
  • the method can be executed by the vehicle, or can also be executed by components (such as chips, chip systems, etc.) configured in the vehicle.
  • components such as chips, chip systems, etc.
  • the implementation of the present application Examples are not limited to this.
  • the method includes: the vehicle receives a second map from a map server, the second map is obtained based on the updated road network topology of the first map, and the road network topology includes: the position of the map element At least one of attitude, size and topological relationship; the vehicle updates the first map to the second map.
  • the vehicle can receive the second map from the map server after the first map is updated, and update the locally stored first map to the second map.
  • the vehicle can operate and update according to the latest map
  • the updated map is more suitable for the current operation task; in addition, there is no need for the vehicle to calculate the map elements that need to be updated, which can reduce the calculation pressure of the vehicle, improve the operation efficiency and improve the driving safety of the vehicle.
  • the method further includes: the vehicle sends indication information to the map server, the indication information is used to indicate that part or all of the driving route of the vehicle is not
  • the map element in the second map is used for the map server to update the map.
  • the vehicle has the ability to independently discover passable map elements, and can instruct the map server to update by sending indication information indicating new map elements to the map server, which can further make the map meet the operation requirements , thereby improving work efficiency.
  • an embodiment of the present application provides a device for updating a map, and the device may be used to implement the above first aspect and the method in any possible implementation manner of the first aspect.
  • the device includes corresponding modules for performing the above method.
  • the modules included in the device can be realized by software and/or hardware.
  • the device for updating the map includes: a generating module and a sending module, the generating module is used to generate a first message in response to the user's first operation on the UI, and the first message is used to indicate the update of the first map A road network topology, where the road network topology includes at least one of the pose, size, and topological relationship of map elements; the sending module is configured to send the first message to a map server.
  • the map elements include real map elements and/or virtual map elements
  • the update of the road network topology of the first map includes one or more of the following: Splitting and deleting one or more map elements in the first map, and adding virtual map elements in the first map.
  • the first operation includes uploading a job task to the device for updating the map, and the first message carries information about the job task; or the first operation includes uploading the job task to the map updating device; A map element to be updated is selected in the first map, and the first message carries a map update instruction, and the map update instruction is used to instruct to update the map element to be updated.
  • the first operation includes selecting a map element to be updated in the first map, and the first message carries the map update instruction; the generation module may specifically use In response to the user selecting the map element to be updated on the UI, converting the pixel coordinates of the map element to be updated into map coordinates; generating the map update instruction based on the map coordinates, the map update The instruction carries the map coordinate information of the map element to be updated.
  • the first operation further includes selecting an update position of the map element to be updated in the first map; the map update instruction also carries the update position
  • the map coordinate information of the update location is used to indicate the update location of the map element to be updated.
  • the uploading the job task includes: inputting or selecting the starting point and the end point of the job task in the first map; In the UI, input or select the starting point and the ending point of the job task in the first map, determine the map coordinates of the starting point and the ending point; generate the first based on the map coordinates of the starting point and the ending point message, the first message carries the map coordinate information of the starting point and the ending point.
  • the device for updating the map further includes a receiving module, the receiving module is configured to receive a path planning result from the map server, and the path planning result is used to indicate the The traversable route planned by the operation task, the traversable route includes the virtual map elements added in the first map.
  • the device for updating the map further includes an acquisition module, configured to acquire one or more of the following parameters based on one or more job tasks: the one or more The right-of-way parameters of the roads in the route corresponding to the multiple work tasks, the traffic attributes of the roads in the route corresponding to the one or more work tasks, and the roads in the route corresponding to the one or more work tasks and/or The capacity of the intersection; the sending module is further configured to send the one or more parameters to the map server for updating the road network topology of the first map.
  • the receiving module may also be configured to receive a second map from the map server, where the second map is the map server's response to the first message to the first map.
  • the road network topology of the map is updated.
  • the embodiment of the present application provides an apparatus for updating a map, and the apparatus can be used to implement the second aspect and the method in any possible implementation manner of the second aspect.
  • the device includes corresponding modules for performing the above method.
  • the modules included in the device can be realized by software and/or hardware.
  • the device for updating the map includes: a receiving module and an updating module, the receiving module is used to receive a first message from the client, the first message is used to indicate that the road network topology of the map server for the first map The structure is updated, and the road network topology includes at least one of the pose, size and topological relationship of map elements; the update module is used to update the road network topology of the first map based on the first message , to get the second map.
  • the map elements include real map elements and/or virtual map elements
  • the update of the road network topology of the first map includes one or more of the following: Splitting and deleting one or more map elements in the first map and adding virtual map elements in the first map.
  • the first message carries job task information; or the first message carries a map update instruction, and the map update instruction is used to instruct to update the map elements to be updated .
  • the first message carries the map update instruction
  • the map update instruction carries map coordinate information of the map element to be updated.
  • the map update instruction also carries map coordinate information of the update location, and the map coordinate information of the update location is used to indicate the location where the map element to be updated is updated .
  • the first message carries information about the job task, and the first message carries map coordinate information of a start point and an end point of the job task.
  • the first message carries the information of the job task
  • the device for updating the map further includes a generating module and a sending module
  • the generating module is configured to information, generate a path planning result
  • the path planning result is used to indicate the passable path planned for the operation task, and the passable path includes the virtual map elements added in the first map
  • the sending module is configured to send the path planning result to the client.
  • the receiving module may also be configured to receive one or more of the following parameters from the client: the right of way of each road in the route corresponding to the one or more work tasks parameter, the traffic attributes of each road in the path corresponding to the one or more work tasks, and the capacity of each road and/or intersection in the path corresponding to the one or more work tasks; the update module can also be used to The one or more parameters are used to update the road network topology of the first map.
  • the sending module may also be used to send the second map.
  • the receiving module may be further configured to receive indication information from the vehicle, where the indication information is used to indicate that part or all of the driving path of the vehicle is not in the second map
  • the map element the update module can also be used to update the second map based on the indication information.
  • the embodiment of the present application provides a device for updating a map, which can be used to implement the above third aspect and the method in any possible implementation manner of the third aspect.
  • the device includes corresponding modules for performing the above method.
  • the modules included in the device can be realized by software and/or hardware.
  • the device for updating the map includes: a receiving module and an updating module, the receiving module is used to receive the second map from the map server, the second map is obtained based on the road network topology update of the first map , the road network topology includes: at least one of the pose, size and topological relationship of map elements; the updating module is used to update the first map to the second map.
  • the device for updating the map further includes: a sending module, configured to send indication information to the map server, where the indication information is used to indicate a part of the driving route of the vehicle Or none of them are map elements in the second map, so that the map server can update the map.
  • a sending module configured to send indication information to the map server, where the indication information is used to indicate a part of the driving route of the vehicle Or none of them are map elements in the second map, so that the map server can update the map.
  • the embodiment of the present application provides an apparatus for updating a map
  • the apparatus for updating a map includes a processor
  • the processor is coupled with a memory, and can be used to execute a computer program in the memory, so as to realize the first aspect and the second aspect A method for updating a map in any one of the possible implementations in one aspect, or to implement the method for updating a map in any of the possible implementations of the second aspect and the second aspect, or to implement the third aspect and the third aspect A method for updating the map in any of the possible implementations.
  • the device for updating the map further includes a memory.
  • the device for updating the map further includes a communication interface, and the processor is coupled to the communication interface.
  • an embodiment of the present application provides a chip system, the chip system includes at least one processor, configured to support the implementation of the functions involved in the above-mentioned first aspect and any possible implementation manner of the first aspect, or, Used to support the implementation of the functions involved in the second aspect and any possible implementation of the second aspect, or to support the implementation of the functions involved in the third aspect and any of the possible implementations of the third aspect, For example, receiving or processing the data, messages or indication information involved in the above method.
  • the chip system further includes a memory, the memory is used to store program instructions and data, and the memory is located inside or outside the processor.
  • the system-on-a-chip may consist of chips, or may include chips and other discrete devices.
  • the embodiment of the present application provides a computer-readable storage medium, on which a computer program (also referred to as code, or instruction) is stored, and when the computer program is executed by a processor , causing the method in any one of the possible implementations of the first aspect and the first aspect to be executed, or causing the method in the second aspect and any one of the possible implementations of the second aspect to be executed, or making the above-mentioned first aspect
  • a computer program also referred to as code, or instruction
  • an embodiment of the present application provides a computer program product, the computer program product including: a computer program (also referred to as code, or instruction), when the computer program is executed, the above-mentioned first aspect and the method in any possible implementation manner of the first aspect is executed, or, the method in any possible implementation manner of the above-mentioned second aspect and the second aspect is executed, or, such that the above-mentioned third aspect and the third aspect A method in any one of the possible implementations is performed.
  • a computer program also referred to as code, or instruction
  • the embodiment of the present application provides a vehicle, the vehicle corresponds to the device for updating a map described in the sixth aspect or the seventh aspect.
  • the vehicle may be the device for updating a map described in the sixth or seventh aspect, or may include the device for updating a map described in the sixth or seventh aspect.
  • Fig. 1 is the schematic diagram of the intersection provided by the embodiment of the present application.
  • Figure 2 is a schematic diagram of the road network topology provided by the embodiment of the present application.
  • FIG. 3 is a schematic diagram of a system applicable to a method for updating a map provided by an embodiment of the present application
  • FIG. 4 is a schematic flowchart of a method for updating a map provided in an embodiment of the present application
  • Fig. 5 is a schematic diagram of a split road provided by the embodiment of the present application.
  • FIG. 6 is a schematic flowchart of another method for updating a map provided by an embodiment of the present application.
  • FIG. 7 is a schematic flowchart of another method for updating a map provided by an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of another method for updating a map provided by an embodiment of the present application.
  • FIG. 9 is a schematic block diagram of an apparatus for updating a map provided in an embodiment of the present application.
  • FIG. 10 is a schematic block diagram of another device for updating a map provided by an embodiment of the present application.
  • FIG. 11 is a schematic block diagram of another device for updating a map provided by an embodiment of the present application.
  • FIG. 12 is a schematic block diagram of another device for updating a map provided by an embodiment of the present application.
  • the entire terminal can be roughly divided into a landside area and a seaside area according to functions.
  • the seaside area is the area for loading and unloading containers, which can be divided into several berths, and the range of each berth is related to the size of the ship and the parking position.
  • the embodiment of this application proposes a method and device for updating a map.
  • the client can respond to the user's operation and trigger the map server to update the road network topology of the map.
  • Update by updating one or more of the pose, size and topological relationship of the map elements, the static layer of the map is also updated, so that it can be flexibly applied to various job scenarios.
  • the attributes of the road are determined in the static layer after the construction of the road is completed.
  • the attributes of the road can include the location, length, width, and lane lines of the road, which are physically visible. Information. These properties do not change unless the road is repaired.
  • the map update method proposed in this application can update the static layer of the map.
  • This solution can be applied to production scenarios such as ports, mines, closed industrial parks, etc., to perform unified management and scheduling of work vehicles in the corresponding site, to help vehicles operate in an orderly manner, and to make the map as flexible as possible by updating the map It is suitable for various tasks corresponding to different vehicles.
  • This solution can also be applied to the passenger car environment, such as high-speed toll stations, garages, passenger stations, etc. By updating the map, the map can be flexibly applied to various tasks corresponding to different vehicles as much as possible. This embodiment of the present application does not limit it.
  • the method and device for updating maps in the embodiments of the present application can be applied to the Internet of Vehicles, such as vehicle-to-everything (V2X), long-term evolution-vehicle (LTE-V) ), vehicle-to-vehicle (vehicle to vehicle, V2V), etc.
  • V2X vehicle-to-everything
  • LTE-V long-term evolution-vehicle
  • V2V vehicle-to-vehicle to vehicle
  • the other devices include but are not limited to: vehicle-mounted terminals, vehicle-mounted controllers, vehicle-mounted modules, vehicle-mounted modules, vehicle-mounted components, vehicle-mounted chips, vehicle-mounted units, vehicle-mounted radars, or vehicle-mounted cameras.
  • a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, a vehicle-mounted unit, a vehicle-mounted radar, or a vehicle-mounted camera implement the vehicle control method provided by the embodiment of the present application.
  • the control scheme in the embodiment of the present application can also be used in other intelligent terminals other than vehicles that need to update maps according to work tasks, or be set in other intelligent terminals that need to update maps according to work tasks. Or be set in the components of the smart terminal.
  • the smart terminal may be a smart transportation device, a smart home device (for example, a sweeping robot, etc.), a robot, and the like.
  • it includes but is not limited to a smart terminal or a controller in the smart terminal, a chip, other sensors such as a radar or a camera, and other components.
  • words such as “first” and “second” are used to distinguish the same or similar items with basically the same function and effect.
  • the first map and the second map are only used to distinguish different maps, and the sequence thereof is not limited.
  • words such as “first” and “second” do not limit the quantity and execution order, and words such as “first” and “second” do not necessarily limit the difference.
  • At least one refers to one or more, and “multiple” refers to two or more.
  • And/or describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist at the same time, and B exists alone, where A, B can be singular or plural.
  • the character “/” generally indicates that the contextual objects are an “or” relationship.
  • At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items.
  • At least one item (unit) of a, b, or c may represent: a, b, c; a and b; a and c; b and c; or a and b and c.
  • a, b, c can be single or multiple.
  • map elements in the embodiments of the present application may refer to roads and intersections (also called road intersections, road intersections, intersections, etc.).
  • the map elements in the embodiment of the present application may include real map elements and virtual map elements.
  • Real map elements can be understood as roads or intersections that actually exist in actual work scenarios, for example, lane lines drawn on the ground to identify roads; virtual map elements can be understood as visible on the map, but not real roads or intersections in the actual operation scene, for example, lane markings are displayed on the map but not drawn in the actual operation scene out of the way.
  • an intersection is one or more road converging points and scattered points.
  • the roads associated with the intersection can be divided into incoming roads or outgoing roads ( Outcoming road), wherein, the incoming road can also be called the upstream road of the intersection, and the outgoing road can also be called the downstream road of the intersection.
  • the number of upstream/downstream roads at any intersection can be constrained, that is, the capacity can be set for the upstream/downstream roads at each intersection on the map, and the capacity can be understood as the allowed passage
  • the maximum traffic flow and/or human flow, the number of upstream roads or downstream roads of an intersection can be greater than or equal to 1, and can also be 0.
  • a junction can be associated with only upstream roads, or only downstream roads, or only one upstream road and one downstream road, or, a junction can be associated with one upstream road and at least two downstream roads, or , an intersection can be associated with at least two upstream roads and one downstream road, which will not be repeated here.
  • intersections can be defined in advance to determine which locations in the target area can be defined as intersections, and what information can be used. Used for traffic management at intersections.
  • Figure 1 shows three examples of intersections.
  • the dotted box is a common cross-shaped intersection, which can have two upstream roads and two downstream roads, denoted as upstream road 1, 2 and downstream roads 3, 4.
  • upstream road 1, 2 and downstream roads 3, 4 can be used as upstream roads without violating the traffic rules.
  • roads 1 and 2 can be used as downstream roads, and vehicles from road 3 or 4 can pass through this intersection and travel to road 1 or 2.
  • the number of upstream roads or the number of downstream roads in a) of FIG. 1 may also be more or less, and the crossing type of the intersection is not limited to that shown in the figure, so it will not be repeated here.
  • the dotted box is a kind of intersection located at a road bend.
  • the corner can be set as an intersection, so as to facilitate the traffic management of vehicles that need to drive through the corner.
  • the dotted box is a part of the straight road, which can be used for vehicle lane change, and can also be regarded as a road intersection. This type of intersection is often used in some specific scenarios. For example, in a commercial production environment, due to production needs, a part of a straight road is used as a special part for vehicles to change lanes, so that vehicles can change lanes when they arrive at this place.
  • intersection demand information can be used to describe various required intersections, such as the intersection shown in a) of Figure 1, b) of Figure 1 and c) of Figure 1 above, the intersection demand information It can be provided by the operator through the UI of the client according to the needs of the job task.
  • the intersection demand information can be described in natural language, or machine language that can be understood by machines and programs, or other appropriate languages. This embodiment of the application does not make this limited.
  • any intersection or road can be a real intersection or road in the physical world, or an intersection or road generated on the map according to the job task requirements.
  • the generated The intersection or road can vary.
  • Fig. 1 is only illustrations and not limitations to the applicable intersections of the embodiments of the present application. In other embodiments, other types of intersections can also be defined in combination with actual job task requirements or venues, etc. , the embodiment of the present application does not limit the type and location of the required intersection.
  • Road network topology The road network topology can be composed of map elements connected to each other.
  • the road network topology can be composed of several roads and intersections. As shown in Figure 2, roads are represented by line segments, and intersections are represented by dots. The two endpoints of each road are intersections, and an intersection can be several intersection of roads.
  • Fig. 3 is a schematic diagram of a system architecture applicable to the embodiment of the present application.
  • the system 300 shown in FIG. 3 includes a client 310 , a map server 320 and a vehicle 330 .
  • the client 310 can communicate with the map server 320
  • the map server 320 can communicate with the vehicle 330 .
  • the map server may be one server or a server cluster formed by multiple servers.
  • the map server can be deployed on the cloud, which is not limited in this application.
  • the vehicle shown in Fig. 3 may be a commercial vehicle or a passenger vehicle.
  • the map server can communicate with multiple clients, and the map server can also communicate with multiple vehicles. This embodiment of the present application does not limit the number of clients and vehicles.
  • Fig. 4 is a schematic flowchart of a method for updating a map provided by an embodiment of the present application.
  • the method 400 includes steps 410 to 450, and the steps 410 to 450 will be described in detail below.
  • step 410 the client generates a first message in response to the user's first operation on the UI, and the first message is used to indicate to update the road network topology of the first map.
  • the client may provide an interface for updating the road network topology of the map.
  • the client may respond to the user's first operation and generate a road network for indicating the first map. The first message that the topology is updated.
  • the road network topology can be composed of interconnected map elements, and the map elements can include roads and intersections. Updating the road network topology of the first map may be understood as updating at least one of the pose, size and topological relationship of map elements in the first map.
  • the pose of the map element can be understood as the position and posture (or orientation) of the map element.
  • the pose of the road can be understood as the position and orientation of the road (such as east-west orientation, north-south orientation, etc.), road
  • the shape of the road can be varied, for example, a straight road, a C-shaped road, an S-shaped road, and the like.
  • the size of the map element can be understood as the shape, length and width of the map element.
  • the topological relationship of map elements is also the connection relationship of map elements, that is, the connection relationship between roads and roads passing through intersections, such as the connection relationship between roads passing through intersections as shown in FIG. 2 .
  • map elements involved in the embodiment of the present application may include real map elements and/or virtual map elements
  • the update of the road network topology of the first map may include one or more of the following: Splitting and deleting one or more map elements in the first map, and adding virtual map elements in the first map.
  • Real map elements include real roads and/or real intersections.
  • a real road is a real road that exists on the ground through drawn lane lines in a real scene, and a real intersection is a real intersection formed by the intersection of multiple real roads;
  • Virtual map elements include virtual roads and/or virtual intersections, virtual roads are roads that do not exist in the real scene, roads that are only displayed on the map but not shown by drawn lane lines in the real scene, virtual intersections It is an intersection formed by the intersection of multiple virtual roads displayed only on the map, and the virtual intersection does not exist in the real scene.
  • the splitting of map elements can be the splitting of real roads, virtual roads, real intersections or virtual intersections in the map;
  • the map can meet the requirements of the job task as much as possible, thereby improving the job efficiency.
  • the first operation may include uploading a job task to the client, and the first message may carry information about the job task; or, the first operation may include selecting a map to be updated in the first map element, the first message may carry a map update instruction, where the map update instruction is used to instruct the map element to be updated to be updated.
  • the client may generate a first message carrying information about the task in response to an operation on the task uploaded by the user.
  • the UI of the client needs to provide the user with an interface for uploading job tasks, so that the client can obtain the job tasks uploaded by the user.
  • the map server can automatically update the road network topology of the first map according to the job task information. This method can be referred to as automatically updating the map for short.
  • uploading the job task may include: inputting or selecting the starting point and the end point of the job task in the first map;
  • a message including: the client determines the map coordinates of the starting point and the ending point in response to the user inputting or selecting the starting point and the ending point of the job task in the first map in the UI; the client generates the first map coordinates based on the starting point and the ending point.
  • the first message carries the map coordinate information of the start point and the end point.
  • uploading the job task may include inputting the start point and end point of the job task in the first map, or uploading the job task may include selecting the start point and end point of the job task in the first map.
  • the client may convert the pixel coordinates of the corresponding pixel points of the starting point and the ending point in the first map displayed on the UI into map coordinates in the form of longitude and latitude according to the starting point and ending point of the job task input or selected by the user, and generate The first message carrying the map coordinate information of the starting point and the ending point.
  • the first message generated by the client may also carry the pixel coordinates of the start point and the end point, and when the map server receives the first After the message, the map server can also convert the pixel coordinates of the starting point and the ending point into the map coordinates of the starting point and the ending point, or when uploading the job task includes inputting the starting point and the ending point of the job task in the first map, the client
  • the first message generated by the terminal may also carry the start point and end point input by the user, and the map server may determine corresponding map coordinates according to the start point and end point input by the user. This embodiment of the present application does not limit it.
  • the method may further include: the map server generates a route planning result based on the task information, and the route The planning result can be used to indicate the passable route planned for the operation task, and the passable route includes the virtual map elements added in the first map; the map server sends the route planning result to the client.
  • the client receives the path planning result from the map server.
  • the map server can automatically plan at least one passable path between the starting point and the ending point of the job task according to the map coordinate information of the starting point and the ending point of the task carried in the first message, and generate a path planning result, And the path planning result can be fed back to the client, so that the client can present the path planning result to the user through the UI, and then the user can determine the final path for the job task according to the requirement.
  • At least one passable path planned by the map server includes at least one virtual map element added in the first map, which can also be understood as the starting point of the task carried by the map server according to the first message
  • the road network structure of the first map is updated, and the planned passable route includes virtual map elements that do not exist in the first map.
  • the map server can determine whether the start point is reachable to the end point in the road network topology of the first map, If reachable, at least one passable path based on the road network topology of the first map is planned, and at least one virtual map element is added according to the start point and the end point, so that the travel cost between the start point and the end point (can be The travel time (or travel distance) is not less than the travel cost of the passable path based on the road network topology of the first map, that is, when the map server judges that the starting point is reachable to the end point,
  • the path planning result includes at least one passable path based on the road network topology of the first map and at least one passable path including newly added virtual map elements based on the updated road network topology of the first map; if not In other words, the map server can update the road network topology of the first map, and add virtual map elements to the first map so that the starting point and the
  • the method may further include: the client obtains one or more of the following parameters based on one or more job tasks: each of the paths corresponding to the one or more job tasks The right-of-way parameters of the road, the traffic attributes of each road in the route corresponding to the one or more work tasks, and the capacity of each road and/or intersection in the route corresponding to the one or more work tasks; the client sends to the map server The above one or more parameters are used to update the road network topology of the first map.
  • the map server receives the above one or more parameters from the client; and updates the road network topology of the first map based on the above one or more parameters.
  • the right-of-way parameter of the road may be used to indicate the importance of the road, for example, the right-of-way parameter of the trunk road is greater than the right-of-way parameter of the branch road.
  • the right-of-way parameters of important roads can be greater than those of ordinary roads;
  • the weight parameter of the road of the equipment is greater than the weight parameter of the road without the operation facility or production equipment.
  • the traffic attribute of a road can indicate whether the road is an upstream road or a downstream road, and whether the road is passable.
  • the capacity of a road and/or intersection can be understood as the maximum flow of vehicles and/or people allowed to pass through the road and/or intersection.
  • the right-of-way parameters of the road, the traffic attributes of the road, and the capacity of the road and/or intersection may be pre-stored in the map server, and the user may also change or set the right-of-way parameters of any road or any road through the UI of the client.
  • the client can obtain one or more of the above parameters according to a job task or multiple job tasks that may be performed at the same time, and send the obtained parameters to the map server, and the map server receives the parameters
  • at least one alternative solution for updating the road network topology of the first map can be generated and sent to the client, so that the client can present it to the user through the UI, so that the user can make at least one alternative to the first map.
  • An update scheme is determined among alternative schemes for updating the road network topology of a map, and the client instructs the map service to update the road network topology of the first map server according to the update scheme.
  • the road network topology of the first map is updated, so that the road network topology of the updated map can be better while meeting the needs of the job tasks.
  • Using road resources efficiently and balancing the utilization rate of roads can avoid congestion caused by too many vehicles on the main roads, thereby indirectly improving work efficiency.
  • the client may respond to the user's operation of selecting the map element to be updated in the first map displayed on the UI, and generate a map update instruction.
  • the first message as mentioned above, the map update instruction may be used to instruct the map element to be updated to be updated.
  • the UI of the client needs to provide the user with an interface to select the map elements to be updated on the map displayed on the UI, so that the client can obtain the map elements to be updated selected by the user Information.
  • the map server updates the map elements of the first map. It can be understood that the map server manually modifies the road network topology of the first map according to the user.
  • the operation of the structure to update the map elements of the first map this method can be referred to as manually updating the map.
  • the client responds to the user in The first operation of the UI is to generate the first message, including: the client responds to the user selecting the map element to be updated on the UI, converting the pixel coordinates of the map element to be updated into map coordinates; the client generates a message based on the map coordinates A map update command, where the map update command carries the map coordinate information of the map element to be updated.
  • the user can select the map element to be updated on the UI of the client according to the job task based on personal experience.
  • the client can respond to the user's selection of the map element to be updated.
  • the pixel coordinates of the updated map elements are converted into map coordinates, and a first message carrying a map update instruction carrying the map coordinate information is generated.
  • the first operation also includes selecting the update location of the map element to be updated in the first map; then the map update instruction also carries the map coordinate information of the update location, and the update location The map coordinate information of is used to indicate the update location of the map element to be updated.
  • the user can not only select the map element to be updated, but also specify the update location of the map element to be updated, so that the road network topology of the updated map is closer to the user's expected effect.
  • the position indicated by the black arrow is the update position of the road to be updated specified by the user, that is, The user specifies to split the road from the position indicated by the black arrow, and the client can generate the road split effect as shown in Figure 5 (b) according to the split position specified by the user, and pass the client
  • the UI of the end is presented to the user, so that the user can confirm whether to split the position of the road according to the effect presented.
  • the user can flexibly choose the way to update the map according to the requirement.
  • step 420 the client sends a first message to the map server.
  • the map server receives the first message from the client.
  • the client may send the first message to the map server to instruct the map server to update the road network topology of the first map.
  • the map server may receive the first message from the client.
  • step 430 based on the first message, the map server updates the road network topology of the first map to obtain the second map.
  • the map server may update the road network topology of the first map according to the information carried in the first message to obtain the second map.
  • the client can interact with the user through the UI.
  • the client responds to the user's operation to generate a map server to instruct the map server to interact with the user.
  • the first message for updating the road network topology of the map so that after receiving the first message, the map server can update the road network topology of the map according to the first message, so that the map can be flexibly applied to various Different job task scenarios.
  • the method 400 further includes: Step 440, the map server sends the second map.
  • the map server may send the second map to the client, and accordingly, the client may receive the second map from the map server. After the client receives the second map from the map server, the client may update the locally stored or displayed first map to the second map.
  • the map server can also send the second map to the vehicle, correspondingly, the vehicle can also receive the second map from the map server, after the vehicle receives the second map from the map server, for example, the steps shown in Figure 4 450.
  • the vehicle may update the first map stored or displayed on the vehicle to the second map.
  • the vehicle can receive the updated second map from the map server to the first map, and update the locally stored first map to the second map.
  • the vehicle can work according to the latest map and update
  • the updated map is more suitable for the current operation task; in addition, there is no need for the vehicle to calculate the map elements that need to be updated, which can reduce the calculation pressure of the vehicle, improve the operation efficiency and improve the driving safety of the vehicle.
  • the method may further include: the vehicle sends indication information to the map server.
  • the indication information may be used to indicate that part or all of the driving route of the vehicle is not a map element in the second map, so as to be used for the map server to update the map.
  • the vehicle can have the ability to autonomously discover map elements that are not displayed in the map, and when the vehicle determines that the area ahead meets the maneuverability of the vehicle, the vehicle can generate a part or all of which are not indication information of map elements in the second map, and send the indication information to the map server.
  • the maneuverability of a vehicle can be understood as the vehicle's ability to overcome complex roads, obstacles in roadless areas, and the ability to turn around in the smallest area. , departure angle, longitudinal passing radius, wading depth and minimum turning radius, etc., which are not limited in this embodiment of the present application.
  • the map server may receive the indication information from the vehicle, and the map server may update the second map based on the indication information.
  • the first map in this embodiment of the present application refers to the map to be updated
  • the second map refers to a new map obtained after the map to be updated is updated. After the second map is obtained, the second map will cover the first map, or in other words, the second map will replace the first map and be applied to the operation scene. It should also be understood that when the updated map needs to be updated again, this map is the map to be updated again, that is, it becomes the first map.
  • the vehicle has the ability to independently discover passable map elements, and can instruct the map server to update by sending indication information indicating new map elements to the map server, which can further make the map meet the operation requirements , and improve work efficiency.
  • the method 600 may include step 601 to step 610 .
  • the client may acquire the road to be split and the split position of the road selected by the user.
  • the user can click a certain road to be split in the first map on the UI of the client and the split position where a certain position of the road is to be split.
  • the client may respond to the user's click operation to obtain the road to be split selected by the user and the split position of the road.
  • the client may display the effect of splitting the road to be split at the splitting position selected by the user through the UI.
  • the splitting effect of the road displayed by the client through the UI can be shown as the tearing effect of the road in (b) of Figure 5, or the user can select The road to be split and the split position of the road are displayed, as long as the road to be split and the position to be split selected by the user can be distinguished from the display effect of other map elements in the map, this
  • the application examples do not make any limitation on this.
  • the client may convert the pixel coordinates of the road to be split and the split position into map coordinates in response to the user's confirmation operation of the split effect.
  • the client may generate a first message based on the road to be split and the map coordinates of the split location.
  • the first message may carry a map update instruction
  • the map update instruction may carry information about the road to be split and the map coordinates of the split location.
  • the client may send the first message to the map server.
  • the map server may receive the first message from the client.
  • the map server may split the road to be split based on the first message, update the road network topology of the first map, and obtain at least one second map.
  • the road shown in (b) of FIG. 5 is interrupted at the split position selected by the user, forming two dead end roads, that is, when the vehicle is at the split position as shown in the figure.
  • this road is a one-way upstream road or a one-way downstream road
  • the vehicle can only follow the arrow Therefore, the vehicle cannot turn around or back up.
  • the map server can judge this position only for this position. If road splitting is not feasible, some virtual map elements can be added to the map so that the two broken roads can be connected with other map elements, so as to ensure that there will be no broken roads in the map and ensure that vehicles able to pass normally.
  • the map server may generate at least one second map.
  • the map server may send the at least one second map to the client.
  • the client can receive at least one second map from the map server.
  • the client may present the at least one second map to the user through the UI.
  • the client may, in response to the user's selection of one of the at least one second map, generate a saving instruction carrying information of the second map selected by the user.
  • the user may select a second map from at least one second map presented by the client through the UI.
  • the client may generate a save instruction in response to the user's selection or confirmation of one of the at least one second map, the save instruction carries information about the second map selected by the user, and the save instruction is used to indicate that the map
  • the server saves this second map selected by the user.
  • the client may send the saving instruction to the map server.
  • the map server may receive a saving instruction from the client.
  • the map server may store the second map selected by the user in response to the saving instruction.
  • the method 600 shown in FIG. 6 is only an example.
  • individual interaction steps between the client and the map server can be increased or decreased according to the actual operation situation, but as long as it is ensured that the client and the map server The interaction between them can realize updating the road network topology of the first map to obtain the second map, which is not limited in this embodiment of the present application.
  • the method 700 may include step 701 to step 713 .
  • the client may generate an instruction to display historical traffic flow information in response to the user's operation of viewing historical traffic flow information on the UI.
  • Users can click to view the historical traffic flow information on the client UI, and use this information to understand the usage of each road in the historical task, which is convenient for the user to summarize experience and arrange subsequent tasks more reasonably.
  • the client may generate an instruction to display historical traffic flow information in response to the user's operation of viewing historical traffic flow information.
  • the client may send the instruction to display historical traffic flow information to the map server.
  • the map server can receive the display historical traffic flow information instruction from the client.
  • the map server may obtain the capacity of the map elements in the first map and the history information of the job tasks performed based on the first map.
  • the capacity of the map elements in the first map may be the setting data pre-stored in the map server.
  • the pre-stored setting data may be the data set by the user for the first map in advance, or the data automatically set by the map server according to certain rules, which is not limited in this embodiment of the present application.
  • the map server may sort the roads connected to the intersection in the first map based on the capacity of the map elements and the historical information of the job task, and generate a sorting result.
  • the sorting results include historical traffic flow information.
  • the capacity of an intersection can be understood as the capacity of the roads connected to the intersection.
  • the sorting result can be that the roads with the traffic flow exceeding the capacity are arranged in the front, and the roads with the traffic flow not exceeding the capacity are arranged in the back; In the foregoing, the present application does not limit this.
  • the map server may send the ranking result to the client.
  • the client can receive the ranking result from the map server.
  • the client may display the sorting result through a UI.
  • the client may convert the sorting results received from the map server into display effects such as text and/or color, and display them through a UI for users to view, analyze and make decisions.
  • the client may generate a first message in response to the user's first operation on the UI.
  • the first operation may include the user selecting a map element to be updated on the UI.
  • the first operation includes the user's selection of the intersection to be split on the UI, and may also include selection of a splitting position of the intersection to be split.
  • the first operation may include the user selecting a button or interface on the UI for instructing the map server to automatically update the road network topology of the first map.
  • the client may send the first message to the map server.
  • the map server may receive the first message from the client.
  • the map server may update the road network topology of the first map based on the first message to obtain at least one second map.
  • the map server can also select the splitting scheme Carry out feasibility judgment or verification, or in other words, judge or verify whether there is a broken road in the updated road network topology, and whether it conforms to the maneuverability of the vehicle. If the splitting plan is not feasible, the map server can prompt the user through the client UI that the splitting plan is not feasible, and the map server can optimize the splitting plan by itself on the basis of the splitting plan indicated by the user, so that the updated map There are no dead ends in the road network map structure of , and it conforms to the maneuverability of the vehicle, and is presented to the user through the client UI.
  • the user can choose to use the map provided by the map server, or instruct the map server to update the map through the client again. If the splitting scheme is feasible, the map server may directly present the map updated according to the splitting scheme to the user through the UI of the client.
  • the contents of this part are only exemplary contents, rather than restrictive contents.
  • the map server can combine the road right parameters and traffic attributes of the roads in the first map , capacity of roads and/or intersections and other parameter information, and update the topological structure of the road network in the first map.
  • Steps 710 to 713 in FIG. 7 are the same as steps 607 to 610 in FIG. 6 , and for the sake of brevity, details are not repeated here. For related details, please refer to steps 607 to 610 in FIG. 6 .
  • the method 700 shown in FIG. 7 is only exemplary.
  • individual interaction steps between the client and the map server may be added or reduced according to the actual operation situation, but as long as the client and the map service The interaction between them can realize updating the road network topology of the first map to obtain the second map, which is not limited in this embodiment of the present application.
  • the method 800 may include step 801 to step 808 .
  • the client may determine the map coordinates of the starting point and the ending point of the job task in response to the user's input on the UI or selection of the starting point and the ending point of the job task.
  • the client may convert the pixel coordinates of the corresponding pixel points of the starting point and the ending point in the first map displayed on the UI into map coordinates expressed in latitude and longitude according to the starting point and the ending point of the job task input or selected by the user.
  • the client may generate a first message based on the map coordinates of the start point and the end point.
  • the first message may carry map coordinate information of the starting point and the ending point of the job task.
  • the first message may be used to instruct the map server to update the road network topology of the first map, and may also instruct the map server to plan a route from the starting point to the destination according to the starting point and the ending point.
  • the client may also determine the pixel coordinates of the starting point and the ending point, and the first message may carry the pixel coordinates of the starting point and the ending point of the job task
  • the map server may also convert the pixel coordinates of the location and the destination into map coordinates of the starting point and the destination, which is not limited in this embodiment of the present application.
  • the client may send the first message to the map server.
  • the map server may receive the first message from the client.
  • the map server may update the road network topology of the first map based on the first message, and obtain at least one second map and route planning results.
  • the map server may first determine whether the starting point is reachable to the end point in the road network topology of the first map, and if reachable, the map server may plan at least one Based on the traversable path of the road network topology of the first map, and according to the starting point and the end point, at least one virtual map element is added, so that the travel cost between the starting point and the end point (can be a passing time or a passing distance ) is not less than the traffic cost of the passable path based on the road network topology of the first map, that is to say, when the map server judges that the starting point is reachable to the end point, the path planning result includes at least one path based on The passable path of the road network topology structure of the first map and at least one passable path including newly added virtual map elements based on the updated road network topology structure of the first map; if not reachable, the map server can pass through the client's
  • the UI prompts the user that the start point and the end point are unreachable, and
  • the map server may send the at least one second map and the path planning result to the client.
  • the client may receive at least one second map and route planning results from the map server.
  • Steps 806 to 808 in FIG. 8 are the same as steps 608 to 610 in FIG. 6 , and for the sake of brevity, details are not repeated here. Please refer to steps 608 to 610 in FIG. 6 for detailed description.
  • the method 800 shown in FIG. 8 is only an example.
  • individual interaction steps between the client and the map server can be increased or decreased according to the actual operation situation, but as long as it is ensured that the client and the map server The interaction between them can realize updating the road network topology of the first map to obtain the second map, which is not limited in this embodiment of the present application.
  • Fig. 9 is a schematic block diagram of an apparatus for updating a map provided by an embodiment of the present application.
  • the apparatus 900 for updating a map may include: a generating module 910 and a sending module 920 .
  • the apparatus 900 for updating a map may be used to execute the steps of the client in any method embodiment of the method 400 , the method 600 , the method 700 and the method 800 .
  • the apparatus 900 for updating the map when used to execute the steps of the client in the method 400, the apparatus 900 for updating the map may execute step 410, step 420 and step 440 in the method 400; when the apparatus 900 for updating the map When performing the steps of the client in method 600, the device 900 for updating the map may perform steps 601 to 605, and steps 607 to 609 in the method 600; When the terminal step is performed, the device 900 for updating the map may perform steps 701 to 702, 705 to 708, and 710 to 712 in the method 700; In step 900, the apparatus 900 for updating a map may execute steps 801 to 803, and steps 805 to 807 in the method 800.
  • Fig. 10 is a schematic block diagram of another device for updating a map provided by an embodiment of the present application.
  • the apparatus 1000 for updating a map may include: a receiving module 1010 and an updating module 1020 .
  • the apparatus 1000 for updating a map may be used to execute the steps of the map server in any method embodiment of the method 400 , the method 600 , the method 700 and the method 800 .
  • the map updating apparatus 1000 may execute step 420, step 430 and step 440 in the method 400; when the map updating apparatus When 1000 is used to execute the steps of the map server in method 600, the apparatus 1000 for updating the map may execute steps 605 to 607, and steps 609 to 610 in the method 600; when the apparatus 1000 for updating the map is used to execute the method 700
  • the device 1000 for updating the map may perform steps 702 to 705, 708 to 710, and 712 to 713 in the method 700; when the device 1000 for updating the map is used to perform the method 800
  • the apparatus 1000 for updating the map may execute steps 803 to 805, and steps 807 to 808 in the method 800.
  • Fig. 11 is a schematic block diagram of another device for updating a map provided by an embodiment of the present application.
  • the apparatus 1100 for updating a map may include: a receiving module 1110 and an updating module 1120 .
  • the apparatus 1100 for updating a map can be used to execute the steps of the vehicle in the method 400 .
  • the map updating apparatus 1100 when the map updating apparatus 1100 is used to execute the steps of the vehicle in the method 400 , the map updating apparatus 1100 may execute step 440 and step 450 in the method 400 .
  • Fig. 12 is a schematic block diagram of another device for updating a map provided by an embodiment of the present application.
  • the apparatus 1200 for updating a map can be used to realize the functions of the client, the map server or the vehicle in the method 400, the method 600, the method 700 and the method 800 mentioned above.
  • the apparatus 1200 for updating a map may be a system on a chip.
  • the system-on-a-chip may be composed of chips, or may include chips and other discrete devices.
  • the apparatus 1200 for updating maps may include at least one processor 1210 for implementing the client or map in any method embodiment of the method 400, method 600, method 700, and method 800 provided by the embodiment of the present application.
  • the function of the server, or, is used to realize the function of the vehicle in the method 400 provided by the embodiment of the present application.
  • the processor 1210 may be configured to generate a first message in response to the user's first operation on the UI.
  • a message is used to instruct to update the road network topology of the first map, and the road network topology includes at least one of the pose, size and topological relationship of map elements; the first message is sent to the map server.
  • the processor 1210 may be used to receive a first message from the client, and the first message is used to indicate The device 1200 for updating the map updates the road network topology of the first map, the road network topology includes at least one of the pose, size and topological relationship of map elements; based on the first message, update the The road network topology structure of the first map is described to obtain the second map.
  • the road network topology includes at least one of the pose, size and topological relationship of map elements
  • the processor 1210 may be used to receive a second map from the map server, the second map is based on the The road network topology of the first map is updated, and the road network topology includes: at least one of the pose, size, and topological relationship of map elements; and the first map is updated to the second map.
  • the road network topology includes: at least one of the pose, size, and topological relationship of map elements; and the first map is updated to the second map.
  • the apparatus 1200 for updating a map may also include at least one memory 1220 for storing program instructions and/or data.
  • the memory 1220 is coupled to the processor 1210 .
  • the coupling in the embodiments of the present application is an indirect coupling or a communication connection between devices, units or modules, which may be in electrical, mechanical or other forms, and is used for information exchange between devices, units or modules.
  • the processor 1210 may operate in cooperation with the memory 1220 .
  • Processor 1210 may execute program instructions stored in memory 1220 . At least one of the at least one memory may be included in the processor.
  • the apparatus 1200 for updating a map may also include a communication interface 1230 for communicating with other devices through a transmission medium, so that the devices in the apparatus 1200 for updating a map can communicate with other devices, for example, when the apparatus 1200 for updating a map
  • other equipment can be a map server or a vehicle
  • the device 1200 for updating maps is a map server
  • other equipment can be a client or a vehicle
  • the device 1200 for updating maps is a vehicle
  • other equipment can be a map server or client.
  • the communication interface 1230 may be, for example, a transceiver, an interface, a bus, a circuit, or a device capable of implementing a transceiver function.
  • the processor 1210 can use the communication interface 1230 to send and receive data and/or information, and be used to implement the method performed by the client or the map server or the vehicle described in the embodiment corresponding to FIG. 12 .
  • the specific connection medium among the above-mentioned processor 1210, memory 1220, and communication interface 1230 is not limited in this embodiment of the application.
  • the processor 1210 , the memory 1220 and the communication interface 1230 are connected through a bus 1240 .
  • the bus 1240 is represented by a thick line in FIG. 12 , and the connection manners between other components are only for schematic illustration and are not limited thereto.
  • the bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used in FIG. 12 , but it does not mean that there is only one bus or one type of bus.
  • the embodiment of the present application also provides a chip system, the chip system includes at least one processor, used to implement the client or map in any of the method embodiments shown in Fig. 4, Fig. 6, Fig. 7 and Fig. 8
  • the chip system further includes a memory, the memory is used to store program instructions and data, and the memory is located inside or outside the processor.
  • the system-on-a-chip may consist of chips, or may include chips and other discrete devices.
  • the embodiment of the present application also provides a computer program product
  • the computer program product includes: a computer program (also referred to as code, or instruction), when the computer program is executed, the computer executes the program shown in Figure 4 and Figure 6 , the method executed by the client or the method executed by the map server in the embodiment shown in FIG. 7 and FIG. 8 , or causing the computer to execute the method executed by the vehicle in the embodiment shown in FIG. 4 .
  • the embodiment of the present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program (also referred to as code, or instruction).
  • a computer program also referred to as code, or instruction.
  • the computer program When the computer program is executed, the computer is made to execute the method performed by the client or the map server in any method embodiment as shown in FIG. 4, FIG. 6, FIG. 7 and FIG. The method performed by the vehicle in the embodiment shown in 4.
  • An embodiment of the present application further provides a vehicle, which can be used to execute the method performed by the vehicle in the embodiment shown in FIG. 4 .
  • the processor in the embodiment of the present application may be an integrated circuit chip that has a signal processing capability.
  • each step of the above-mentioned method embodiments may be completed by an integrated logic circuit of hardware in a processor or instructions in the form of software.
  • the above-mentioned processor can be a general-purpose processor, a digital signal processor (digital signal processor, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), a field programmable gate array (field programmable gate array, FPGA) or other possible Program logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • Program logic devices discrete gate or transistor logic devices, discrete hardware components.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, and the like.
  • the steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register.
  • the storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.
  • the memory in the embodiments of the present application may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories.
  • the non-volatile memory can be read-only memory (read-only memory, ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically programmable Erases programmable read-only memory (electrically EPROM, EEPROM) or flash memory.
  • Volatile memory can be random access memory (RAM), which acts as external cache memory.
  • RAM random access memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • SDRAM double data rate synchronous dynamic random access memory
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM direct memory bus random access memory
  • direct rambus RAM direct rambus RAM
  • unit may be used to denote a computer-related entity, hardware, firmware, a combination of hardware and software, software, or software in execution.
  • the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed to multiple network modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional module in each embodiment of the present application may be integrated into one processing module, each module may exist separately physically, or two or more modules may be integrated into one module.
  • each functional module may be fully or partially implemented by software, hardware, firmware or any combination thereof.
  • software When implemented using software, it may be implemented in whole or in part in the form of a computer program product.
  • the computer program product comprises one or more computer instructions (programs). When the computer program instructions (program) are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part.
  • the computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).
  • the computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media.
  • the available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a digital versatile disc (digital video disc, DVD)), or a semiconductor medium (for example, a solid state disk (solid state disk, SSD) )wait.
  • a magnetic medium for example, a floppy disk, a hard disk, a magnetic tape
  • an optical medium for example, a digital versatile disc (digital video disc, DVD)
  • a semiconductor medium for example, a solid state disk (solid state disk, SSD)
  • the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: various media capable of storing program codes such as U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Databases & Information Systems (AREA)
  • Automation & Control Theory (AREA)
  • Data Mining & Analysis (AREA)
  • Human Computer Interaction (AREA)
  • Navigation (AREA)

Abstract

本申请实施例提供一种更新地图的方法和装置，涉及自动驾驶技术领域。该方法包括：客户端响应于用户在用户界面的第一操作，生成第一消息，该第一消息用于指示更新第一地图的路网拓扑结构，路网拓扑结构包括地图元素的位姿、尺寸和拓扑关系中的至少一项；客户端向地图服务器发送该第一消息。该方法通过提供动态更新地图的路网拓扑结构的接口，使地图的路网拓扑结构可以根据不同的作业任务的需求发生动态变化，从而使得地图可以灵活地适用于不同的作业任务场景。

Description

一种更新地图的方法和装置 技术领域
本申请涉及自动驾驶技术领域，尤其涉及一种更新地图的方法和装置。
背景技术
随着科技的飞速发展，车辆自动驾驶技术越来越普及，已逐渐应用于港口、产业园区等场景中，以代替传统人工驾驶控制，进而提高整体作业效率。例如，在港口的场景中，在有新船靠泊时，需要根据作业任务更新商用车所用的地图中与泊位相关的道路。
目前已知一种技术，地图服务器可以预先根据多种作业任务生成对应的多个地图，当商用车需要执行某个作业任务时，地图服务器可以将地图切换为与这个作业任务对应的地图。但这种实现方式不够灵活，无法覆盖所有的作业任务，对作业任务需求的适应性不高。
发明内容
本申请实施例提供了一种更新地图的方法和装置，通过提供动态更新地图的路网拓扑结构的接口，使地图的路网拓扑结构可以根据不同的作业任务的需求发生动态变化，从而使得地图可以灵活地适用于不同的作业任务场景。
第一方面，本申请实施例提供了一种更新地图的方法，该方法可以由客户端来执行，或者，也可以由配置在客户端中的部件(如芯片、芯片系统等)等执行，本申请实施例对此不作限定。
示例性地，该方法包括：客户端响应于用户在用户界面(user interface，UI)的第一操作，生成第一消息，该第一消息用于指示更新第一地图的路网拓扑结构，所述路网拓扑结构包括地图元素的位姿、尺寸和拓扑关系中的至少一项；该客户端向地图服务器发送该第一消息。
基于上述技术内容，客户端可以通过UI与用户进行交互，并响应于用户的操作生成用于指示地图服务器对地图的路网拓扑结构进行更新的第一消息，地图服务器在接收到第一消息后，可以根据第一消息对地图的路网拓扑结构进行更新，从而使得地图可以灵活地适用于各种不同的作业任务场景，进而可以提高整体作业效率。
结合第一方面，在一种可能的实现方式中，所述地图元素包括真实地图元素和/或虚拟地图元素，对所述第一地图的路网拓扑结构的更新包括以下一项或多项：对所述第一地图中的一个或多个地图元素的拆分、删除，和在所述第一地图中增加虚拟地图元素。
通过对地图元素的拆分、删除，以及在地图中增加虚拟地图元素中的一项或多项，可以使得地图尽可能地适用于作业任务，进而提升作业效率。
结合第一方面，在一种可能的实现方式中，所述第一操作包括向所述客户端上传作 业任务，所述第一消息携带所述作业任务的信息；或所述第一操作包括在所述第一地图中选择待更新的地图元素，所述第一消息携带地图更新指令，所述地图更新指令用于指示对所述待更新的地图元素进行更新。
当第一操作包括向客户端上传作业任务时，客户端可以响应于用户上传的作业任务的操作，生成携带有该作业任务的信息的第一消息。在这种实现方式中，客户端的UI上需要向用户提供用于上传作业任务的接口，以使得客户端可以获取到用户上传的作业任务。相应地，在地图服务器接收到的第一消息中携带作业任务的信息后，地图服务器可以根据作业任务的信息自动更新第一地图的路网拓扑结构，这种方式可以简称为自动更新地图。
当第一操作包括在第一地图中选择待更新的地图元素时，客户端可以响应于用户在UI上显示出的第一地图中选择待更新的地图元素的操作，生成携带有地图更新指令的第一消息，地图更新指令可以指示对该待更新的地图元素进行更新。在这种实现方式中，客户端的UI上需要向用户提供可以在UI上显示出的地图上选择待更新的地图元素的接口，以便于客户端可以获取到用户选择的待更新的地图元素的信息。相应地，在地图服务器接收到的第一消息携带有该地图更新指令的情况下，地图服务器对第一地图的地图元素进行更新，可以理解为，地图服务器根据用户手动修改第一地图的路网拓扑结构的操作，来更新第一地图的地图元素，这种方式可以简称为手动更新地图。
由此，通过在客户端的UI上为用户提供自动更新地图的接口和手动更新地图的接口，使得用户可以根据需求，灵活选择对地图的更新方式，从而使得更新后的地图满足作业任务或者用户的需求。
结合第一方面，在一种可能的实现方式中，所述第一操作包括在所述第一地图中选择待更新的地图元素，所述第一消息携带所述地图更新指令；以及所述客户端响应于用户在UI的第一操作，生成第一消息，包括：所述客户端响应于用户在所述UI上选择所述待更新的地图元素，将所述待更新的地图元素的像素坐标转换为地图坐标；所述客户端基于所述地图坐标生成所述地图更新指令，所述地图更新指令携带所述待更新的地图元素的地图坐标信息。
结合第一方面，在一种可能的实现方式中，所述第一操作还包括在所述第一地图中选择所述待更新的地图元素的更新位置；所述地图更新指令还携带所述更新位置的地图坐标信息，所述更新位置的地图坐标信息用于指示对所述待更新的地图元素进行更新的位置。
在这种可能的实现方式中，用户不仅可以选择待更新的地图元素，还可以指定待更新的地图元素的更新位置，从而使得更新后的地图的路网拓扑结构更贴近于用户的预想效果。
结合第一方面，在一种可能的实现方式中，所述上传作业任务包括：在所述第一地图中输入或选择所述作业任务的起点和终点；以及所述客户端响应于用户在UI的第一操作，生成第一消息，包括：所述客户端响应于用户在所述UI中对所述第一地图中输入或选择所述作业任务的起点和终点，确定所述起点和所述终点的地图坐标；所述客户端基于所述起点和所述终点的地图坐标生成所述第一消息，所述第一消息携带所述起点和所述终点的地图坐标信息。
结合第一方面，在一种可能的实现方式中，所述方法还包括：所述客户端接收来自 所述地图服务器的路径规划结果，所述路径规划结果用于指示针对所述作业任务规划出的可通行的路径，所述可通行的路径中包括在所述第一地图中增加的虚拟地图元素。
在这种可能的实现方式中，客户端可以接收来自地图服务器的路径规划结果，并且客户端可以通过UI将该路径规划结果呈现给用户，进而用户可以根据需求或个人经验来确定最终的用于作业任务的路径，从而有助于提高作业效率。
结合第一方面，在一种可能的实现方式中，所述方法还包括：所述客户端基于一个或多个作业任务，获取以下一项或多项参数：所述一个或多个作业任务对应的路径中各道路的路权参数、所述一个或多个作业任务对应的路径中各道路的通行属性和所述一个或多个作业任务对应的路径中各道路和/或交汇口的容量；所述客户端向所述地图服务器发送所述一项或多项参数，以用于更新所述第一地图的路网拓扑结构。
客户端获取道路和/或交汇口的一些参数，并将这些参数发送给地图服务器，以使得地图服务器可以通过结合作业任务与道路和/或交汇口的一些参数，对第一地图的路网拓扑结构进行更新，使得更新后的地图的路网拓扑结构可以在满足作业任务的需求的情况下，更好地利用道路资源，均衡道路的使用率，可以避免因主干道上车辆过多造成的阻塞情况，从而可以间接地提高作业效率。
结合第一方面，在一种可能的实现方式中，所述方法还包括：所述客户端接收来自所述地图服务器的第二地图，所述第二地图是所述地图服务器响应于第一消息对所述第一地图的路网拓扑结构进行更新得到的。
客户端可以接收来自地图服务器对第一地图更新后的第二地图，这样一来，客户端可以根据最新的地图进行工作，更新后的地图更适用于当前的作业任务。
第二方面，本申请实施例提供了一种更新地图的方法，该方法可以由地图服务器来执行，或者，也可以由配置在地图服务器中的部件(如芯片、芯片系统等)等执行，本申请实施例对此不作限定。
示例性地，该方法包括：地图服务器接收来自客户端的第一消息，所述第一消息用于指示所述地图服务器对第一地图的路网拓扑结构进行更新，所述路网拓扑结构包括地图元素的位姿、尺寸和拓扑关系中的至少一项；所述地图服务器基于所述第一消息，更新所述第一地图的路网拓扑结构，得到第二地图。
基于上述技术内容，地图服务器通过接收来自客户端的用于指示地图服务器对地图的路网拓扑结构进行更新的第一消息，地图服务器可以根据第一消息对地图的路网拓扑结构进行更新，从而使得地图可以灵活地适用于各种不同的作业任务场景，进而可以提高整体作业效率。
结合第二方面，在一种可能的实现方式中，所述地图元素包括真实地图元素和/或虚拟地图元素，对所述第一地图的路网拓扑结构的更新包括以下一项或多项：对所述第一地图中的一个或多个地图元素的拆分、删除和在所述第一地图中增加虚拟地图元素。
通过对地图元素的拆分、删除，或在地图中增加虚拟地图元素，可以使得地图尽可能的满足作业任务的需求，进而提升作业效率。
结合第二方面，在一种可能的实现方式中，所述第一消息携带作业任务的信息；或所述第一消息携带地图更新指令，所述地图更新指令用于指示对待更新的地图元素进行更新。
在地图服务器接收到的第一消息中携带作业任务的信息后，地图服务器可以根据作业任务的信息自动更新第一地图的路网拓扑结构，这种方式可以简称为自动更新地图；在地图服务器接收到的第一消息携带用于指示对该待更新的地图元素进行更新地图更新指令后，地图服务器相当于根据用户手动修改第一地图的路网拓扑结构操作更新第一地图的路网拓扑结构，这种方式可以简称为手动更新地图。
通过为用户提供自动更新地图的接口和手动更新地图的接口，使得用户可以根据需求，灵活选择对地图的更新方式，地图服务器可以根据用户选择的对地图的更新方式对第一地图的路网拓扑结构进行更新，从而使得更新后的地图满足作业任务或者用户的需求。
结合第二方面，在一种可能的实现方式中，所述第一消息携带所述地图更新指令，所述地图更新指令中携带所述待更新的地图元素的地图坐标信息。
结合第二方面，在一种可能的实现方式中，所述地图更新指令还携带更新位置的地图坐标信息，所述更新位置的地图坐标信息用于指示对所述待更新的地图元素进行更新的位置。
在这种可能的实现方式中，地图服务器不仅可以根据用户的选择待更新的地图元素对第一地图的路网拓扑结构进行更新，还可以根据用户指定待更新的地图元素的更新位置对第一地图的路网拓扑结构进行更新，从而使得更新后的地图的路网拓扑结构更贴近于用户的预想效果。
结合第二方面，在一种可能的实现方式中，所述第一消息携带作业任务的信息，所述第一消息携带所述作业任务的起点和终点的地图坐标信息。
结合第二方面，在一种可能的实现方式中，所述第一消息携带所述作业任务的信息，以及所述方法还包括：所述地图服务器基于所述作业任务的信息，生成路径规划结果，所述路径规划结果用于指示针对所述作业任务规划出的可通行的路径，所述可通行的路径中包括在所述第一地图中增加的虚拟地图元素；所述地图服务器向所述客户端发送所述路径规划结果。
在这种可能的实现方式中，地图服务器可以根据第一消息携带的作业任务的起点和终点的地图坐标信息，自动规划出该起点和该终点之间的至少一条可通行的路径，生成路径规划结果，并可以将该路径规划结果反馈给客户端，以使得客户端可以通过UI将该路径规划结果呈现给用户，进而用户可以根据需求或个人经验来确定最终的用于作业任务的路径，从而有助于提高作业效率。
结合第二方面，在一种可能的实现方式中，所述方法还包括：所述地图服务器接收来自所述客户端的以下一项或多项参数：所述一个或多个作业任务对应的路径中各道路的路权参数、所述一个或多个作业任务对应的路径中各道路的通行属性和所述一个或多个作业任务对应的路径中各道路和/或交汇口的容量；所述地图服务器基于所述一项或多项参数对所述第一地图的路网拓扑结构进行更新。
地图服务器可以通过结合作业任务与道路和/或交汇口的一些参数，对第一地图的路网拓扑结构进行更新，使得更新后的地图的路网拓扑结构可以在满足作业任务的需求的情况下，更好地利用道路资源，均衡道路的使用率，可以避免因主干道上车辆过多造成的阻塞情况，从而可以间接地提高作业效率。
结合第二方面，在一种可能的实现方式中，所述方法还包括：所述地图服务器发送所述第二地图。
地图服务器可以向客户端和/或车辆发送对第一地图更新后的第二地图，这样一来，客户端和/或车辆与地图服务器可以根据最新的地图进行作业，更新后的地图更适用于当前的作业任务。另外，无需车辆自行计算需要更新的地图元素，可以降低车辆的计算压力，提升作业效率和提升车辆的行驶安全性。
结合第二方面，在一种可能的实现方式中，所述方法还包括：所述地图服务器接收来自车辆的指示信息，所述指示信息用于指示所述车辆行驶路径中的部分或全部不是所述第二地图中的地图元素；所述地图服务器基于所述指示信息，对所述第二地图进行更新。
在这种实现方式中，地图服务器可以根据来自车辆的指示信息中指示的新的地图元素，来对地图进行进一步地更新，可以更进一步地使地图适用于当前的作业任务，进而提高作业效率。
第三方面，本申请实施例提供了一种更新地图的方法，该方法可以由车辆来执行，或者，也可以由配置在车辆中的部件(如芯片、芯片系统等)等执行，本申请实施例对此不作限定。
示例性地，该方法包括：车辆接收来自地图服务器的第二地图，所述第二地图是基于对第一地图的路网拓扑结构更新得到的，所述路网拓扑结构包括：地图元素的位姿、尺寸和拓扑关系中的至少一项；所述车辆将所述第一地图更新为所述第二地图。
基于上述技术内容，车辆可以接收来自地图服务器对第一地图更新后的第二地图，并将本地存储的第一地图更新为第二地图，这样一来，车辆可以根据最新的地图进行作业，更新后的地图更适用于当前的作业任务；另外，无需车辆自行计算需要更新的地图元素，可以降低车辆的计算压力，提升作业效率和提升车辆的行驶安全性。
结合第三方面，在一种可能的实现方式中，所述方法还包括：所述车辆向所述地图服务器发送指示信息，所述指示信息用于指示所述车辆行驶路径中的部分或全部不是所述第二地图中的地图元素，以用于所述地图服务器进行地图更新。
在这种实现方式中，车辆具有自主发现可通行的地图元素的能力，可以通过向地图服务器发送指示新的地图元素的指示信息，来指示地图服务器进行更新，可以更进一步的使地图满足作业需求，进而提高作业效率。
第四方面，本申请实施例提供了一种更新地图的装置，该装置可用于实现上述第一方面及第一方面任意一种可能实现方式中的方法。该装置包括用于执行上述方法的相应的模块。该装置包括的模块可以通过软件和/或硬件方式实现。
示例性地，该更新地图的装置包括：生成模块和发送模块，该生成模块用于响应于用户在UI的第一操作，生成第一消息，所述第一消息用于指示更新第一地图的路网拓扑结构，所述路网拓扑结构包括地图元素的位姿、尺寸和拓扑关系中的至少一项；该发送模块用于向地图服务器发送所述第一消息。
结合第四方面，在一种可能的设计中，所述地图元素包括真实地图元素和/或虚拟地图元素，对所述第一地图的路网拓扑结构的更新包括以下一项或多项：对所述第一地图中的一个或多个地图元素的拆分、删除，和在所述第一地图中增加虚拟地图元素。
结合第四方面，在一种可能的设计中，所述第一操作包括向该更新地图的装置上传 作业任务，所述第一消息携带所述作业任务的信息；或所述第一操作包括在所述第一地图中选择待更新的地图元素，所述第一消息携带地图更新指令，所述地图更新指令用于指示对所述待更新的地图元素进行更新。
结合第四方面，在一种可能的设计中，所述第一操作包括在所述第一地图中选择待更新的地图元素，所述第一消息携带所述地图更新指令；生成模块具体可以用于响应于用户在所述UI上选择所述待更新的地图元素，将所述待更新的地图元素的像素坐标转换为地图坐标；基于所述地图坐标生成所述地图更新指令，所述地图更新指令携带所述待更新的地图元素的地图坐标信息。
结合第四方面，在一种可能的设计中，所述第一操作还包括在所述第一地图中选择所述待更新的地图元素的更新位置；所述地图更新指令还携带所述更新位置的地图坐标信息，所述更新位置的地图坐标信息用于指示对所述待更新的地图元素进行更新的位置。
结合第四方面，在一种可能的设计中，所述上传作业任务包括：在所述第一地图中输入或选择所述作业任务的起点和终点；生成模块具体可以用于响应于用户在所述UI中对所述第一地图中输入或选择所述作业任务的起点和终点，确定所述起点和所述终点的地图坐标；基于所述起点和所述终点的地图坐标生成所述第一消息，所述第一消息携带所述起点和所述终点的地图坐标信息。
结合第四方面，在一种可能的设计中，该更新地图的装置还包括接收模块，所述接收模块用于接收来自所述地图服务器的路径规划结果，所述路径规划结果用于指示针对所述作业任务规划出的可通行的路径，所述可通行的路径中包括在所述第一地图中增加的虚拟地图元素。
结合第四方面，在一种可能的设计中，该更新地图的装置还包括获取模块，所述获取模块用于基于一个或多个作业任务，获取以下一项或多项参数：所述一个或多个作业任务对应的路径中各道路的路权参数、所述一个或多个作业任务对应的路径中各道路的通行属性和所述一个或多个作业任务对应的路径中各道路和/或交汇口的容量；发送模块还用于向所述地图服务器发送所述一项或多项参数，以用于更新所述第一地图的路网拓扑结构。
结合第四方面，在一种可能的设计中，接收模块还可以用于接收来自所述地图服务器的第二地图，所述第二地图是所述地图服务器响应于第一消息对所述第一地图的路网拓扑结构进行更新得到的。
第五方面，本申请实施例提供了一种更新地图的装置，该装置可用于实现上述第二方面及第二方面任意一种可能实现方式中的方法。该装置包括用于执行上述方法的相应的模块。该装置包括的模块可以通过软件和/或硬件方式实现。
示例性地，该更新地图的装置包括：接收模块和更新模块，该接收模块用于接收来自客户端的第一消息，所述第一消息用于指示所述地图服务器对第一地图的路网拓扑结构进行更新，所述路网拓扑结构包括地图元素的位姿、尺寸和拓扑关系中的至少一项；该更新模块用于基于所述第一消息，更新所述第一地图的路网拓扑结构，得到第二地图。
结合第五方面，在一种可能的设计中，所述地图元素包括真实地图元素和/或虚拟地图元素，对所述第一地图的路网拓扑结构的更新包括以下一项或多项：对所述第一地图中的一个或多个地图元素的拆分、删除和在所述第一地图中增加虚拟地图元素。
结合第五方面，在一种可能的设计中，所述第一消息携带作业任务的信息；或所述 第一消息携带地图更新指令，所述地图更新指令用于指示对待更新的地图元素进行更新。
结合第五方面，在一种可能的设计中，所述第一消息携带所述地图更新指令，所述地图更新指令中携带所述待更新的地图元素的地图坐标信息。
结合第五方面，在一种可能的设计中，所述地图更新指令还携带更新位置的地图坐标信息，所述更新位置的地图坐标信息用于指示对所述待更新的地图元素进行更新的位置。
结合第五方面，在一种可能的设计中，所述第一消息携带作业任务的信息，所述第一消息携带所述作业任务的起点和终点的地图坐标信息。
结合第五方面，在一种可能的设计中，所述第一消息携带所述作业任务的信息，该更新地图的装置还包括生成模块和发送模块，所述生成模块用于基于所述作业任务的信息，生成路径规划结果，所述路径规划结果用于指示针对所述作业任务规划出的可通行的路径，所述可通行的路径中包括在所述第一地图中增加的虚拟地图元素；所述发送模块用于向所述客户端发送所述路径规划结果。
结合第五方面，在一种可能的设计中，接收模块还可以用于接收来自所述客户端的以下一项或多项参数：所述一个或多个作业任务对应的路径中各道路的路权参数、所述一个或多个作业任务对应的路径中各道路的通行属性和所述一个或多个作业任务对应的路径中各道路和/或交汇口的容量；更新模块还可以用于基于所述一项或多项参数对所述第一地图的路网拓扑结构进行更新。
结合第五方面，在一种可能的设计中，发送模块还可以用于发送所述第二地图。
结合第五方面，在一种可能的设计中，接收模块还可以用于接收来自车辆的指示信息，所述指示信息用于指示所述车辆行驶路径中的部分或全部不是所述第二地图中的地图元素；更新模块还可以用于基于所述指示信息，对所述第二地图进行更新。
第六方面，本申请实施例提供了一种更新地图的装置，该装置可用于实现上述第三方面及第三方面任意一种可能实现方式中的方法。该装置包括用于执行上述方法的相应的模块。该装置包括的模块可以通过软件和/或硬件方式实现。
示例性地，该更新地图的装置包括：接收模块和更新模块，该接收模块用于接收来自地图服务器的第二地图，所述第二地图是基于对第一地图的路网拓扑结构更新得到的，所述路网拓扑结构包括：地图元素的位姿、尺寸和拓扑关系中的至少一项；该更新模块用于将所述第一地图更新为所述第二地图。
结合第六方面，在一种可能的设计中，该更新地图的装置还包括：发送模块，用于向所述地图服务器发送指示信息，所述指示信息用于指示所述车辆行驶路径中的部分或全部不是所述第二地图中的地图元素，以用于所述地图服务器进行地图更新。
第七方面，本申请实施例提供了一种更新地图的装置，该更新地图的装置包括处理器，该处理器与存储器耦合，可以用于执行存储器中的计算机程序，以实现第一方面和第一方面中任一种可能实现方式的更新地图的方法，或者，以实现第二方面和第二方面中任一种可能实现方式的更新地图的方法，或者，以实现第三方面和第三方面中任一种可能实现方式的更新地图的方法。
可选地，该更新地图的装置还包括存储器。
可选地，该更新地图的装置还包括通信接口，处理器与通信接口耦合。
第八方面，本申请实施例提供了一种芯片系统，该芯片系统包括至少一个处理器， 用于支持实现上述第一方面和第一方面任一种可能实现方式中所涉及的功能，或者，用于支持实现上述第二方面和第二方面任一种可能实现方式中所涉及的功能，或者，用于支持实现上述第三方面和第三方面任一种可能实现方式中所涉及的功能，例如，接收或处理上述方法中所涉及的数据、消息或指示信息等。
在一种可能的设计中，所述芯片系统还包括存储器，所述存储器用于保存程序指令和数据，存储器位于处理器之内或处理器之外。
该芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
第九方面，本申请实施例提供了一种计算机可读存储介质，所述计算机存储介质上存储有计算机程序(也可以称为代码，或指令)，当所述计算机程序在被处理器运行时，使得上述第一方面和第一方面任一种可能实现方式中的方法被执行，或者，使得上述第二方面和第二方面任一种可能实现方式中的方法被执行，或者，使得上述第三方面和第三方面任一种可能实现方式中的方法被执行。
第十方面，本申请实施例提供了一种计算机程序产品，所述计算机程序产品包括：计算机程序(也可以称为代码，或指令)，当所述计算机程序被运行时，使得上述第一方面和第一方面任一种可能实现方式中的方法被执行，或者，使得上述第二方面和第二方面任一种可能实现方式中的方法被执行，或者，使得上述第三方面和第三方面任一种可能实现方式中的方法被执行。
第十一方面，本申请实施例提供了一种车辆，该车辆对应于第六方面或第七方面所述的更新地图的装置。例如可以是第六方面或第七方面所述的更新地图的装置，或者可以包括第六方面或第七方面所述的更新地图的装置。
应当理解的是，本申请实施例的第四方面至第十一方面与本申请实施例的第一方面至第三方面的技术方案相对应，各方面及对应的可行实施方式所取得的有益效果相似，不再赘述。
附图说明
图1为本申请实施例提供的交汇口的示意图；
图2为本申请实施例提供的路网拓扑结构示意图；
图3为适用于本申请实施例提供的更新地图的方法的系统示意图；
图4为本申请实施例提供的一种更新地图的方法的示意性流程图；
图5为本申请实施例提供的一种拆分道路的示意图；
图6为本申请实施例提供的再一种更新地图的方法的示意性流程图；
图7为本申请实施例提供的又一种更新地图的方法的示意性流程图；
图8为本申请实施例提供的另一种更新地图的方法的示意性流程图；
图9为本申请实施例提供的一种更新地图的装置的示意性框图；
图10为本申请实施例提供的再一种更新地图的装置的示意性框图；
图11为本申请实施例提供的又一种更新地图的装置的示意性框图；
图12为本申请实施例提供的另一种更新地图的装置的示意性框图。
具体实施方式
下面将结合附图，对本申请实施例中的技术方案进行描述。
随着科技的飞速发展，车辆自动驾驶技术越来越普及，已逐渐应用于港口、产业园区等场景中，以代替传统人工驾驶控制，进而提高整体作业效率。
例如，在港口的场景中，根据功能大致可以将整个码头划分为陆侧区和海侧区。其中，海侧区是装卸箱的区域，可分为若干个泊位，每个泊位的范围与船舶大小以及停放位置相关。在有新船靠泊时，为了提升作业效率，车辆不可能仅在岸桥路两段进行上下岸桥操作，一般是根据船舶停放位置，在船尾位置设置上岸桥通道，在船头位置设置下岸桥通道，在有些作业任务场景中，这些道路并不是物理真实存在，往往需要根据任务需求动态生成。商用车需要根据作业任务计划进行作业，大多数情况下，需要更新商用车所用的地图中与泊位相关的道路来适应不同的作业任务。
针对上述问题，目前已知一种技术是，预先根据多种作业任务生成与作业任务对应的多个地图，当商用车需要执行某个作业任务时，可以将地图切换为与这个作业任务对应的地图。但这种实现方式不够灵活，无法覆盖所有的作业任务，对作业任务需求的适应性不高，并且，在作业任务场景过多的情况下，需要生成的地图也会很多，这种情况下数据存储的压力会很大。
本申请实施例提出了一种更新地图的方法和装置，通过在客户端上提供更新地图的路网拓扑结构的接口，客户端可以响应于用户的操作，触发地图服务器对地图的路网拓扑结构进行更新，通过对地图元素的位姿、尺寸和拓扑关系中一项或多项的更新，使得地图的静态图层也得以更新，从而可以灵活地适用于各种不同的作业任务场景。
需要说明的是，在目前已知的技术中，静态图层中是在道路建设完毕后就确定下了道路的属性，道路的属性可以包括道路的位置、长度、宽度，以及车道线等物理可见的信息。除非对道路进行修整，否则这些属性不会变化。而本申请提出的更新地图的方法可以对地图的静态图层进行更新。
该方案可以应用于港口、矿山、封闭的产业园区等生产场景中，以在相应的场地内进行作业任务车辆进行统一管理和调度，帮助车辆有序作业，通过更新地图使得地图尽可能地可以灵活地适用于不同车辆对应的各种作业任务。该方案还可以应用于乘用车环境中，例如高速收费站、车库、客运站等，通过更新地图使得地图尽可能地可以灵活地适用于不同车辆对应的各种作业任务。本申请实施例对此不作限定。
需要说明的是，本申请实施例中的更新地图的方法和装置可以应用于车联网，如车-万物(vehicle to everything，V2X)、车间通信长期演进技术(long term evolution-vehicle，LTE-V)、车辆-车辆(vehicle to vehicle，V2V)等。例如可以应用于具有驾驶移动功能的车辆，或者车辆中具有驾驶移动功能的其它装置。该其它装置包括但不限于：车载终端、车载控制器、车载模块、车载模组、车载部件、车载芯片、车载单元、车载雷达或车载摄像头等其他传感器，车辆可通过该车载终端、车载控制器、车载模块、车载模组、车载部件、车载芯片、车载单元、车载雷达或车载摄像头，实施本申请实施例提供的车辆控制方法。当然，本申请实施例中的控制方案还可以用于除了车辆之外的其它需要根据作业任务更新地图的智能终端，或设置在除了车辆之外的其它需要根据作业任务更新地图的智能终端中，或设置于该智能终端的部件中。该智能终端可以为智能运输设备、智能家居设备(例如，扫地机器人等)、机器人等。例如，包括但不限于智能终端或智能终端内的控制器、 芯片、雷达或摄像头等其它传感器、以及其它部件等。
为了便于清楚描述本申请实施例的技术方案，在本申请的实施例中，采用了“第一”、“第二”等字样对功能和作用基本相同的相同项或相似项进行区分。例如，第一地图和第二地图仅仅是为了区分不同的地图，并不对其先后顺序进行限定。本领域技术人员可以理解“第一”、“第二”等字样并不对数量和执行次序进行限定，并且“第一”、“第二”等字样也并不限定一定不同。
需要说明的是，本申请实施例中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b，或c中的至少一项(个)，可以表示：a，b，c；a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。
如下对本申请实施例涉及到的部分术语和概念作简单介绍。
1、地图元素：本申请实施例中的地图元素可以指道路和交汇口(又可称为道路交汇口、道路交叉口、交叉口等)。本申请实施例中的地图元素可以包括真实地图元素和虚拟地图元素，真实地图元素可以理解为在实际的作业场景中真实存在的道路或交汇口，例如，地面上画出的车道线来标识出的道路；虚拟地图元素可以理解为在地图上可见，但在实际的作业场景中不是真实存在的道路或交汇口，例如，在地图中显示出但在实际的作业场景中没有画出车道线标识出的道路。
本申请实施例中，一个交汇口为一条或多条道路汇集点、分散点，根据道路上车流方向或人流方向，可将交汇口关联的道路分为来向路(incoming road)或去向路(outcoming road)，其中，来向路也可以称为交汇口的上游道路，去向路也可称为交汇口的下游道路。
本申请实施例中，可以对任一交汇口处的上/下游道路的数量进行约束，也即，可以在地图上位每个交汇口处的上/下游道路设置容量，容量可以理解为允许通过的最大车流量和/或人流量，一个交汇口的上游道路的数量或下游道路的数量，可以大于或等于1，也可以为0。例如，一个交汇口可以只关联于上游道路，或者只关联于下游道路，或只关联于一条上游道路和一条下游道路，或者，一个交汇口可以关联于一条上游道路和至少两条下游道路，或者，一个交汇口可以关联于至少两条上游道路和一条下游道路，在此不再赘述。
在不同的作业场景中，对交汇口的需求不同，因此，还可以基于作业场景需求的地图等，预先对交汇口进行定义，确定目标区域内的哪些位置可以定义为交汇口，以及哪些信息可以用于进行交汇口通行管理。
图1示出了交汇口的三种示例。
如图1所示，在图1的a)中，虚线框处为一种常见的十字形交汇口，该十字形交汇口可以具有两条上游道路和两条下游道路，表示为上游道路①、②和下游道路③、④。其中，根据车流方向，来自上游道路①或②的车辆可以经过该十字形交汇口行驶到达下游道路③或④，在不违背交通规则的情况下，相反地，道路③和④可以作为上 游道路，道路①和②可以作为下游道路，来自道路③或④的车辆可以经过该十字形交汇口并行驶到达道路①或②。相似地，图1的a)中的上游道路的数量或下游道路的数量也可以为更多或更少，交汇口的交叉类型也不限于图中所示，在此不再赘述。
在图1的b)中，虚线框处为一种位于道路拐弯处的交汇口。当道路拐弯角点较大时，车辆(例如尺寸较大、机动性能较差的车辆)难以在拐弯处依然沿着初始车道行驶，因此在该拐弯处会频繁地发生车辆变道行为，因此，可以将该拐弯处设置为交汇口，以方便对需要行驶经过该拐弯处的车辆通行管理。
在图1的c)中，虚线框处是直行道路中的一部分，该部分可用于车辆变道，也可以视为一个道路交汇口。该类交汇口常用于一些特定场景，例如商用生产环境中，由于生产需要，将某一条直行道路的一部分用作专门供车辆变道的部分，使得车辆行驶到达该处时，可以变换车道。
实际应用时，交汇口需求信息可以用于描述所需的各种交汇口，例如上述图1的a)、图1的b)和图1的c)所示的交汇口，该交汇口需求信息可以由操作人员根据作业任务的需求通过客户端的UI提供，该交汇口需求信息可以为自然语言、或机器和程序可以理解的机器语言、或其他合适的语言描述，本申请实施例对此不做限定。
其中，任一交汇口或道路可以为物理世界中真实存在交汇口或道路，也可以为根据作业任务需求在地图上生成的交汇口或道路，在作业任务需求有所变更的情况下，所生成的交汇口或道路可以有所不同。
应理解，图1中的三个示例仅是对本申请实施例适用的交汇口的举例说明而非限定，在其它实施例中，还可以结合实际作业任务需求或场地等，定义其它类型的交汇口，本申请实施例对所需的交汇口的类型以及位置的确定方式不做限定。
2、路网拓扑结构：路网拓扑结构可以由地图元素相互连接组成。例如，路网拓扑结构可以由若干道路和交汇口组成，如图2所示，以线段表示道路，以圆点表示交汇口，每条道路的两个端点为交汇口，一个交汇口可以为若干条道路的交汇点。
下面将结合附图，对本申请实施例中提出的更新地图的方法和装置进行描述。
图3是适用于本申请实施例的系统架构的示意图。在图3所示的系统300中，包括客户端310、地图服务器320和车辆330，客户端310与地图服务器320之间可以进行通信，地图服务器320与车辆330之间可以进行通信。
应理解，图3仅为示例，在实际应用场景中，地图服务器可以是一台服务器，也可以是多台服务器构成的服务器集群。地图服务器可以部署在云端，本申请对此不作限定。图3中示出的车辆可以是商用车，也可以是乘用车。另外，地图服务器可以与多个客户端进行通信，地图服务器也可以与多台车辆进行通信，本申请实施例对客户端和车辆的数量不作限定。
图4是本申请实施例提供的一种更新地图的方法的示意性流程图。该方法400包括步骤410至步骤450，以下对步骤410至步骤450进行详细说明。
在步骤410中，客户端响应于用户在UI的第一操作，生成第一消息，所述第一消息用于指示更新第一地图的路网拓扑结构。
客户端上可以提供更新地图的路网拓扑结构的接口，当用户在客户端的UI上进行第一操作时，客户端可以响应于用户的第一操作，生成用于指示对第一地图的路网拓扑结构 进行更新的第一消息。
上文已述及，路网拓扑结构可以由地图元素相互连接组成，地图元素可以包括道路和交汇口等。更新第一地图的路网拓扑结构，可以理解为，更新第一地图中的地图元素的位姿、尺寸和拓扑关系中的至少一项。其中，地图元素的位姿可以理解为地图元素的位置和姿态(或者说是朝向)，例如，道路的位姿，可以理解为道路的位置和朝向(例如，东西朝向、南北朝向等)，道路的形状可以多种多样，例如，直线道路、C型道路、S型道路等等。地图元素的尺寸可以理解为地图元素的形状、长和宽等。地图元素的拓扑关系也就是地图元素的连接关系，也即，道路与道路通过交汇口的连接关系，如图2所示出的道路通过交汇口的连接关系。
需要说明的是，本申请实施例中涉及的地图元素可以包括真实地图元素和/或虚拟地图元素，对第一地图的路网拓扑结构的更新可以包括以下一项或多项：对第一地图中的一个或多个地图元素的拆分、删除，和在第一地图中增加虚拟地图元素。
真实地图元素包括真实道路和/或真实交汇口，真实道路是现实场景中地上通过画出的车道线而真实存在的道路，真实交汇口是多条真实道路交汇而形成的真实存在的交汇口；虚拟地图元素包括虚拟道路和/或虚拟交汇口，虚拟道路是现实场景中不存在的道路，只在地图中显出而在现实场景中没有通过画出的车道线示出的道路，虚拟交汇口是只在地图上显示的多条虚拟道路交汇而形成的交汇口，虚拟交汇口在现实场景中不存在。
对地图元素的拆分，例如可以是在地图中对真实道路、虚拟道路、真实交汇口或虚拟交汇口的拆分；对地图元素的删除，例如可以是在地图中对真实道路、虚拟道路、真实交汇口或虚拟交汇口的删除，让其不在地图上显示；在第一地图中增加虚拟地图元素，可以是在第一地图中增加虚拟道路或虚拟交汇口。
通过执行对地图元素的拆分、删除，以及在地图中增加虚拟地图元素中的一项或多项，可以使得地图尽可能的满足作业任务的需求，进而提升作业效率。
在一种可能的实现方式中，第一操作可以包括向客户端上传作业任务，则第一消息可以携带该作业任务的信息；或，第一操作可以包括在第一地图中选择待更新的地图元素，则第一消息可以携带地图更新指令，该地图更新指令用于指示对该待更新的地图元素进行更新。
当第一操作包括向客户端上传作业任务时，客户端可以响应于用户上传的作业任务的操作，生成携带有该作业任务的信息的第一消息。在这种可能的实现方式中，客户端的UI上需要向用户提供用于上传作业任务的接口，以使得客户端可以获取到用户上传的作业任务。相应地，在地图服务器接收到的第一消息中携带作业任务的信息后，地图服务器可以根据作业任务的信息自动更新第一地图的路网拓扑结构，这种方式可以简称为自动更新地图。
可选地，在这种自动更新地图的方式中，上传作业任务可以包括：在第一地图中输入或选择作业任务的起点和终点；以及客户端响应于用户在UI的第一操作，生成第一消息，包括：客户端响应于用户在UI中对第一地图中输入或选择作业任务的起点和终点，确定起点和终点的地图坐标；客户端基于起点和终点的地图坐标生成所述第一消息，该第一消息携带该起点和该终点的地图坐标信息。
可以理解，上传作业任务可以包括在第一地图中输入作业任务的起点和终点，或者，上传作业任务可以包括在第一地图中选择作业任务的起点和终点。客户端可以根据用户输入或选择的作业任务的起点和终点，将在UI上显示的第一地图中的起点和终点的对应的像素点的像素坐标转换为以经纬度形式表示的地图坐标，并生成携带有该起点和该终点的地图坐标信息的第一消息。另外，当上传作业任务包括在第一地图中选择作业任务的起点和终点时，客户端生成的第一消息携带的也可以是该起点和该终点的像素坐标，在地图服务器接收到该第一消息后，也可以由地图服务器将该起点和该终点的像素坐标转换为该起点和该终点的地图坐标，或者，当上传作业任务包括在第一地图中输入作业任务的起点和终点时，客户端生成的第一消息也可以携带用户输入的起点和终点，地图服务器可以根据该用户输入的起点和终点确定分别对应的地图坐标。本申请实施例对此不作限定。
可选地，在这种自动更新地图的方式中，也就是说，当第一消息携带作业任务的信息时，该方法还可以包括：地图服务器基于作业任务的信息，生成路径规划结果，该路径规划结果可以用于指示针对该作业任务规划出的可通行的路径，该可通行的路径中包括在第一地图中增加的虚拟地图元素；地图服务器向客户端发送该路径规划结果。相应地，客户端接收来自地图服务器的路径规划结果。
在这种实现方式中，地图服务器可以根据第一消息携带的作业任务的起点和终点的地图坐标信息，自动规划出该起点和该终点之间的至少一条可通行的路径，生成路径规划结果，并可以将该路径规划结果反馈给客户端，以使得客户端可以通过UI将该路径规划结果呈现给用户，进而用户可以根据需求来确定最终的用于作业任务的路径。地图服务器规划出的至少一条可通行路径中，至少有一条可通行路径中包括至少一个在第一地图中增加的虚拟地图元素，也可以理解为，地图服务器根据第一消息携带的作业任务的起点和终点的地图坐标信息进行作业任务的路径规划时，对第一地图的路网结构进行了更新，规划出的可通行路径中包括了第一地图中不存在的虚拟地图元素。
示例性地，地图服务器在接收到携带的作业任务的起点和终点的地图坐标信息的第一消息后，可以判断在第一地图的路网拓扑结构中该起点到该终点之间是否可达，若可达，规划出至少一条基于第一地图的路网拓扑结构的可通行路径，并且根据该起点和该终点增加至少一个虚拟地图元素，使得该起点到该终点之间的通行代价(可以是通行时间，也可以是通行距离)不小于基于第一地图的路网拓扑结构的可通行路径的通行代价，也就是说，在地图服务器判断出该起点到该终点之间可达的情况下，路径规划结果中包括至少一条基于第一地图的路网拓扑结构的可通行路径和至少一条基于对第一地图的路网拓扑结构更新后的包括新增的虚拟地图元素的可通行路径；若不可达，地图服务器可以对第一地图的路网拓扑结构进行更新，在第一地图中增加虚拟地图元素，以使得该起点和该节点之间可达，这种情况下，路径规划结果中包括至少一条基于对第一地图的路网拓扑结构更新后的包括新增的虚拟地图元素的可通行路径。
可选地，在上述自动更新地图的方式中，该方法还可以包括：客户端基于一个或多个作业任务，获取以下一项或多项参数：该一个或多个作业任务对应的路径中各道路的路权参数、该一个或多个作业任务对应的路径中各道路的通行属性和该一个或多个作业任务对应的路径中各道路和/或交汇口的容量；客户端向地图服务器发送上述一项或多项参数，以用于更新第一地图的路网拓扑结构。相应地，地图服务器接收来自 客户端的上述一项或多项参数；并基于上述一项或多项参数对第一地图的路网拓扑结构进行更新。
其中，道路的路权参数可以用于表示道路的重要程度，例如，主干道路的路权参数大于支干道路的路权参数。一般地，在乘用车场景中，重要道路(例如应急车道、消防车道、主生产道路等)的路权参数可大于普通道路的路权参数；在商用车场景中，设置有作业设施或者生产设备的道路的权重参数大于没有设置作业设施或者生产设备的道路权重参数。道路的通行属性可以表示该道路为上游道路或者下游道路，以及该道路是否可通行等。道路和/或交汇口的容量可以理解为道路和/或交汇口允许通过的最大车流量和/或人流量。应理解，道路的路权参数、道路的通行属性以及道路和/或交汇口的容量可以是地图服务器中预先存储的，用户也可以通过客户端的UI更改或设置任一道路的路权参数、任一道路的通行属性以及任一道路和/或交汇口的容量。
在这种实现方式中，客户端可以根据一个作业任务或者可能会同时进行的多个作业任务，获取上述一项或多项参数，并将获取到的参数发送给地图服务器，地图服务器接收到参数后，可以生成至少一种对第一地图的路网拓扑结构进行更新的备选方案，并可以发送给客户端，以使得客户端可以通过UI呈现给用户，从而使得用户从至少一种对第一地图的路网拓扑结构进行更新的备选方案中确定出一种更新方案，并通过客户端指示地图服务按照这种更新方案对第一地图服务器的路网拓扑结构进行更新。
通过结合作业任务与道路和/或交汇口的一些参数，对第一地图的路网拓扑结构进行更新，使得更新后的地图的路网拓扑结构可以在满足作业任务的需求的情况下，更好地利用道路资源，均衡道路的使用率，可以避免因主干道上车辆过多造成的阻塞情况，从而可以间接地提高作业效率。
当第一操作包括在第一地图中选择待更新的地图元素时，客户端可以响应于用户在UI上显示出的第一地图中选择待更新的地图元素的操作，生成携带有地图更新指令的第一消息，上文已述及，地图更新指令可以用于指示对该待更新的地图元素进行更新。在这种可能的实现方式中，客户端的UI上需要向用户提供可以在UI上显示出的地图上选择待更新的地图元素的接口，以便于客户端可以获取到用户选择的待更新的地图元素的信息。相应地，当地图服务器接收到的第一消息携带该地图更新指令的情况下，地图服务器对第一地图的地图元素进行更新，可以理解为，地图服务器根据用户手动修改第一地图的路网拓扑结构的操作，来更新第一地图的地图元素，这种方式可以简称为手动更新地图。
可选地，在这种手动更新地图的方式中，也就是说，当第一操作包括在第一地图中选择待更新的地图元素，第一消息携带地图更新指令时，客户端响应于用户在UI的第一操作，生成第一消息，包括：客户端响应于用户在UI上选择待更新的地图元素，将该待更新的地图元素的像素坐标转换为地图坐标；客户端基于该地图坐标生成地图更新指令，该地图更新指令携带该待更新的地图元素的地图坐标信息。
在这种实现方式中，用户可以凭借个人经验根据作业任务在客户端的UI上选择待更新的地图元素，这种情况下，客户端可以响应于用户对待更新的地图元素得的选择，将该待更新的地图元素的像素坐标转换为地图坐标，并生成携带有携带着该地图坐标信息的地图更新指令的第一消息。
可选地，在上述手动更新地图的方式中，第一操作还包括在第一地图中选择待更 新的地图元素的更新位置；则地图更新指令还携带该更新位置的地图坐标信息，该更新位置的地图坐标信息用于指示对该待更新的地图元素进行更新的位置。
在这种可能的实现方式中，用户不仅可以选择待更新的地图元素，还可以指定待更新的地图元素的更新位置，从而使得更新后的地图的路网拓扑结构更贴近于用户的预想效果。示例性地，如果是拆分道路，如图5所示，在图5的(a)中，黑色的箭头所指的位置即为用户所指定的这个待更新的道路的更新位置，也即，用户指定从黑色箭头所指的这个位置将这个道路进行拆分，客户端可以根据用户指定的这个拆分位置，生成如图5的(b)所示的道路拆分后的效果，并通过客户端的UI呈现给用户，以便于用户可以根据呈现出的这个效果确认是否要对该道路的这个位置进行拆分。
由此，通过在客户端的UI上为用户提供自动更新地图的接口和手动更新地图的接口，使得用户可以根据需求，灵活选择对地图的更新方式。
在步骤420中，客户端向地图服务器发送第一消息。相应地，地图服务器接收来自客户端的第一消息。
客户端在根据第一操作生成相应的第一消息后，可以向地图服务器发送该第一消息，以指示地图服务器更新第一地图的路网拓扑结构。相应地，地图服务器可以接收来自该客户端的第一消息。
在步骤430中，地图服务器基于第一消息，更新第一地图的路网拓扑结构，得到第二地图。
地图服务器在接收到第一消息后，可以根据第一消息中携带的信息，对第一地图的路网拓扑结构进行更新，得到第二地图。
基于上述技术内容，客户端可以通过UI与用户进行交互，通过在客户端的UI上向用户提供可以动态修改地图的路网拓扑接口的接口，客户端响应于用户的操作生成用于指示地图服务器对地图的路网拓扑结构进行更新的第一消息，从而使得地图服务器在接收到第一消息后，可以根据第一消息对地图的路网拓扑结构进行更新，从而使得地图可以灵活地适用于各种不同的作业任务场景。
在一种可能的实现方式中，方法400还包括：步骤440，地图服务器发送第二地图。
地图服务器可以向客户端发送第二地图，相应地，客户端可以接收来自该地图服务器的第二地图。当客户端接收到来自该地图服务器的第二地图后，客户端可以将本地存储的或者显示的第一地图更新为第二地图。
地图服务器也可以向车辆发送第二地图，相应地，车辆也可以接收来自该地图服务器的第二地图，当车辆接收到来自该地图服务器的第二地图后，例如，图4中示出的步骤450，车辆可以将车辆上存储的或者显示的第一地图更新为第二地图。
基于上述技术内容，车辆可以接收来自地图服务器对第一地图更新后的第二地图，并将本地存储的第一地图更新为第二地图，这样一来，车辆可以根据最新的地图进行工作，更新后的地图更适用于当前的作业任务；另外，无需车辆自行计算需要更新的地图元素，可以降低车辆的计算压力，提升作业效率和提升车辆的行驶安全性。
在一种可能的实现方式中，该方法还可以包括：车辆向该地图服务器发送指示信息。
其中，该指示信息可以用于指示该车辆行驶路径中的部分或全部不是该第二地图 中的地图元素，以用于该地图服务器进行地图更新。
在这种实现方式中，车辆可以具有自主发现地图中未显示的地图元素的能力，当车辆确定前方区域符合该车辆的机动能力的情况下，该车辆可以生成用于指示该车辆行驶路径中的部分或全部不是该第二地图中的地图元素的指示信息，并向地图服务器发送该指示信息。应理解，车辆的机动能力可以理解为车辆克服复杂道路、无路地区的障碍以及能在最小面积内回转的能力等，是否符合车辆的机动能力，例如可以根据车辆的最小离地间隙、接近角、离去角、纵向通过半径、涉水深度和最小转向半径等来判断，本申请实施例对此不作限定。
当车辆向地图服务器发送指示信息后，相应地，地图服务器可以接收来自该车辆的指示信息，并且，该地图服务器可以基于该指示信息，对第二地图进行更新。
应理解，本申请实施例中的第一地图指待更新的地图，第二地图指对待更新的地图进行更新后得到的新的地图。当得到第二地图后，第二地图就会覆盖第一地图，或者说，第二地图就会取代第一地图应用到作业场景中。还应理解，当更新后的地图再次需要更新时，这个地图就又是待更新的地图，即它就成为了第一地图。
在这种实现方式中，车辆具有自主发现可通行的地图元素的能力，可以通过向地图服务器发送指示新的地图元素的指示信息，来指示地图服务器进行更新，可以更进一步的使地图满足作业需求，并提高作业效率。
示例性地，下面参阅图6所示的方法流程图，对本申请实施例提出的更新地图的方法中涉及到道路拆分的情况下对地图进行更新的详细实现细节进行介绍。
如图6所示，该方法600可以包括步骤601至步骤610。
在步骤601中，客户端可以获取用户选择的待拆分的道路和对该道路的拆分位置。
示例性地，用户可以在客户端的UI上通过点击第一地图中的某个待拆分的道路和想对该道路的某个位置进行拆分的拆分位置，在用户点击了待拆分的道路和对该道路的拆分位置后，客户端可以响应于用户的点击操作，获取到用户选择的待拆分的道路和对该道路的拆分位置。
在步骤602中，客户端可以通过UI显示在用户选择的拆分位置对该待拆分的道路进行拆分的效果。
示例性地，客户端通过UI显示出的对该道路的拆分效果可以如图5的(b)中的道路撕裂开的效果所示，也可以在UI上以高亮的形式将用户选择的待拆分的道路和对该道路的拆分位置显示出来，只要能将用户选择的待拆分的道路和待拆分的位置与该地图中其他地图元素的显示效果区分开即可，本申请实施例对此不作任何限定。
在步骤603中，客户端可以响应于用户对该拆分后的效果的确认操作，将待拆分的道路和该拆分位置的像素坐标转换为地图坐标。
在步骤604中，客户端可以基于该待拆分的道路和该拆分位置的地图坐标生成第一消息。
示例性地，该第一消息中可以携带地图更新指令，该地图更新指令中可以携带该待拆分的道路和该拆分位置的地图坐标的信息。
在步骤605中，客户端可以向地图服务器发送该第一消息。相应地，地图服务器可以接收来自该客户端的第一消息。
在步骤606中，地图服务器可以基于第一消息对该待拆分的道路进行拆分，更新第一地图的路网拓扑结构，得到至少一个第二地图。
示例性地，如图5的(b)中示出的这条道路被在用户选择的拆分位置处打断，形成了两条断头路，也即当车辆在如图中所示的拆分位置的左侧的道路上行驶时，当车辆走到拆分位置处将无法再继续前行，同时，由于这条道路为单向上游道路或者单向下游道路，车辆只能沿着箭头所示的道路通行属性进行形式，所以车辆也无法调头或后退，这种情况下只对该道路的这个位置进行拆分处理是无法满足作业任务需求的，所以地图服务器可以在判断这种只对该道路进行拆分方式不可行的情况下，可以在该地图中增加一些虚拟地图元素，使得这两条断头路可以与其他地图元素进行连通，从而保证地图中不会存在断头路，保证车辆能够正常通行。
地图服务器对第一地图的路网拓扑结构的更新可以有至少一种方案，也即，地图服务器可以生成至少一个第二地图。
在步骤607中，地图服务器可以向客户端发送所述至少一个第二地图。相应地，客户端可以接收来自该地图服务器的至少一个第二地图。
客户端在接收到至少一个第二地图之后，可以通过UI将该至少一个第二地图呈现给用户。
在步骤608中，客户端可以响应于用户对所述至少一个第二地图中的一个第二地图的选择，生成携带有用户选择的第二地图的信息的保存指令。
用户可以从客户端通过UI呈现出的至少一个第二地图中，选择一个第二地图。客户端可以响应于用户对至少一个第二地图中的一个第二地图的选择或者确定，生成保存指令，该保存指令中携带有用户选择的这个第二地图的信息，该保存指令用于指示地图服务器保存用户选择的这个第二地图。
在步骤609中，客户端可以向地图服务器发送该保存指令。相应地，地图服务器可以接收来自客户端的保存指令。
在步骤610中，地图服务器可以响应于该保存指令，保存用户所选择的第二地图。
应理解，图6示出的方法600只是示例性的，在实际应用场景中，客户端与地图服务器之间可以根据实际作业情况，增加或减少个别交互步骤，但只要保证通过客户端与地图服务之间的交互，可以实现对第一地图的路网拓扑结构进行更新，得到第二地图即可，本申请实施例对此不作限定。
示例性地，下面参阅图7所示的方法流程图，对本申请实施例提出的更新地图的方法中涉及车流量信息的情况下对地图进行更新的详细实现细节进行介绍。
如图7所示，该方法700可以包括步骤701至步骤713。
在步骤701中，客户端可以响应于用户在UI上的查看历史车流量信息的操作，生成显示历史车流量信息指令。
用户可以在客户端的UI上点击查看历史车流量信息，以通过这些信息来了解历史作业任务中对各道路的使用情况，便于用户总结经验，更合理地安排后续的作业任务。
客户端可以响应于用户查看历史车流量信息的操作，生成显示历史车流量信息指令。
在步骤702中，客户端可以向地图服务器发送该显示历史车流量信息指令。相应 地，地图服务器可以接收来自该客户端的显示历史车流量信息指令。
在步骤703中，地图服务器可以获取第一地图中的地图元素的容量和基于第一地图进行作业的作业任务的历史信息。
第一地图中的地图元素的容量可以是地图服务器中预存的设置数据。预存的设置数据可以是用户预先为第一地图设置的数据，也可以是地图服务器根据一定的规则自动设置的数据，本申请实施例对此不作限定。
在步骤704中，地图服务器可以基于地图元素的容量和作业任务的历史信息对第一地图中的交汇口所连接的道路进行排序，生成排序结果。该排序结果中包括历史车流量信息。
交汇口的容量可以理解为与交汇口相连接的道路的容量。排序结果可以是将车流量超过容量的道路排在前面，把车流量未超过容量的排在后面；排列结果也可以是将车流量超过容量的道路排在后面，把车流量未超过容量的排在前面，本申请对此不作限定。
在步骤705中，地图服务器可以向客户端发送该排序结果。相应地，该客户端可以接收来自该地图服务器的排序结果。
在步骤706中，客户端可以通过UI显示所述排序结果。
示例性地，客户端可以将从地图服务器接收到的排序结果转换为文字和/或颜色等显示效果，并通过UI显示出来，以供用户查看、分析和决策等。
在步骤707中，客户端可以响应于用户在UI上的第一操作，生成第一消息。
示例性地，第一操作可以包括用户在UI上对待更新的地图元素的选择。例如，第一操作包括用户在UI上对待拆分的交汇口的选择，还可以包括对待拆分的交汇口的拆分位置的选择。
示例性地，第一操作可以包括用户在UI上选择用于指示地图服务器自动更新第一地图的路网拓扑结构的按钮或接口，也可以理解为，客户端可以通过UI为用户提供指示地图服务器对第一地图的路网拓扑结构进行全局优化的接口。
在步骤708中，客户端可以向地图服务器发送该第一消息。相应地，地图服务器可以接收来自该客户端的第一消息。
在步骤709中，地图服务器可以基于第一消息对第一地图的交路网拓扑结构进行更新，得到至少一个第二地图。
当步骤707中的第一操作包括用户在UI上对待拆分的交汇口的选择和对待拆分的交汇口的拆分位置的选择时，在步骤709中，地图服务器还可以对该拆分方案进行可行性的判断或验证，或者说，判断或验证更新后的路网拓扑结构中是否有断头路，以及是否符合车辆的机动能力。如果拆分方案无可行性，则地图服务器可以通过客户端的UI提示用户拆分方案不可行，并且地图服务器可以自行在用户指示的拆分方案的基础上自行优化拆分方案，使得更新后的地图的路网图谱结构中无断头路，且符合车辆的机动能力，并通过客户端的UI呈现给用户。用户可以选择使用地图服务器提供的地图，也可以再次通过客户端指示地图服务器进行地图更新。如果拆分方案有可行性，则地图服务器可以直接通过客户端的UI将按照该拆分方案更新后的地图呈现给用户。这部分内容只是示例性的内容，而非限定性的内容。
当步骤707中的第一操作包括指示地图服务器对第一地图的路网拓扑结构进行全局优化的操作时，在步骤709中，地图服务器可以结合第一地图中的道路的路权参数、通行属性、道路和/或交汇口的容量等参数信息，对第一地图的交路网拓扑结构进行更新。
图7中的步骤710至步骤713与图6中的步骤607至610相同，为了简洁，此处不再赘述，相关详细说明请参看图6中的步骤607至步骤610。
应理解，图7示出的方法700只是示例性的，在实际应用场景中，客户端与地图服务器之间可以根据实际作业情况，增加或减少个别交互步骤，但只要保证通过客户端与地图服务之间的交互，可以实现对第一地图的路网拓扑结构进行更新，得到第二地图即可，本申请实施例对此不作限定。
示例性地，下面参阅图8所示的方法流程图，对本申请提出的更新地图的方法中涉及上传作业任务的情况下对地图进行更新的详细实现细节进行介绍。
如图8所示，该方法800可以包括步骤801至步骤808。
在步骤801中，客户端可以响应于用户在UI上的输入或选择作业任务的起点和终点，确定该起点和该终点的地图坐标。
客户端可以根据用户输入或选择的作业任务的起点和终点，将在UI上显示的第一地图中的起点和终点的对应的像素点的像素坐标转换为以经纬度形式表示的地图坐标。
在步骤802中，客户端可以基于该起点和该终点的地图坐标，生成第一消息。
第一消息可以携带作业任务的起点和终点的地图坐标信息。第一消息可以用于指示地图服务器对第一地图的路网拓扑结构进行更新，还可以指示地图服务器根据该起点和该终点进行从该起点到该终点的路径规划。
可选地，在用户在第一地图中输入作业任务的起点和终点的情况下，客户端也可以是确定该起点和该终点的像素坐标，第一消息可以携带作业任务的起点和终点的像素坐标信息，在地图服务器接收到该第一消息后，也可以由地图服务器将地点和该终点的像素坐标转换为该起点和该终点的地图坐标，本申请实施例对此不作限定。
在步骤803中，客户端可以向地图服务器发送该第一消息。相应地，地图服务器可以接收来自该客户端的第一消息。
在步骤804中，地图服务器可以基于第一消息对第一地图的交路网拓扑结构进行更新，得到至少一个第二地图以及路径规划结果。
示例性地，地图服务器在接收到第一消息后，可以先判断在第一地图的路网拓扑结构中该起点到该终点之间是否可达，若可达，则地图服务器可以规划出至少一条基于第一地图的路网拓扑结构的可通行路径，并且根据该起点和该终点增加至少一个虚拟地图元素，使得该起点到该终点之间的通行代价(可以是通行时间，也可以是通行距离)不小于基于第一地图的路网拓扑结构的可通行路径的通行代价，也就是说，在地图服务器判断出该起点到该终点之间可达的情况下，路径规划结果中包括至少一条基于第一地图的路网拓扑结构的可通行路径和至少一条基于对第一地图的路网拓扑结构更新后的包括新增的虚拟地图元素的可通行路径；若不可达，地图服务器可以通过客户端的UI提示用户该起点与该终点之间不可达，并且，地图服务器可以对第一地图的路网拓扑结构进行更新，在第一地图中增加虚拟地图元素，以使得该起点和该节点 之间可达，这种情况下，路径规划结果中包括至少一条基于对第一地图的路网拓扑结构更新后的包括新增的虚拟地图元素的可通行路径。
在步骤805中，地图服务器可以向客户端发送所述至少一个第二地图以及路径规划结果。相应地，客户端可以接收来自该地图服务器的至少一个第二地图以及路径规划结果。
图8中的步骤806至步骤808与图6中的步骤608至步骤610相同，为了简洁，此处不再赘述，相关详细说明请参看图6中的步骤608至步骤610。
应理解，图8示出的方法800只是示例性的，在实际应用场景中，客户端与地图服务器之间可以根据实际作业情况，增加或减少个别交互步骤，但只要保证通过客户端与地图服务之间的交互，可以实现对第一地图的路网拓扑结构进行更新，得到第二地图即可，本申请实施例对此不作限定。
以上，结合图4至图8详细说明了本申请实施例提供的方法。以下，结合图9至图12详细说明本申请实施例提供的装置。
图9是本申请实施例提供的一种更新地图的装置的示意性框图。
如图9所示，该更新地图的装置900可以包括：生成模块910和发送模块920。该更新地图的装置900可以用于执行方法400、方法600、方法700和方法800任一方法实施例中客户端的步骤。
示例性地，当该更新地图的装置900用于执行方法400中客户端的步骤时，该更新地图的装置900可以执行方法400中的步骤410、步骤420和步骤440；当该更新地图的装置900用于执行方法600中客户端的步骤时，该更新地图的装置900可以执行方法600中的步骤601至步骤605，和步骤607至步骤609；当该更新地图的装置900用于执行方法700中客户端的步骤时，该更新地图的装置900可以执行方法700中的步骤701至步骤702、步骤705至步骤708，和步骤710至步骤712；当该更新地图的装置900用于执行方法800中客户端的步骤时，该更新地图的装置900可以执行方法800中的步骤801至步骤803，和步骤805至步骤807。
图10是本申请实施例提供的再一种更新地图的装置的示意性框图。
如图10所示，该更新地图的装置1000可以包括：接收模块1010和更新模块1020。该更新地图的装置1000可以用于执行方法400、方法600、方法700和方法800任一方法实施例中地图服务器的步骤。
示例性地，当该更新地图的装置1000用于执行方法400中地图服务器的步骤时，该更新地图的装置1000可以执行方法400中的步骤420、步骤430和步骤440；当该更新地图的装置1000用于执行方法600中地图服务器的步骤时，该更新地图的装置1000可以执行方法600中的步骤605至步骤607，和步骤609至步骤610；当该更新地图的装置1000用于执行方法700中地图服务器的步骤时，该更新地图的装置1000可以执行方法700中的步骤702至步骤705、步骤708至步骤710，和步骤712至步骤713；当该更新地图的装置1000用于执行方法800中地图服务器的步骤时，该更新地图的装置1000可以执行方法800中的步骤803至步骤805，和步骤807至步骤808。
图11是本申请实施例提供的又一种更新地图的装置的示意性框图。
如图11所示，该更新地图的装置1100可以包括：接收模块1110和更新模块1120。 该更新地图的装置1100可以用于执行方法400中车辆的步骤。
示例性地，当该更新地图的装置1100用于执行方法400中车辆的步骤时，该更新地图的装置1100可以执行方法400中的步骤440和步骤450。
图12是本申请实施例提供的另一种更新地图的装置的示意性框图。
更新地图的装置1200可用于实现上述方法400、方法600、方法700和方法800中客户端、地图服务器或车辆的功能。该更新地图的装置1200可以为芯片系统。本申请实施例中，芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
如图12所示，该更新地图的装置1200可以包括至少一个处理器1210，用于实现本申请实施例提供的方法400、方法600、方法700和方法800任一方法实施例中客户端或地图服务器的功能，或，用于实现本申请实施例提供的方法400中车辆的功能。
例如，当该更新地图的装置1200用于实现本申请实施例提供的方法400中客户端的功能时，处理器1210可以用于响应于用户在UI上的第一操作，生成第一消息，该第一消息用于指示更新第一地图的路网拓扑结构，路网拓扑结构包括地图元素的位姿、尺寸和拓扑关系中的至少一项；向地图服务器发送该第一消息。具体参见方法示例中的详细描述，此处不做赘述。
再例如，当该更新地图的装置1200用于实现本申请实施例提供的方法400中地图服务器的功能时，处理器1210可以用于接收来自客户端的第一消息，所述第一消息用于指示该更新地图的装置1200对第一地图的路网拓扑结构进行更新，所述路网拓扑结构包括地图元素的位姿、尺寸和拓扑关系中的至少一项；基于所述第一消息，更新所述第一地图的路网拓扑结构，得到第二地图。具体参见方法示例中的详细描述，此处不做赘述。
又例如，当该更新地图的装置1200用于实现本申请实施例提供的方法400中车辆的功能时，处理器1210可以用于接收来自地图服务器的第二地图，所述第二地图是基于对第一地图的路网拓扑结构更新得到的，所述路网拓扑结构包括：地图元素的位姿、尺寸和拓扑关系中的至少一项；将所述第一地图更新为所述第二地图。具体参见方法示例中的详细描述，此处不做赘述。
该更新地图的装置1200还可以包括至少一个存储器1220，用于存储程序指令和/或数据。存储器1220和处理器1210耦合。本申请实施例中的耦合是装置、单元或模块之间的间接耦合或通信连接，可以是电性，机械或其它的形式，用于装置、单元或模块之间的信息交互。处理器1210可能和存储器1220协同操作。处理器1210可能执行存储器1220中存储的程序指令。所述至少一个存储器中的至少一个可以包括于处理器中。
该更新地图的装置1200还可以包括通信接口1230，用于通过传输介质和其它设备进行通信，从而用于更新地图的装置1200中的装置可以和其它设备进行通信，例如，当更新地图的装置1200为客户端时，其它设备可以是地图服务器或车辆；当更新地图的装置1200为地图服务器时，其它设备可以是客户端或车辆；当更新地图的装置1200为车辆时，其它设备可以是地图服务器或客户端。所述通信接口1230例如可以是收发器、接口、总线、电路或者能够实现收发功能的装置。处理器1210可利用通信接口1230收发数据和/或信息，并用于实现图12对应的实施例中所述的客户端或地图服务器或车辆所执行的方法。
本申请实施例中不限定上述处理器1210、存储器1220以及通信接口1230之间的具体 连接介质。本申请实施例在图12中以处理器1210、存储器1220以及通信接口1230之间通过总线1240连接。总线1240在图12中以粗线表示，其它部件之间的连接方式，仅是进行示意性说明，并不引以为限。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示，图12中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
本申请实施例还提供了一种芯片系统，所述芯片系统包括至少一个处理器，用于实现上述图4、图6、图7和图8所示的任一方法实施例中客户端或地图服务器执行的方法中所涉及的功能，或，用于实现上述图4所示实施例中车辆执行的方法中所涉及的功能，例如，接收或处理上述方法中所涉及的数据和/或信息。
在一种可能的设计中，所述芯片系统还包括存储器，所述存储器用于保存程序指令和数据，存储器位于处理器之内或处理器之外。
该芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
本申请实施例还提供一种计算机程序产品，所述计算机程序产品包括：计算机程序(也可以称为代码，或指令)，当所述计算机程序被运行时，使得计算机执行如图4、图6、图7和图8中所示实施例中客户端执行的方法或地图服务器执行的方法，或，使得计算机执行如图4中所示实施例中车辆执行的方法。
本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序(也可以称为代码，或指令)。当所述计算机程序被运行时，使得计算机执行如图4、图6、图7和图8中所示的任一方法实施例中客户端或地图服务器执行的方法，或，使得计算机执行如图4中所示实施例中车辆执行的方法。
本申请实施例还提供一种车辆，该车辆可用于执行如图4所示的实施例中车辆执行的方法。
应理解，本申请实施例中的处理器可以是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器、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、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。
还应理解，本申请实施例中的存储器可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(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)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态 随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。应注意，本文描述的系统和方法的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
本说明书中使用的术语“单元”、“模块”等，可用于表示计算机相关的实体、硬件、固件、硬件和软件的组合、软件、或执行中的软件。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各种说明性逻辑块(illustrative logical block)和步骤(step)，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。在本申请所提供的几个实施例中，应该理解到，所揭露的装置、设备和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能模块可以集成在一个处理模块中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个模块中。
在上述实施例中，各功能模块的功能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(程序)。在计算机上加载和执行所述计算机程序指令(程序)时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，数字通用光盘(digital video disc，DVD))、或者半导体介质(例如固态硬盘(solid state disk，SSD))等。
所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现 有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (45)

  1. 一种更新地图的方法，其特征在于，所述方法包括：
    客户端响应于用户在用户界面UI的第一操作，生成第一消息，所述第一消息用于指示更新第一地图的路网拓扑结构，所述路网拓扑结构包括地图元素的位姿、尺寸和拓扑关系中的至少一项；
    所述客户端向地图服务器发送所述第一消息。
  2. 如权利要求1所述的方法，其特征在于，所述地图元素包括真实地图元素和/或虚拟地图元素，对所述第一地图的路网拓扑结构的更新包括以下一项或多项：对所述第一地图中的一个或多个地图元素的拆分、删除，和在所述第一地图中增加虚拟地图元素。
  3. 如权利要求1或2所述的方法，其特征在于，所述第一操作包括向所述客户端上传作业任务，所述第一消息携带所述作业任务的信息；或
    所述第一操作包括在所述第一地图中选择待更新的地图元素，所述第一消息携带地图更新指令，所述地图更新指令用于指示对所述待更新的地图元素进行更新。
  4. 如权利要求3所述的方法，其特征在于，所述第一操作包括在所述第一地图中选择待更新的地图元素，所述第一消息携带所述地图更新指令；以及
    所述客户端响应于用户在UI的第一操作，生成第一消息，包括：
    所述客户端响应于用户在所述UI上选择所述待更新的地图元素，将所述待更新的地图元素的像素坐标转换为地图坐标；
    所述客户端基于所述地图坐标生成所述地图更新指令，所述地图更新指令携带所述待更新的地图元素的地图坐标信息。
  5. 如权利要求4所述的方法，其特征在于，所述第一操作还包括在所述第一地图中选择所述待更新的地图元素的更新位置；所述地图更新指令还携带所述更新位置的地图坐标信息，所述更新位置的地图坐标信息用于指示对所述待更新的地图元素进行更新的位置。
  6. 如权利要求3所述的方法，其特征在于，所述上传作业任务包括：在所述第一地图中输入或选择所述作业任务的起点和终点；以及
    所述客户端响应于用户在UI的第一操作，生成第一消息，包括：
    所述客户端响应于用户在所述UI中对所述第一地图中输入或选择所述作业任务的起点和终点，确定所述起点和所述终点的地图坐标；
    所述客户端基于所述起点和所述终点的地图坐标生成所述第一消息，所述第一消息携带所述起点和所述终点的地图坐标信息。
  7. 如权利要求3或6所述的方法，其特征在于，所述方法还包括：
    所述客户端接收来自所述地图服务器的路径规划结果，所述路径规划结果用于指示针对所述作业任务规划出的可通行的路径，所述可通行的路径中包括在所述第一地图中增加的虚拟地图元素。
  8. 如权利要求3、6或7所述的方法，其特征在于，所述方法还包括：
    所述客户端基于一个或多个作业任务，获取以下一项或多项参数：所述一个或多个作业任务对应的路径中各道路的路权参数、所述一个或多个作业任务对应的路径中各道路的通行属性和所述一个或多个作业任务对应的路径中各道路和/或交汇口的容量；
    所述客户端向所述地图服务器发送所述一项或多项参数，以用于更新所述第一地 图的路网拓扑结构。
  9. 如权利要求1至8中任一项所述的方法，其特征在于，所述方法还包括：
    所述客户端接收来自所述地图服务器的第二地图，所述第二地图是所述地图服务器响应于第一消息对所述第一地图的路网拓扑结构进行更新得到的。
  10. 一种更新地图的方法，其特征在于，所述方法包括：
    地图服务器接收来自客户端的第一消息，所述第一消息用于指示所述地图服务器对第一地图的路网拓扑结构进行更新，所述路网拓扑结构包括地图元素的位姿、尺寸和拓扑关系中的至少一项；
    所述地图服务器基于所述第一消息，更新所述第一地图的路网拓扑结构，得到第二地图。
  11. 如权利要求10所述的方法，其特征在于，所述地图元素包括真实地图元素和/或虚拟地图元素，对所述第一地图的路网拓扑结构的更新包括以下一项或多项：对所述第一地图中的一个或多个地图元素的拆分、删除和在所述第一地图中增加虚拟地图元素。
  12. 如权利要求10或11所述的方法，其特征在于，所述第一消息携带作业任务的信息；或
    所述第一消息携带地图更新指令，所述地图更新指令用于指示对待更新的地图元素进行更新。
  13. 如权利要求12所述的方法，其特征在于，所述第一消息携带所述地图更新指令，所述地图更新指令中携带所述待更新的地图元素的地图坐标信息。
  14. 如权利要求13所述的方法，其特征在于，所述地图更新指令还携带更新位置的地图坐标信息，所述更新位置的地图坐标信息用于指示对所述待更新的地图元素进行更新的位置。
  15. 如权利要求12所述的方法，其特征在于，所述第一消息携带作业任务的信息，所述第一消息携带所述作业任务的起点和终点的地图坐标信息。
  16. 如权利要求12或15所述的方法，其特征在于，所述第一消息携带所述作业任务的信息，以及
    所述方法还包括：
    所述地图服务器基于所述作业任务的信息，生成路径规划结果，所述路径规划结果用于指示针对所述作业任务规划出的可通行的路径，所述可通行的路径中包括在所述第一地图中增加的虚拟地图元素；
    所述地图服务器向所述客户端发送所述路径规划结果。
  17. 如权利要求12、15或16所述的方法，其特征在于，所述方法还包括：
    所述地图服务器接收来自所述客户端的以下一项或多项参数：所述一个或多个作业任务对应的路径中各道路的路权参数、所述一个或多个作业任务对应的路径中各道路的通行属性和所述一个或多个作业任务对应的路径中各道路和/或交汇口的容量；
    所述地图服务器基于所述一项或多项参数对所述第一地图的路网拓扑结构进行更新。
  18. 如权利要求10至17中任一项所述的方法，其特征在于，所述方法还包括：
    所述地图服务器发送所述第二地图。
  19. 如权利要求18所述的方法，其特征在于，所述方法还包括：
    所述地图服务器接收来自车辆的指示信息，所述指示信息用于指示所述车辆行驶路径中的部分或全部不是所述第二地图中的地图元素；
    所述地图服务器基于所述指示信息，对所述第二地图进行更新。
  20. 一种更新地图的方法，其特征在于，所述方法包括：
    车辆接收来自地图服务器的第二地图，所述第二地图是基于对第一地图的路网拓扑结构更新得到的，所述路网拓扑结构包括：地图元素的位姿、尺寸和拓扑关系中的至少一项；
    所述车辆将所述第一地图更新为所述第二地图。
  21. 如权利要求20所述的方法，其特征在于，所述方法还包括：
    所述车辆向所述地图服务器发送指示信息，所述指示信息用于指示所述车辆行驶路径中的部分或全部不是所述第二地图中的地图元素，以用于所述地图服务器进行地图更新。
  22. 一种更新地图的装置，其特征在于，所述装置包括：
    生成模块，用于响应于用户在用户界面UI的第一操作，生成第一消息，所述第一消息用于指示更新第一地图的路网拓扑结构，所述路网拓扑结构包括地图元素的位姿、尺寸和拓扑关系中的至少一项；
    发送模块，用于向地图服务器发送所述第一消息。
  23. 如权利要求22所述的装置，其特征在于，所述地图元素包括真实地图元素和/或虚拟地图元素，对所述第一地图的路网拓扑结构的更新包括以下一项或多项：对所述第一地图中的一个或多个地图元素的拆分、删除，和在所述第一地图中增加虚拟地图元素。
  24. 如权利要求22或23所述的装置，其特征在于，所述第一操作包括向所述装置上传作业任务，所述第一消息携带所述作业任务的信息；或
    所述第一操作包括在所述第一地图中选择待更新的地图元素，所述第一消息携带地图更新指令，所述地图更新指令用于指示对所述待更新的地图元素进行更新。
  25. 如权利要求24所述的装置，其特征在于，所述第一操作包括在所述第一地图中选择待更新的地图元素，所述第一消息携带所述地图更新指令；以及
    所述生成模块具体用于：
    响应于用户在所述UI上选择所述待更新的地图元素，将所述待更新的地图元素的像素坐标转换为地图坐标；
    基于所述地图坐标生成所述地图更新指令，所述地图更新指令携带所述待更新的地图元素的地图坐标信息。
  26. 如权利要求25所述的装置，其特征在于，所述第一操作还包括在所述第一地图中选择所述待更新的地图元素的更新位置；所述地图更新指令还携带所述更新位置的地图坐标信息，所述更新位置的地图坐标信息用于指示对所述待更新的地图元素进行更新的位置。
  27. 如权利要求24所述的装置，其特征在于，所述上传作业任务包括：在所述第一地图中输入或选择所述作业任务的起点和终点；以及
    所述生成模块具体用于：
    响应于用户在所述UI中对所述第一地图中输入或选择所述作业任务的起点和终点，确定所述起点和所述终点的地图坐标；
    基于所述起点和所述终点的地图坐标生成所述第一消息，所述第一消息携带所述起点和所述终点的地图坐标信息。
  28. 如权利要求24或27所述的装置，其特征在于，所述装置还包括：
    接收模块，用于接收来自所述地图服务器的路径规划结果，所述路径规划结果用于指示针对所述作业任务规划出的可通行的路径，所述可通行的路径中包括在所述第一地图中增加的虚拟地图元素。
  29. 如权利要求24、27或28所述的装置，其特征在于，所述装置还包括：
    获取模块，用于基于一个或多个作业任务，获取以下一项或多项参数：所述一个或多个作业任务对应的路径中各道路的路权参数、所述一个或多个作业任务对应的路径中各道路的通行属性和所述一个或多个作业任务对应的路径中各道路和/或交汇口的容量；以及
    所述发送模块还用于向所述地图服务器发送所述一项或多项参数，以用于更新所述第一地图的路网拓扑结构。
  30. 如权利要求22至29任一项所述的装置，其特征在于，所述装置还包括：
    接收模块，用于接收来自所述地图服务器的第二地图，所述第二地图是所述地图服务器响应于第一消息对所述第一地图的路网拓扑结构进行更新得到的。
  31. 一种更新地图的装置，其特征在于，所述装置包括：
    接收模块，用于接收来自客户端的第一消息，所述第一消息用于指示所述装置对第一地图的路网拓扑结构进行更新，所述路网拓扑结构包括地图元素的位姿、尺寸和拓扑关系中的至少一项；
    更新模块，用于基于所述第一消息，更新所述第一地图的路网拓扑结构，得到第二地图。
  32. 如权利要求31所述的装置，其特征在于，所述地图元素包括真实地图元素和/或虚拟地图元素，对所述第一地图的路网拓扑结构的更新包括以下一项或多项：对所述第一地图中的一个或多个地图元素的拆分、删除和在所述第一地图中增加虚拟地图元素。
  33. 如权利要求31或32所述的装置，其特征在于，所述第一消息携带作业任务的信息；或
    所述第一消息携带地图更新指令，所述地图更新指令用于指示对待更新的地图元素进行更新。
  34. 如权利要求33所述的装置，其特征在于，所述第一消息携带所述地图更新指令，所述地图更新指令中携带所述待更新的地图元素的地图坐标信息。
  35. 如权利要求34所述的装置，其特征在于，所述地图更新指令还携带更新位置的地图坐标信息，所述更新位置的地图坐标信息用于指示对所述待更新的地图元素进行更新的位置。
  36. 如权利要求33所述的装置，其特征在于，所述第一消息携带作业任务的信息，所述第一消息携带所述作业任务的起点和终点的地图坐标信息。
  37. 如权利要求33或36所述的装置，其特征在于，所述第一消息携带所述作业任务的信息，以及
    所述装置还包括：
    生成模块，用于基于所述作业任务的信息，生成路径规划结果，所述路径规划结果用于指示针对所述作业任务规划出的可通行的路径，所述可通行的路径中包括在所述第一地图中增加的虚拟地图元素；
    发送模块，用于向所述客户端发送所述路径规划结果。
  38. 如权利要求33、36或37所述的装置，其特征在于，所述接收模块还用于接收来自所述客户端的以下一项或多项参数：所述一个或多个作业任务对应的路径中各道路的路权参数、所述一个或多个作业任务对应的路径中各道路的通行属性和所述一个或多个作业任务对应的路径中各道路和/或交汇口的容量；以及
    所述更新模块还用于基于所述一项或多项参数对所述第一地图的路网拓扑结构进行更新。
  39. 如权利要求31至38任一项所述的装置，其特征在于，所述装置还包括：
    发送模块，用于发送所述第二地图。
  40. 如权利要求39所述的装置，其特征在于，所述接收模块还用于接收来自车辆的指示信息，所述指示信息用于指示所述车辆行驶路径中的部分或全部不是所述第二地图中的地图元素；以及
    所述更新模块还用于基于所述指示信息，对所述第二地图进行更新。
  41. 一种更新地图的装置，其特征在于，所述装置包括：
    接收模块，用于接收来自地图服务器的第二地图，所述第二地图是基于对第一地图的路网拓扑结构更新得到的，所述路网拓扑结构包括：地图元素的位姿、尺寸和拓扑关系中的至少一项；
    更新模块，用于将所述第一地图更新为所述第二地图。
  42. 如权利要求41所述的装置，其特征在于，所述装置还包括：
    发送模块，用于向所述地图服务器发送指示信息，所述指示信息用于指示所述装置行驶路径中的部分或全部不是所述第二地图中的地图元素，以用于所述地图服务器进行地图更新。
  43. 一种更新地图的装置，其特征在于，包括处理器，所述处理器执行计算机执行指令，以实现如权利要求1至9中任一项所述的方法，或，如权利要求10至19中任一项所述的方法，或，如权利要求20或21所述的方法。
  44. 一种计算机可读存储介质，其特征在于，包括计算机程序，当所述计算机程序在计算机上运行时，使得所述计算机执行如权利要求1至9中任一项所述的方法，或，使得所述计算机执行如权利要求10至19中任一项所述的方法，或，使得所述计算机执行如权利要求20或21所述的方法。
  45. 一种计算机程序产品，其特征在于，包括程序代码，当所述程序代码在计算机上运行时，使得所述计算机实现如权利要求1至9中任一项所述的方法，或，使得所述计算机执行如权利要求10至19中任一项所述的方法，或，使得所述计算机执行如权利要求20或21所述的方法。
PCT/CN2021/138659 2021-12-16 2021-12-16 一种更新地图的方法和装置 WO2023108523A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/CN2021/138659 WO2023108523A1 (zh) 2021-12-16 2021-12-16 一种更新地图的方法和装置
EP21967658.2A EP4439330A1 (en) 2021-12-16 2021-12-16 Method and apparatus for updating map
CN202180104932.9A CN118369661A (zh) 2021-12-16 2021-12-16 一种更新地图的方法和装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/138659 WO2023108523A1 (zh) 2021-12-16 2021-12-16 一种更新地图的方法和装置

Publications (1)

Publication Number Publication Date
WO2023108523A1 true WO2023108523A1 (zh) 2023-06-22

Family

ID=86775034

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/138659 WO2023108523A1 (zh) 2021-12-16 2021-12-16 一种更新地图的方法和装置

Country Status (3)

Country Link
EP (1) EP4439330A1 (zh)
CN (1) CN118369661A (zh)
WO (1) WO2023108523A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116776046A (zh) * 2023-08-24 2023-09-19 长春精意科技有限公司 一种应用于导航系统的地图数据更新方法
CN118565497A (zh) * 2024-07-31 2024-08-30 高德软件有限公司 路口内路网结构的生成方法、装置、电子设备及存储介质

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130246924A1 (en) * 2012-03-19 2013-09-19 Huawei Technologies Co., Ltd. Method and Device for Processing Network Element Object Information in 3D Topology View
CN113127583A (zh) * 2019-12-31 2021-07-16 华为技术有限公司 一种数据传输方法和装置
CN113157832A (zh) * 2020-12-31 2021-07-23 上海淞泓智能汽车科技有限公司 一种基于边缘计算的智能汽车高精度地图生成方法
CN113239062A (zh) * 2021-06-18 2021-08-10 恒大新能源汽车投资控股集团有限公司 一种停车场地图更新方法、装置、车辆及服务器

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130246924A1 (en) * 2012-03-19 2013-09-19 Huawei Technologies Co., Ltd. Method and Device for Processing Network Element Object Information in 3D Topology View
CN113127583A (zh) * 2019-12-31 2021-07-16 华为技术有限公司 一种数据传输方法和装置
CN113157832A (zh) * 2020-12-31 2021-07-23 上海淞泓智能汽车科技有限公司 一种基于边缘计算的智能汽车高精度地图生成方法
CN113239062A (zh) * 2021-06-18 2021-08-10 恒大新能源汽车投资控股集团有限公司 一种停车场地图更新方法、装置、车辆及服务器

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116776046A (zh) * 2023-08-24 2023-09-19 长春精意科技有限公司 一种应用于导航系统的地图数据更新方法
CN116776046B (zh) * 2023-08-24 2023-12-08 长春精意科技有限公司 一种应用于导航系统的地图数据更新方法
CN118565497A (zh) * 2024-07-31 2024-08-30 高德软件有限公司 路口内路网结构的生成方法、装置、电子设备及存储介质

Also Published As

Publication number Publication date
CN118369661A (zh) 2024-07-19
EP4439330A1 (en) 2024-10-02

Similar Documents

Publication Publication Date Title
WO2023108523A1 (zh) 一种更新地图的方法和装置
US20200239023A1 (en) Operator assistance for autonomous vehicles
CN109863513B (zh) 用于自主车辆控制的神经网络系统
CN108062094B (zh) 基于处理器实现车辆行驶轨迹规划的自主系统和方法
JP6726363B2 (ja) 生成されたインターフェースを使用する自律走行車の監視
US20230358554A1 (en) Routing graph management in autonomous vehicle routing
CN111158384B (zh) 机器人建图方法、设备及存储介质
JP7330142B2 (ja) 車両のｕターン経路を決定する方法、装置、デバイスおよび媒体
WO2019052501A1 (zh) 信息传输方法、交通控制单元和车载单元
JP2019537159A5 (zh)
CN108292474A (zh) 派遣和维护自主车辆的车队的协调
WO2019062648A1 (zh) 一种导航路径规划方法及设备
US20220412755A1 (en) Autonomous vehicle routing with local and general routes
CN108764765A (zh) 一种派送路径确定方法、装置、终端和存储介质
US20220032949A1 (en) Routing feature flags
WO2023274284A1 (zh) 一种车辆控制方法、装置及系统
CN111736606A (zh) 移动机器人行驶方法、装置及存储介质
CN109993813B (zh) 创建地图的方法、装置、车辆及可读存储介质
CN113852936A (zh) 基于直连通讯和蜂窝网络通讯的车辆组队系统与方法
CN110553662B (zh) 一种基于道路口编码体系的导航方法及系统
CN112113579A (zh) 路径生成方法、装置、计算设备、介质与导航系统
US20210095977A1 (en) Revising self-driving vehicle routes in response to obstructions
US20220065647A1 (en) Autonomous vehicle planned route prediction
CN112578817A (zh) 无人机的控制方法、装置、存储介质和电子设备
Abdelkader et al. HD Maps for Connected and Automated Vehicles: Enabling Technologies and Future Directions

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21967658

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021967658

Country of ref document: EP

Effective date: 20240627

NENP Non-entry into the national phase

Ref country code: DE