WO2023142817A1 - 地理围栏数据更新方法、装置、介质及设备 - Google Patents

地理围栏数据更新方法、装置、介质及设备 Download PDF

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Publication number
WO2023142817A1
WO2023142817A1 PCT/CN2022/141401 CN2022141401W WO2023142817A1 WO 2023142817 A1 WO2023142817 A1 WO 2023142817A1 CN 2022141401 W CN2022141401 W CN 2022141401W WO 2023142817 A1 WO2023142817 A1 WO 2023142817A1
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Prior art keywords
geo
fence
mark
data
current road
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PCT/CN2022/141401
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English (en)
French (fr)
Inventor
刘洋
孙连明
宋林桓
姜云鹏
冷德龙
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中国第一汽车股份有限公司
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Publication of WO2023142817A1 publication Critical patent/WO2023142817A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data

Definitions

  • the present application relates to the technical field of automatic driving, for example, to a geofence data update method, device, medium and equipment.
  • Geofence is a new application of Location Based Services (LBS), which uses a virtual fence to construct a virtual geographic boundary.
  • LBS Location Based Services
  • the automatic driving function when the self-driving vehicle is within the virtual geographic boundary, the automatic driving function can be turned on, that is, when the vehicle is located in the area corresponding to the geo-fence rule, the automatic driving function is allowed to be turned on. When it is determined that the vehicle is outside the geographic fence, the automatic driving function is turned off.
  • geofence data contained in the above geofence rules is bound to the high-definition map data, once the geofence data is determined, it cannot be changed flexibly. If you want to adjust or add geofence rules, the geofence data needs to be updated together with the high-definition map data.
  • the autopilot vehicle manufacturer is responsible for the autopilot function test, and decides which regions and roads can open the autopilot function according to the test results. Repeated testing of automatic driving functions cannot guarantee the timeliness of test results.
  • the present application provides a geofence data update method, device, medium, and equipment, which can achieve the goal that the geofence data is independent of the high-precision map data, and achieve the effect of independent real-time update of the geofence data.
  • the present application provides a method for updating geofence data, the method comprising:
  • the geo-fence mark of the current road segment and the stored original geo-fence mark determine the update mode of the geo-fence mark of the current road segment
  • the geographic fence data of the self-driving vehicle is updated according to the updating manner.
  • the present application provides a device for updating geofence data, the device comprising:
  • the control data receiving module is configured to receive control data
  • a geo-fence mark determination module configured to determine the geo-fence mark of the current road section according to the control data
  • An update mode determination module configured to determine an update mode of the geo-fence marker of the current road segment according to the geo-fence marker of the current road segment and the stored original geo-fence marker;
  • the geo-fence data update module is configured to update the geo-fence data of the self-driving vehicle according to the update method.
  • the present application provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above method for updating geo-fence data is implemented.
  • the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, and the above-mentioned geographic fence data update is implemented when the processor executes the computer program method.
  • Fig. 1 is a flow chart of a method for updating geofence data provided by an embodiment of the present application
  • Fig. 2 is a flow chart of another geofence data update method provided by the embodiment of the present application.
  • Fig. 3 is a flow chart of another geo-fence data update method provided by the embodiment of the present application.
  • FIG. 4 is a structural block diagram of a device for updating geofence data provided by an embodiment of the present application
  • Fig. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • FIG. 1 is a flow chart of a method for updating geofence data provided by an embodiment of the present application.
  • This embodiment is applicable to a scenario of updating geofence data, and a server implements related functions.
  • the self-driving vehicle is at least equipped with a driver behavior data recording system, an automatic driving system, a high-precision map and positioning system, and an Internet access module. Or the vehicle information display and control of the mobile phone APP, for example, the Internet access module can use a telematics-box (Tbox).
  • the method can be executed by the device for updating geofence data provided in the embodiment of the present application, the device can be implemented by software and/or hardware, and can be integrated into electronic equipment (eg, the above-mentioned server).
  • the geofence data update methods include:
  • the control data can be understood as the vehicle state data calculated by the automatic driving system on the vehicle combined with the perception results of other sensors.
  • the control data can be determined through the automatic driving system combined with other sensor perception results, and then the control data is sent to the server through the Internet module, and the server receives the control data sent by the Internet module.
  • the vehicle state data determined by the automatic driving system in the automatic driving vehicle combined with other sensor perception results is received.
  • Geofence is a new application of location-based services (Location Based Services, LBS), which can use a virtual fence to construct a virtual geographic boundary; geofence marks can be understood as distinguishing between geofence areas and geofence areas The digital mark of , and other types of marks can also be used, which is not limited here.
  • LBS Location Based Services
  • Inside the geofence can be understood as being within the virtual geographic boundary, and 1 can be used to mark it as being inside the geofence; outside the geofence can be understood as being outside the virtual geographic boundary, and 0 can be used to mark it as being outside the geofence.
  • S103 Determine an update method of the geo-fence mark of the current road segment according to the geo-fence mark of the current road segment and the stored original geo-fence mark.
  • the original geofence tag can be understood as the geofence tag in the geofence data stored by the server.
  • an update method of the geo-fence tag of the current road segment can be determined by comparing the geo-fence tag of the current road segment with the stored original geo-fence tag.
  • the geo-fence tag of the current road segment is compared with the stored original geo-fence tag, and an update method of the geo-fence tag of the current road segment is determined according to the comparison result.
  • the stored original geo-fence data is updated according to the update method, and then the updated stored original geo-fence data is sent to the high-precision Map and positioning system, high-precision map and positioning system to update the geofence data of autonomous vehicles.
  • the technical solution provided by the embodiment of the present application determines the update method of the geo-fence tag of the current road section through the geo-fence tag of the current road section and the stored original geo-fence tag, and updates the geo-fence data of the self-driving vehicle according to the update method, which solves the problem of The binding of geofence data and high-precision map data leads to the problem that geofence data cannot be updated independently, which achieves the goal of geofence data being independent of high-precision map data. The effect of independent real-time update of geofence data.
  • Fig. 2 is a flow chart of another geo-fence data update method provided by the embodiment of the present application. As shown in Fig. 2, this embodiment is described on the basis of the above-mentioned embodiments, and the method includes the following steps:
  • Information about turning off the automatic driving function can be understood as information that frequently prompts manual driving; information about turning on the automatic driving function can be understood as information that frequently prompts to turn on the automatic driving function.
  • the information about turning off the automatic driving function or turning on the automatic driving function can be sent to the server by the automatic driving system on the vehicle through the Internet module.
  • control data carries the information of disabling the automatic driving function, it means that the current road section is not suitable for turning on the automatic driving function of the automatic driving vehicle. If it can be determined that the current road section is outside the geo-fence, then it is determined that the geo-fence mark of the current road section is an external mark.
  • step S205 may be performed.
  • the internal mark is the mark corresponding to all areas within the area corresponding to the original geo-fence mark, that is, the internal mark is the original geo-fence mark.
  • control data if it is determined that the control data carries information that frequently prompts to enable the automatic driving function, it means that the current road segment is suitable for enabling the automatic driving function.
  • the fence is marked as interior mark 1.
  • the accuracy of determining the geofence mark of the current road section can be realized.
  • S205 determine whether the geo-fence mark of the current road segment is the same as the stored original geo-fence mark; if the geo-fence mark of the current road segment is the same as the stored original geo-fence mark, execute S206-S207; If the original geo-fence marks are not the same, execute S208-S209.
  • the speed and accuracy of determining the update method of the geo-fence data of the current road segment can be improved.
  • the geo-fence mark of the current road segment is the same as the stored original geo-fence mark.
  • the current road segment belongs to the area corresponding to the geo-fence mark. Therefore, it is determined that the geo-fence data update method of the current road segment is as follows: Save the area range data corresponding to the original geo-fence tag.
  • the update method can be recorded as A as the update method is to save the area range data corresponding to the original geo-fence tag.
  • the geo-fence mark of the current road segment is 1, and the stored original geo-fence mark is 1, then it is determined that the geo-fence mark of the current road segment is the same as the stored original geo-fence mark, and the geo-fence data update method of the current road segment is determined as a.
  • the area range data corresponding to the original geofence mark can be sent to the self-driving vehicle through the Internet module.
  • the area range data corresponding to the original geo-fence mark is sent to the self-driving vehicle through the Internet access module.
  • the update method can be recorded as B as the update method is to store the area range data corresponding to the geo-fence mark of the current road segment.
  • the area range data corresponding to the geo-fence mark of the current road segment can be merged with the area range data corresponding to the original geo-fence mark to obtain the merged area range data, and store the merged area range data; or determine the area corresponding to the original geo-fence mark
  • the area range data corresponding to the geo-fence mark of the link to be updated contained in the area range data is updated according to the area range data corresponding to the geo-fence mark of the current road segment.
  • the area range data corresponding to the geofence mark of the road segment to be updated is the area range data corresponding to the number of vehicle positioning times less than the preset number of times within a preset time period.
  • the area range data corresponding to the original geo-fence tag contains area A, area B, and area C, wherein, within a preset time period (for example, one month), the preset number of times is 3 times, and the driver drives the vehicle Go to area A 6 times, go to area B 7 times, and go to area C 1 time.
  • the server judges that the frequency of the driver going to area C is less based on the location information reported by the automatic driving system on the vehicle, then area C can be
  • the relevant data of is determined as the area range data corresponding to the geo-fence mark of the road segment to be updated, and then the relevant data in area C is replaced with the area range data corresponding to the geo-fence mark of the current road segment.
  • the geo-fence flag 0 of the current road segment is different from the stored original geo-fence flag 1, it is determined that the geo-fence data update mode of the current road segment is B.
  • the purpose of real-time update of the geo-fence data can be realized, and the accuracy of the geo-fence data can be improved. Timeliness.
  • the area range data corresponding to the geo-fence mark of the current road segment can be sent to the automatic driving vehicle through the Internet module.
  • the area range data corresponding to the geo-fence mark of the current road segment is sent to the automatic driving vehicle through the Internet access module.
  • the purpose of independent update of the geofence data can be achieved, so that the update of the geofence data is independent of the high-precision map data.
  • the technical solution provided by the embodiment of the present application determines the update method of the geo-fence tag of the current road section through the geo-fence tag of the current road section and the stored original geo-fence tag, and updates the geo-fence data of the self-driving vehicle according to the update method, which solves the problem of The binding of geofence data and high-precision map data leads to the problem that geofence data cannot be updated independently, which achieves the goal of geofence data being independent of high-precision map data.
  • the problem of poor timeliness of geofence data caused by updating geofence data based on high-precision map data is solved, thereby enhancing the timeliness of geofence data and reducing the timeliness of geofence data. Testing workload for autonomous vehicle producers.
  • Fig. 3 is a flow chart of another geo-fence data update method provided by the embodiment of the present application. As shown in Fig. 3, the method of this embodiment has explained the above-mentioned steps of determining the geo-fence mark of the current road section according to the control data, Including the following steps:
  • S301 Receive control data and driver behavior data.
  • Control data includes but not limited to: target vehicle speed, target acceleration, target deceleration, steering wheel target angle and speed, turn signal, etc.
  • driver behavior data includes but not limited to: accelerator pedal stroke, brake pedal stroke, gear position, real-time vehicle speed , real-time acceleration, real-time deceleration, real-time yaw rate, turn signal, etc.
  • the driver behavior data recording system records the driver behavior data in real time, and then sends the driver behavior data to the server through the Internet module, and the server receives the control data and driver behavior data sent by the Internet module.
  • vehicle state data such as target vehicle speed, target acceleration, target deceleration, steering wheel target rotation angle and speed, and turn signals calculated by the automatic driving system combined with other sensor perception results are received.
  • control data and driver behavior data by receiving control data and driver behavior data, comparative analysis can be performed based on the control data and driver behavior data, so as to realize real-time update of geo-fence data and enhance the timeliness of geo-fence data.
  • the preset threshold can be understood as the critical value of the deviation between the control data and the driver behavior data.
  • the preset threshold between different control data and driver behavior data is different, so the size of the preset threshold is not a fixed value, and can be determined according to Preset thresholds corresponding to different control data and driver behavior data changes; for example, the turn signal in the control data and the turn signal in the driver behavior data, the turn signal in the control data is turned on by the automatic driving system, and the driver behavior data
  • the turn signal in is turned on by the driver, and it is stipulated that the time interval between turning on the turn signal is less than 5 seconds, then 5 is the preset threshold value of the turn signal in the control data and driver behavior data.
  • Table 1 is a comparative analysis table of some control data and driver behavior data provided by the embodiment of the present application. Table 1 compares and analyzes part of the control data and driver behavior data. Different control data and driver behavior data correspond to different evaluation standards, and the values in the evaluation standards are the preset thresholds corresponding to different control data and driver behavior data. .
  • Table 1 Comparative analysis table of part of control data and driver behavior data
  • the turn-on time of the turn signal in the control data is 5 seconds
  • the turn-on time of the driver behavior data is 7 seconds
  • the time interval between the turn-on lights of the two is 2 seconds
  • the deviation between the control data and the driver behavior data is less than or equal to the preset threshold, it means that the current road section is suitable for enabling the automatic driving function, and it can be determined that the current road section belongs to the area corresponding to the geographic fence data, and the geographic location of the current road section can be determined.
  • Fences are marked as interior markers.
  • step S205 may be performed.
  • the outer markers are markers corresponding to all areas outside the area corresponding to the original geofence marker, and the inner markers are the original geofence markers.
  • the deviation between the control data and the driver behavior data is greater than the preset threshold, it means that the current road section is not suitable for enabling the automatic driving function. It can be determined that the current road section is outside the area corresponding to the geofence data, and the geofence of the current road section can be determined. Marked as external.
  • step S205 may be performed.
  • the geo-fence mark of the current road section can be determined, which can improve the accuracy of determining the geographical mark of the current road section, and can also be based on the current road section.
  • the geofence mark of determines the geofence data update method of the current road segment, thereby improving the update efficiency of the geofence data update.
  • the geo-fence mark of the current road section and the stored original geo-fence mark are determined, and then the update method of the geo-fence mark of the current road section is determined, and updated according to the update method
  • the geofence data of self-driving vehicles solves the problem that geofence data cannot be updated independently due to the binding of geofence data and high-precision map data, and achieves the purpose of geofence data being independent of high-precision map data.
  • high-precision map data update cycle realizes the effect of independent real-time update of geo-fence data; in addition, based on data analysis, it solves the problem of poor timeliness of geo-fence data caused by updating geo-fence data based on high-precision map data, thereby enhancing The timeliness of geofence data and reduce the testing workload of autonomous vehicle manufacturers.
  • Fig. 4 is a structural block diagram of a geofence data update device provided in an embodiment of the present application, which can execute the geofence data update method provided in any embodiment of the present application, as shown in Fig. 4, the device may include:
  • the control data receiving module 401 is configured to receive control data; the geo-fence mark determination module 402 is configured to determine the geo-fence mark of the current road section according to the control data; the update mode determination module 403 is configured to determine the geo-fence mark of the current road segment according to the control data; The tag and the stored original geo-fence tag determine the update method of the geo-fence tag of the current road section; the geo-fence data update module 404 is configured to update the geo-fence data of the automatic driving vehicle according to the update method.
  • the above-mentioned products can execute the geo-fence data update method provided in the embodiment of the present application, and have corresponding functional modules and effects for executing the method.
  • the geofence tag determination module 402 is set to:
  • Receive driver behavior data determine the geo-fence mark of the current road section according to the driver behavior data and the control data.
  • the geofence tag determination module 402 is set to:
  • the control data In the case that the control data carries the information of turning off the automatic driving function, determine that the geo-fence mark of the current road section is an external mark; in the case of the control data carrying the information of turning on the automatic driving function, determine the current road section
  • the geo-fence mark of is an internal mark; wherein, the external mark is a mark corresponding to all areas outside the area corresponding to the original geo-fence mark, and the internal mark is the original geo-fence mark.
  • the geofence tag determination module 402 is set to:
  • the geo-fence mark of the current road section is an internal mark; if the deviation between the control data and the driver behavior data If the deviation is greater than the preset threshold, it is determined that the geo-fence mark of the current road section is an external mark; wherein, the external mark is a mark corresponding to all areas outside the area corresponding to the original geo-fence mark, and the internal mark is the The original geofence tag.
  • the update mode determination module 403 is set to:
  • the geo-fence mark of the current road section is the same as the stored original geo-fence mark, it is determined that the geo-fence data update method of the current road segment is to save the area range data corresponding to the original geo-fence mark; if the geo-fence mark of the current road segment Different from the stored original geo-fence mark, the way to determine the update of the geo-fence data of the current road segment is to store the area range data corresponding to the geo-fence mark of the current road segment.
  • the update mode determination module 403 is set to:
  • the geofence data update module 404 is set to:
  • the embodiment of the present application provides a computer-readable storage medium on which a computer program is stored.
  • the program is executed by a processor, the method for updating geofence data as provided in all the application embodiments of the present application is implemented:
  • Receiving control data determining the geo-fence mark of the current road section according to the control data; determining the update mode of the geo-fence mark of the current road section according to the geo-fence mark of the current road segment and the stored original geo-fence mark; according to the update mode Update geofence data for autonomous vehicles.
  • the computer readable medium may be a computer readable signal medium or a computer readable storage medium.
  • a computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof.
  • Examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more conductors, portable computer disks, hard disks, random access memory (Random Access Memory, RAM), read-only memory (Read- Only Memory, ROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM or flash memory), optical fiber, portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage components, magnetic storage devices, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including - but not limited to - electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable medium may send, spread, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
  • Program code embodied on a computer readable medium may be transmitted by any appropriate medium, including - but not limited to - wireless, wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.
  • any appropriate medium including - but not limited to - wireless, wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.
  • Computer program code for performing the operations of the present application may be written in one or more programming languages or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, and conventional Procedural Programming Language - such as "C" or a similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
  • the remote computer can be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or it can be connected to an external computer ( For example, use an Internet service provider to connect via the Internet).
  • LAN Local Area Network
  • WAN Wide Area Network
  • FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • this embodiment provides an electronic device 500, which includes: one or more processors 502; a storage device 501 configured to store one or more programs, when the one or more programs are executed The one or more processors 502 execute, so that the one or more processors 502 implement the geofence data update method provided in the embodiment of the present application, the method includes:
  • Receiving control data determining the geo-fence mark of the current road section according to the control data; determining the update mode of the geo-fence mark of the current road section according to the geo-fence mark of the current road segment and the stored original geo-fence mark; according to the update mode Update geofence data for autonomous vehicles.
  • the processor 502 also implements the technical solution of the method for updating geofence data provided in any embodiment of the present application.
  • the electronic device 500 shown in FIG. 5 is only an example, and should not limit the functions and scope of use of this embodiment of the present application.
  • the electronic device 500 includes a processor 502, a storage device 501, an input device 503, and an output device 504; the number of processors 502 in the electronic device may be one or more, and one processor 502 For example; the processor 502, the storage device 501, the input device 503 and the output device 504 in the electronic device may be connected through a bus or in other ways. In FIG. 5, the connection through the bus 505 is taken as an example.
  • the storage device 501 can be configured to store software programs, computer-executable programs and module units, such as program instructions corresponding to the geofence data update method in the embodiment of the present application.
  • the storage device 501 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required by a function; the data storage area may store data created according to the use of the terminal, and the like.
  • the storage device 501 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices.
  • the storage device 501 may include memories that are located remotely relative to the processor 502, and these remote memories may be connected through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the input device 503 can be configured to receive input numbers, character information or voice information, and generate key signal input related to user settings and function control of the electronic device.
  • the output device 504 may include electronic equipment such as a display screen and a speaker.
  • the electronic device provided by the embodiment of the present application can determine the update method of the geo-fence tag of the current road section through the geo-fence tag of the current road section and the stored original geo-fence tag, and update the geo-fence data of the self-driving vehicle according to the update method, solving the problem of The binding of geofence data and high-precision map data leads to the problem that geofence data cannot be updated independently, which achieves the goal of geofence data being independent of high-precision map data, and realizes the effect of independent real-time update of geofence data.
  • the geo-fence data update device, medium, and electronic device provided in the above embodiments can execute the geo-fence data update method provided in any embodiment of the present application, and have corresponding functional modules and effects for executing the method.
  • the method for updating geofence data provided in any embodiment of the present application.

Abstract

一种地理围栏数据更新方法、装置、介质及设备。地理围栏数据更新方法包括：接收控制数据（S101）；根据控制数据确定当前路段的地理围栏标记（S102）；根据当前路段的地理围栏标记和存储的原始地理围栏标记，确定当前路段的地理围栏标记的更新方式（S103）；根据更新方式更新自动驾驶车辆的地理围栏数据（S104）。

Description

地理围栏数据更新方法、装置、介质及设备
本申请要求在2022年01月28日提交中国专利局、申请号为202210105300.0的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及自动驾驶技术领域，例如涉及一种地理围栏数据更新方法、装置、介质及设备。
背景技术
地理围栏是基于位置的服务(Location Based Services，LBS)的一种新应用，是用一个虚拟的栅栏构造出一个虚拟地理边界。
结合高精度地图设定地理围栏规则，当自动驾驶车辆位于虚拟地理边界之内可以开启自动驾驶功能，即车辆位于地理围栏规则对应的区域内时，允许开启自动驾驶功能，当自动驾驶车辆位于虚拟地理边界之外时判定车辆在地理围栏外，关闭自动驾驶功能。
由于上述地理围栏规则包含的地理围栏数据与高精地图数据绑定，地理围栏数据一旦确定就无法灵活更改，想要调整或增加地理围栏规则，地理围栏数据就需要与高精地图数据一并更新；此外，自动驾驶车辆生产方负责自动驾驶功能测试，根据测试结果决定哪些地区和道路可以开放自动驾驶功能，测试过程对车辆生产方而言工作量巨大，而且随着地图数据的更新，需要不断重复测试自动驾驶功能，不能保证测试结果的时效性。
发明内容
本申请提供一种地理围栏数据更新方法、装置、介质及设备，可以达到地理围栏数据独立于高精地图数据的目的，实现地理围栏数据独立实时更新的效果。
第一方面，本申请提供了一种地理围栏数据更新方法，所述方法包括：
接收控制数据；
根据所述控制数据确定当前路段的地理围栏标记；
根据所述当前路段的地理围栏标记和存储的原始地理围栏标记，确定当前路段的地理围栏标记的更新方式；
根据所述更新方式更新自动驾驶车辆的地理围栏数据。
第二方面，本申请提供了一种地理围栏数据更新装置，该装置包括：
控制数据接收模块，设置为接收控制数据；
地理围栏标记确定模块，设置为根据所述控制数据确定当前路段的地理围栏标记；
更新方式确定模块，设置为根据所述当前路段的地理围栏标记和存储的原始地理围栏标记，确定当前路段的地理围栏标记的更新方式；
地理围栏数据更新模块，设置为根据所述更新方式更新自动驾驶车辆的地理围栏数据。
第三方面，本申请提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述的地理围栏数据更新方法。
第四方面，本申请提供了一种电子设备，包括存储器，处理器及存储在存储器上并可在处理器运行的计算机程序，所述处理器执行所述计算机程序时实现上述的地理围栏数据更新方法。
附图说明
图1是本申请实施例提供的一种地理围栏数据更新方法的流程图；
图2是本申请实施例提供的另一种地理围栏数据更新方法的流程图；
图3是本申请实施例提供的又一种地理围栏数据更新方法的流程图；
图4是本申请实施例提供的一种地理围栏数据更新装置的结构框图；
图5是本申请实施例提供的一种电子设备的结构示意图。
具体实施方式
下面结合附图和实施例对本申请进行说明。此处所描述的具体实施例仅仅用于解释本申请。为了便于描述，附图中仅示出了与本申请相关的部分。
在讨论示例性实施例之前应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将多个步骤描述成顺序的处理，但是其中的许多步骤可以被并行地、并发地或者同时实施。此外，多个步骤的顺序可以被重新安排。当其操作完成时所述处理可以被终止，但是还可以具有未包括在附图中的附加步骤。所述处理可以对应于方法、函数、规程、子例程、子程序等等。
图1是本申请实施例提供的一种地理围栏数据更新方法的流程图，本实施例可适用于地理围栏数据更新的场景，由服务器实现相关功能。自动驾驶车辆至少配备有驾驶员行为数据记录系统、自动驾驶系统、高精地图与定位系统、上网模块，其中，上网模块可以设置为和服务器或者手机应用程序(Application，APP)互联通信，实现服务器或者手机APP的车辆信息显示与控制，例如，上网模块可以采用远程信息处理盒(Telematics-Box，Tbox)。该方法可以由本申请实施例所提供的地理围栏数据更新装置执行，该装置可以由软件和/或硬件的方式来实现，并可集成于电子设备(例如，上述服务器)中。如图1所示，地理围栏数据更新方法包括：
S101，接收控制数据。
控制数据可以理解为车辆上的自动驾驶系统结合其他传感器感知结果计算得到的车辆状态数据。
可以通过自动驾驶系统结合其他传感器感知结果确定控制数据，然后通过上网模块将控制数据发送至服务器，服务器接收上网模块发送的控制数据。
示例性的，接收自动驾驶车辆中的自动驾驶系统结合其他传感器感知结果确定的车辆状态数据。
S102，根据控制数据确定当前路段的地理围栏标记。
地理围栏是基于位置的服务(Location Based Services，LBS)的一种新应用，可以是用一个虚拟的栅栏构造出一个虚拟地理边界；地理围栏标记可以理解为区分地理围栏区域内和地理围栏区域外的数字标记，也可以采用其他类型标记，在此不做限定。
地理围栏内可以理解为虚拟地理边界之内，可以使用1标记为地理围栏内；地理围栏外可以理解为虚拟地理边界之外，可以使用0标记为地理围栏外。示例性的，根据接收的车辆状态数据确定当前路段的地理围栏标记是0还是1。
S103，根据当前路段的地理围栏标记和存储的原始地理围栏标记，确定当前路段的地理围栏标记的更新方式。
原始地理围栏标记可以理解为服务器存储的地理围栏数据中的地理围栏标记。
在确定当前路段的地理围栏标记之后，可以通过当前路段的地理围栏标记与存储的原始地理围栏标记之间的对比，确定当前路段的地理围栏标记的更新方式。
示例性的，将当前路段的地理围栏标记与存储的原始地理围栏标记进行比较，根据两者的比较结果确定当前路段的地理围栏标记的更新方式。
S104，根据更新方式更新自动驾驶车辆的地理围栏数据。
示例性的，在确定当前路段的地理围栏标记的更新方式之后，根据更新方式更新存储的原始地理围栏数据，然后将更新后的存储的原始地理围栏数据通过上网模块发送至自动驾驶车辆的高精地图与定位系统，高精地图与定位系统更新自动驾驶车辆的地理围栏数据。
本申请实施例所提供的技术方案，通过当前路段的地理围栏标记和存储的原始地理围栏标记，确定当前路段的地理围栏标记的更新方式，根据更新方式更新自动驾驶车辆的地理围栏数据，解决了地理围栏数据与高精地图数据绑定导致地理围栏数据无法独立更新的问题，达到了地理围栏数据独立于高精地图数据的目的，地理围栏数据可以不受高精地图数据更新周期的限制，实现了地理围栏数据独立实时更新的效果。
图2是本申请实施例提供的另一种地理围栏数据更新方法的流程图，如图2所示，本实施例是在上述实施例的基础上说明，该方法包括如下步骤：
S201，接收控制数据。
S202，确定控制数据中携带的信息是关闭自动驾驶功能的信息还是开启自动驾驶功能的信息，若确定控制数据中携带有关闭自动驾驶功能的信息，执行S203；若确定控制数据中携带有开启自动驾驶功能的信息，则执行S204。
关闭自动驾驶功能的信息可以理解为频繁提示人工驾驶的信息；开启自动驾驶功能的信息可以理解为频繁提示开启自动驾驶功能的信息。
关闭自动驾驶功能的信息或者开启自动驾驶功能的信息可以由车辆上的自动驾驶系统通过上网模块发送给服务器。
S203，确定当前路段的地理围栏标记为外部标记。
确定控制数据中携带有关闭自动驾驶功能的信息，则说明当前路段不适合开启自动驾驶车辆的自动驾驶功能，可以确定当前路段属于地理围栏外，则确定当前路段的地理围栏标记为外部标记。
示例性的，根据接收的控制数据，确定控制数据中携带有频繁提示人工驾驶的信息，则说明当前路段不适合开启自动驾驶功能，可以确定当前路段属于地理围栏外，则确定当前路段的地理围栏标记为外部标记0。在这种情况下，可以执行步骤S205。
S204，确定当前路段的地理围栏标记为内部标记。
内部标记为原始地理围栏标记对应的区域范围之内所有区域对应的标记，即内部标记为原始地理围栏标记。
示例性的，根据接收的控制数据，确定控制数据中携带有频繁提示开启自动驾驶功能的信息，则说明当前路段适合开启自动驾驶功能，可以确定当前路段属于地理围栏内，则确定当前路段的地理围栏标记为内部标记1。
本申请实施例中，通过确定控制数据中携带的信息类别，可以实现确定当前路段的地理围栏标记的准确率。
S205，确定当前路段的地理围栏标记和存储的原始地理围栏标记是否相同；若当前路段的地理围栏标记和存储的原始地理围栏标记相同，则执行S206-S207；若当前路段的地理围栏标记和存储的原始地理围栏标记不相同，则执行S208-S209。
本申请实施例中，通过确定当前路段的地理围栏标记和存储的原始地理围栏标记是否相同，可以提高确定当前路段的地理围栏数据更新方式的速度和准确率。
S206，确定当前路段的地理围栏数据更新方式为保存原始地理围栏标记对应的区域范围数据。
当前路段的地理围栏标记和存储的原始地理围栏标记相同，则在此次地理围栏数据更新之前，当前路段本就属于地理围栏标记对应的区域范围内，因此确定当前路段的地理围栏数据更新方式为保存原始地理围栏标记对应的区域范围数据，为便于描述，可以将更新方式为保存原始地理围栏标记对应的区域范围数据记为更新方式为A。
示例性的，若当前路段的地理围栏标记为1，存储的原始地理围栏标记为1，则确定当前路段的地理围栏标记和存储的原始地理围栏标记相同，确定当前路段的地理围栏数据更新方式为A。
S207，将原始地理围栏标记对应的区域范围数据发送至自动驾驶车辆。
在确定当前路段的地理围栏数据更新方式之后，可以通过上网模块将原始地理围栏标记对应的区域范围数据发送至自动驾驶车辆。
示例性的，通过上网模块将原始地理围栏标记对应的区域范围数据发送至自动驾驶车辆。
S208，确定当前路段的地理围栏数据更新方式为存储当前路段的地理围栏标记对应的区域范围数据。
为便于描述，可以将更新方式为存储当前路段的地理围栏标记对应的区域范围数据记为更新方式为B。
可以将当前路段的地理围栏标记对应的区域范围数据与原始地理围栏标记对应的区域范围数据进行合并，得到合并后的区域范围数据，存储合并后的区域范围数据；或者确定原始地理围栏标记对应的区域范围数据包含的待更新路段的地理围栏标记对应的区域范围数据，根据当前路段的地理围栏标记对应的区域范围数据更新待更新路段的地理围栏标记对应的区域范围数据。
待更新路段的地理围栏标记对应的区域范围数据为预设时间段内，车辆定位次数少于预设次数对应的区域范围数据。例如，在原始地理围栏标记对应的区域范围数据中包含有A区域、B区域和C区域，其中，在预设时间段内(例如，一个月)，预设次数为3次，驾驶员驾驶车辆前往A区域6次，前往B区域7次，前往C区域1次。由于驾驶员在预设时间段内前往C区域的次数少于预设次数，那么服务器基于车辆上的自动驾驶系统上报的定位信息，判断驾驶员前往C区域的频率较少，那么可以将C区域的相关数据确定为上述待更新路段的地理围栏标记对应的区域范围数据，进而将C区域的相关数据替换为当前路段的地理围栏标记对应的区域范围数据。
示例性的，若当前路段的地理围栏标记0与存储的原始地理围栏标记1不同，则确定当前路段的地理围栏数据更新方式为B。
本申请实施例中，通过存储当前路段的地理围栏标记对应的区域范围数据，根据存储的当前路段的地理围栏标记对应的区域范围数据，可以实现地理围栏数据实时更新的目的，提高地理围栏数据的时效性。
S209，将当前路段的地理围栏标记对应的区域范围数据发送至自动驾驶车辆。
在确定当前路段的地理围栏数据更新方式之后，可以通过上网模块将当前路段的地理围栏标记对应的区域范围数据发送至自动驾驶车辆。
示例性的，通过上网模块将当前路段的地理围栏标记对应的区域范围数据发送至自动驾驶车辆。
本申请实施例中，通过根据更新方式更新自动驾驶车辆的地理围栏数据，可以实现地理围栏数据独立更新的目的，使得地理围栏数据的更新独立于高精地图数据。
本申请实施例所提供的技术方案，通过当前路段的地理围栏标记和存储的原始地理围栏标记，确定当前路段的地理围栏标记的更新方式，根据更新方式更新自动驾驶车辆的地理围栏数据，解决了地理围栏数据与高精地图数据绑定 导致地理围栏数据无法独立更新的问题，达到了地理围栏数据独立于高精地图数据的目的，地理围栏数据可以不受高精地图数据更新周期的限制，实现了地理围栏数据独立实时更新的效果；此外，基于数据的分析，解决了根据高精地图数据更新地理围栏数据导致地理围栏数据时效性差的问题，从而增强了地理围栏数据的时效性，并且减少了自动驾驶车辆生产方的测试工作量。
图3是本申请实施例提供的又一种地理围栏数据更新方法的流程图，如图3所示，本实施例的方法对上述根据控制数据确定当前路段的地理围栏标记的步骤做了说明，包括如下步骤：
S301，接收控制数据和驾驶员行为数据。
控制数据包括但不限于：目标车速、目标加速度、目标减速度、方向盘目标转角及转速、转向灯等；驾驶员行为数据包括但不限于：油门踏板行程、制动踏板行程、档位、实时车速、实时加速度、实时减速度、实时横摆角速度、转向灯等。
可以在人工驾驶车辆期间，驾驶员行为数据记录系统实时记录驾驶员行为数据，然后通过上网模块将驾驶员行为数据发送至服务器，服务器接收上网模块发送的控制数据和驾驶员行为数据。
示例性的，接收自动驾驶系统结合其他传感器感知结果计算得到的目标车速、目标加速度、目标减速度、方向盘目标转角及转速、转向灯等车辆状态数据数据。
本申请实施例中，通过接收控制数据和驾驶员行为数据，可以基于控制数据与驾驶员行为数据进行对比分析，从而实现地理围栏数据的实时更新，增强地理围栏数据的时效性。
S302，判断控制数据和驾驶员行为数据之间的偏差是否大于预设阈值，若控制数据和驾驶员行为数据之间的偏差小于或等于预设阈值，则执行S303；若控制数据和驾驶员行为数据之间的偏差大于预设阈值，则执行S304。
预设阈值可以理解为控制数据和驾驶员行为数据之间的偏差的临界值，不同控制数据和驾驶员行为数据之间的预设阈值不同，因此预设阈值的大小不是固定的数值，可以根据不同控制数据和驾驶员行为数据更改对应的预设阈值；例如控制数据中的转向灯与驾驶员行为数据中的转向灯，控制数据中的转向灯是由自动驾驶系统开启的，驾驶员行为数据中的转向灯由驾驶员开启，规定两者开启转向灯的时间间隔小于5秒，则5为控制数据和驾驶员行为数据中转向灯的预设阈值。
表1为本申请实施例提供的部分控制数据和驾驶员行为数据对比分析表。表1中对部分控制数据和驾驶员行为数据进行了对比分析，不同控制数据和驾驶员行为数据对应不同的评价标准，评价标准中的数值即不同控制数据和驾驶员行为数据对应的预设阈值。
表1部分控制数据和驾驶员行为数据对比分析表
Figure PCTCN2022141401-appb-000001
可以依据上述表1中控制数据和驾驶员行为数据的对比分析方式，判断不同控制数据和驾驶员行为数据之间的偏差是否小于或等于对应的评价标准中的预设阈值。
示例性的，继续上述举例，若控制数据中的转向灯开启时间为5秒，驾驶员行为数据中的转向灯开启时间为7秒，两者转向灯开启的时间间隔为2秒，则小于预设阈值5，确定控制数据和驾驶员行为数据之间的偏差小于预设阈值；其他控制数据和驾驶员行为数据的对比分析同理，不再赘述。
S303，确定当前路段的地理围栏标记为内部标记。
若控制数据和驾驶员行为数据之间的偏差小于或等于预设阈值，则说明当前路段适合开启自动驾驶功能，可以确定当前路段属于地理围栏数据对应的区域范围之内，可以确定当前路段的地理围栏标记为内部标记。
示例性的，若上述表1中示例的部分控制数据和驾驶员行为数据之间的偏差均小于或等于预设阈值，则确定当前路段的地理围栏标记为内部标记1。在这种情况下，可以执行上述步骤S205。
S304，确定当前路段的地理围栏标记为外部标记。
外部标记为原始地理围栏标记对应的区域范围之外所有区域对应的标记，内部标记为原始地理围栏标记。
若控制数据和驾驶员行为数据之间的偏差大于预设阈值，则说明当前路段不适合开启自动驾驶功能，可以确定当前路段属于地理围栏数据对应的区域范围之外，可以确定当前路段的地理围栏标记为外部标记。
示例性的，若上述表1中示例的部分控制数据和驾驶员行为数据之间的偏差均大于预设阈值，则确定当前路段的地理围栏标记为外部标记0。在这种情况下，可以执行上述步骤S205。
本申请实施例中，通过判断控制数据和驾驶员行为数据之间的偏差是否大于预设阈值，确定当前路段的地理围栏标记，可以提高确定当前路段的地理标记的准确率，还可以根据当前路段的地理围栏标记确定当前路段的地理围栏数据更新方式，从而提高地理围栏数据更新的更新效率。
本申请的技术方案，通过基于控制数据与驾驶员行为数据的对比分析，确定当前路段的地理围栏标记和存储的原始地理围栏标记，然后确定当前路段的地理围栏标记的更新方式，根据更新方式更新自动驾驶车辆的地理围栏数据，解决了地理围栏数据与高精地图数据绑定导致地理围栏数据无法独立更新的问题，达到了地理围栏数据独立于高精地图数据的目的，地理围栏数据可以不受高精地图数据更新周期的限制，实现了地理围栏数据独立实时更新的效果；此外，基于数据的分析，解决了根据高精地图数据更新地理围栏数据导致地理围栏数据时效性差的问题，从而增强了地理围栏数据的时效性，并且减少了自动驾驶车辆生产方的测试工作量。
图4是本申请实施例提供的一种地理围栏数据更新装置的结构框图，该装置可执行本申请任意实施例所提供的地理围栏数据更新方法，如图4所示，该装置可以包括：
控制数据接收模块401，设置为接收控制数据；地理围栏标记确定模块402，设置为根据所述控制数据确定当前路段的地理围栏标记；更新方式确定模块403，设置为根据所述当前路段的地理围栏标记和存储的原始地理围栏标记，确定当前路段的地理围栏标记的更新方式；地理围栏数据更新模块404，设置为根据所述更新方式更新自动驾驶车辆的地理围栏数据。
上述产品可执行本申请实施例所提供的地理围栏数据更新方法，具备执行方法相应的功能模块和效果。
可选的，地理围栏标记确定模块402，设置为：
接收驾驶员行为数据；根据所述驾驶员行为数据和所述控制数据，确定当前路段的地理围栏标记。
可选的，地理围栏标记确定模块402，设置为：
在所述控制数据中携带有关闭自动驾驶功能的信息的情况下，确定当前路段的地理围栏标记为外部标记；在所述控制数据中携带有开启自动驾驶功能的信息的情况下，确定当前路段的地理围栏标记为内部标记；其中，所述外部标记为所述原始地理围栏标记对应的区域范围之外所有区域对应的标记，所述内部标记为所述原始地理围栏标记。
可选的，地理围栏标记确定模块402，设置为：
若所述控制数据和所述驾驶员行为数据之间的偏差小于或等于预设阈值，则确定当前路段的地理围栏标记为内部标记；若所述控制数据和所述驾驶员行为数据之间的偏差大于预设阈值，则确定当前路段的地理围栏标记为外部标记；其中，所述外部标记为所述原始地理围栏标记对应的区域范围之外所有区域对应的标记，所述内部标记为所述原始地理围栏标记。
可选的，更新方式确定模块403，设置为：
若所述当前路段的地理围栏标记和存储的原始地理围栏标记相同，确定当前路段的地理围栏数据更新方式为保存所述原始地理围栏标记对应的区域范围数据；若所述当前路段的地理围栏标记和存储的原始地理围栏标记不同，确定当前路段的地理围栏数据更新方式为存储所述当前路段的地理围栏标记对应的区域范围数据。
可选的，更新方式确定模块403，设置为：
将所述当前路段的地理围栏标记对应的区域范围数据与所述原始地理围栏标记对应的区域范围数据进行合并，得到合并后的区域范围数据，存储所述合并后的区域范围数据；或者，确定所述原始地理围栏标记对应的区域范围数据包含的待更新路段的地理围栏标记对应的区域范围数据，根据所述当前路段的地理围栏标记对应的区域范围数据更新所述待更新路段的地理围栏标记对应的区域范围数据；其中，所述待更新路段的地理围栏标记对应的区域范围数据为预设时间段内，车辆定位次数少于预设次数对应的区域范围数据。
可选的，地理围栏数据更新模块404，设置为：
将所述原始地理围栏标记对应的区域范围数据发送至自动驾驶车辆；或者，将所述当前路段的地理围栏标记对应的区域范围数据发送至自动驾驶车辆。
本申请实施例提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请所有申请实施例提供的地理围栏数据更新方法：
接收控制数据；根据所述控制数据确定当前路段的地理围栏标记；根据所述当前路段的地理围栏标记和存储的原始地理围栏标记，确定当前路段的地理围栏标记的更新方式；根据所述更新方式更新自动驾驶车辆的地理围栏数据。
可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(Random Access Memory，RAM)、只读存储器(Read-Only Memory，ROM)、可擦式可编程只读存储器(Erasable Programmable Read-Only Memory，EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(Compact Disc Read-Only Memory，CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括——但不限于——电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质， 该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于——无线、电线、光缆、射频(Radio Frequency，RF)等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(Local Area Network，LAN)或广域网(Wide Area Network，WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
本申请实施例提供了一种电子设备。图5是本申请实施例提供的一种电子设备的结构示意图。如图5所示，本实施例提供了一种电子设备500，其包括：一个或多个处理器502；存储装置501，设置为存储一个或多个程序，当所述一个或多个程序被所述一个或多个处理器502执行，使得所述一个或多个处理器502实现本申请实施例所提供的地理围栏数据更新方法，该方法包括：
接收控制数据；根据所述控制数据确定当前路段的地理围栏标记；根据所述当前路段的地理围栏标记和存储的原始地理围栏标记，确定当前路段的地理围栏标记的更新方式；根据所述更新方式更新自动驾驶车辆的地理围栏数据。
处理器502还实现本申请任意实施例所提供的地理围栏数据更新方法的技术方案。
图5显示的电子设备500仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图5所示，该电子设备500包括处理器502、存储装置501、输入装置503和输出装置504；电子设备中处理器502的数量可以是一个或多个，图5中以一个处理器502为例；电子设备中的处理器502、存储装置501、输入装置503和输出装置504可以通过总线或其他方式连接，图5中以通过总线505连接为例。
存储装置501作为一种计算机可读存储介质，可设置为存储软件程序、计算机可执行程序以及模块单元，如本申请实施例中的地理围栏数据更新方法对 应的程序指令。
存储装置501可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据终端的使用所创建的数据等。此外，存储装置501可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储装置501可包括相对于处理器502远程设置的存储器，这些远程存储器可以通过网络连接。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入装置503可设置为接收输入的数字、字符信息或语音信息，以及产生与电子设备的用户设置以及功能控制有关的键信号输入。输出装置504可包括显示屏、扬声器等电子设备。
本申请实施例提供的电子设备，可以通过当前路段的地理围栏标记和存储的原始地理围栏标记，确定当前路段的地理围栏标记的更新方式，根据更新方式更新自动驾驶车辆的地理围栏数据，解决了地理围栏数据与高精地图数据绑定导致地理围栏数据无法独立更新的问题，达到了地理围栏数据独立于高精地图数据的目的，实现了地理围栏数据独立实时更新的效果。
上述实施例中提供的地理围栏数据更新装置、介质及电子设备可执行本申请任意实施例所提供的地理围栏数据更新方法，具备执行该方法相应的功能模块和效果。未在上述实施例中详尽描述的技术细节，可参见本申请任意实施例所提供的地理围栏数据更新方法。

Claims (10)

  1. 一种地理围栏数据更新方法，包括：
    接收控制数据；
    根据所述控制数据确定当前路段的地理围栏标记；
    根据所述当前路段的地理围栏标记和存储的原始地理围栏标记，确定所述当前路段的地理围栏标记的更新方式；
    根据所述更新方式更新自动驾驶车辆的地理围栏数据。
  2. 根据权利要求1所述的方法，其中，所述根据所述控制数据确定当前路段的地理围栏标记，包括：
    接收驾驶员行为数据；
    根据所述驾驶员行为数据和所述控制数据，确定所述当前路段的地理围栏标记。
  3. 根据权利要求1所述的方法，其中，所述根据所述控制数据确定当前路段的地理围栏标记，包括：
    在所述控制数据中携带有关闭自动驾驶功能的信息的情况下，确定所述当前路段的地理围栏标记为外部标记；
    在所述控制数据中携带有开启自动驾驶功能的信息的情况下，确定所述当前路段的地理围栏标记为内部标记；
    其中，所述外部标记为所述原始地理围栏标记对应的区域范围之外所有区域对应的标记，所述内部标记为所述原始地理围栏标记。
  4. 根据权利要求2所述的方法，其中，所述根据所述驾驶员行为数据和所述控制数据，确定所述当前路段的地理围栏标记，包括：
    在所述控制数据和所述驾驶员行为数据之间的偏差小于或等于预设阈值的情况下，确定所述当前路段的地理围栏标记为内部标记；
    在所述控制数据和所述驾驶员行为数据之间的偏差大于预设阈值的情况下，确定当前路段的地理围栏标记为外部标记；
    其中，所述外部标记为所述原始地理围栏标记对应的区域范围之外所有区域对应的标记，所述内部标记为所述原始地理围栏标记。
  5. 根据权利要求1-4任一项所述的方法，其中，所述根据所述当前路段的地理围栏标记和存储的原始地理围栏标记，确定所述当前路段的地理围栏数据更新方式，包括：
    在所述当前路段的地理围栏标记和所述存储的原始地理围栏标记相同的情况下，确定所述当前路段的地理围栏数据更新方式为保存所述原始地理围栏标记对应的区域范围数据；
    在所述当前路段的地理围栏标记和存储的原始地理围栏标记不同的情况下，确定所述当前路段的地理围栏数据更新方式为存储所述当前路段的地理围栏标记对应的区域范围数据。
  6. 根据权利要求5所述的方法，其中，所述存储所述当前路段的地理围栏标记对应的区域范围数据，包括：
    将所述当前路段的地理围栏标记对应的区域范围数据与所述原始地理围栏标记对应的区域范围数据进行合并，得到合并后的区域范围数据，存储所述合并后的区域范围数据；或者，
    确定所述原始地理围栏标记对应的区域范围数据包含的待更新路段的地理围栏标记对应的区域范围数据，根据所述当前路段的地理围栏标记对应的区域范围数据更新所述待更新路段的地理围栏标记对应的区域范围数据；
    其中，所述待更新路段的地理围栏标记对应的区域范围数据为预设时间段内，车辆定位次数少于预设次数对应的区域范围数据。
  7. 根据权利要求1或6所述的方法，其中，所述根据所述更新方式更新自动驾驶车辆的地理围栏数据，包括：
    将所述原始地理围栏标记对应的区域范围数据发送至所述自动驾驶车辆；或者，
    将所述当前路段的地理围栏标记对应的区域范围数据发送至所述自动驾驶车辆。
  8. 一种地理围栏数据更新装置，包括：
    控制数据接收模块，设置为接收控制数据；
    地理围栏标记确定模块，设置为根据所述控制数据确定当前路段的地理围栏标记；
    更新方式确定模块，设置为根据所述当前路段的地理围栏标记和存储的原始地理围栏标记，确定所述当前路段的地理围栏标记的更新方式；
    地理围栏数据更新模块，设置为根据所述更新方式更新自动驾驶车辆的地理围栏数据。
  9. 一种计算机可读存储介质，存储有计算机程序，所述程序被处理器执行 时实现如权利要求1-7中任一项所述的地理围栏数据更新方法。
  10. 一种电子设备，包括存储器，处理器及存储在所述存储器上并可在所述处理器运行的计算机程序，所述处理器执行所述计算机程序时实现如权利要求1-7中任一项所述的地理围栏数据更新方法。
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