CN-115752427-B - Method and equipment for updating vehicle-end map based on attribute and attribute

CN115752427BCN 115752427 BCN115752427 BCN 115752427BCN-115752427-B

Abstract

The invention provides a vehicle-end map updating method and device based on a home and an attribute. The method comprises the steps of determining that a vehicle is in a stationary state or a running state, updating a vehicle end map of the vehicle in the stationary state if the vehicle is in the stationary state, and updating the vehicle end map of the vehicle in the running state if the vehicle is in the running state. According to the method and the system, the corresponding vehicle-end map updating rules are provided in a personalized mode according to the driving preference and the regional characteristics of the automatic driving vehicle, the situations of insufficient capacity and calculation capacity of the automatic driving vehicle end are effectively met, the duration and the storage cost caused by indiscriminate updating of the automatic driving vehicle are reduced, the autonomous updating of the map guided by the vehicle-end requirement is met, and the intellectualization of the map updating is realized.

Inventors

YING SHEN
LIU ZHILIN
JIANG YUEWEN
LI LIN
WANG SHUMAN

Assignees

武汉大学

Dates

Publication Date: 20260508
Application Date: 20220830

Claims (7)

1. A method for updating a vehicle-end map based on a home and an attribute, comprising: determining whether the vehicle is in a stationary state or a driving state; if the vehicle is in a stationary state, updating a vehicle end map of the stationary state vehicle; if the vehicle is in a driving state, updating the vehicle end map of the vehicle in the driving state comprises the following steps: step 2.1, acquiring a real-time position of a vehicle, generating a rectangle taking the vehicle as a center according to the real-time position of the vehicle, and acquiring rectangular boundary coordinates; 2.2, extracting semantic content from the vehicle sensor and camera data obtained in the step 2.1, and primarily generating a vehicle surrounding situation; Step 2.3, generating a request content list based on attributes according to the acquired vehicle state and user data; step 2.4, uploading the results calculated in the step 2.1 and the step 2.3 to a cloud end, and requesting to acquire dynamic information in a related area; step 2.5, the cloud receives the request, and dynamic data organization and transmission are carried out according to the regional scope and the request content list uploaded by the vehicle end; step 2.6, the vehicle receives the data transmitted by the cloud, and merges and de-duplicates the cloud data and the vehicle-end sensing data; And 2.7, finishing fusion and update of the dynamic data of the vehicle end, and facilitating subsequent planning.
2. The method for updating the vehicle-end map based on the attributes and the attributes of the vehicle according to claim 1 is characterized in that if the vehicle is in a static state, the vehicle-end map updating is carried out on the vehicle in the static state, and the method comprises the steps of 1.1, obtaining the current position, the active area and the current driving task of the vehicle, obtaining an external rectangle according to the active area and the driving track, 1.2, calculating the block number of a map partition where the area is located according to the coordinates of the external rectangle, 1.3, requesting the vehicle to update static data of a related block map to a cloud, uploading the block number and the vehicle-end map version number, 1.4, judging whether the corresponding block map has content updating after receiving the request, and 1.5, receiving the data by the vehicle and finishing updating the vehicle-end map according to the returned content.
3. The method for updating a map of a vehicle end based on a attribute and a attribute according to claim 2, wherein the step of determining whether the corresponding block map has a content update after receiving the request includes transmitting related data by the vehicle end if the corresponding block map has a content update, and returning related parameters if the corresponding block map has no content update.
4. The method for updating a vehicle-end map based on the attribute and the attribute according to claim 1, wherein the generating a rectangle centered on the vehicle according to the real-time position of the vehicle includes generating a rectangle centered on the vehicle according to the real-time position of the vehicle with side lengths of 50 meters and 500 meters, respectively.
5. A vehicle-end map updating apparatus based on a attribute and a place, comprising: A first main module for determining whether the vehicle is in a stationary state or a driving state; the second main module is used for updating the vehicle end map of the vehicle in the stationary state if the vehicle is in the stationary state; The third main module is configured to update a vehicle end map of a vehicle in a running state if the vehicle is in the running state, and includes: step 2.1, acquiring a real-time position of a vehicle, generating a rectangle taking the vehicle as a center according to the real-time position of the vehicle, and acquiring rectangular boundary coordinates; 2.2, extracting semantic content from the vehicle sensor and camera data obtained in the step 2.1, and primarily generating a vehicle surrounding situation; Step 2.3, generating a request content list based on attributes according to the acquired vehicle state and user data; step 2.4, uploading the results calculated in the step 2.1 and the step 2.3 to a cloud end, and requesting to acquire dynamic information in a related area; step 2.5, the cloud receives the request, and dynamic data organization and transmission are carried out according to the regional scope and the request content list uploaded by the vehicle end; step 2.6, the vehicle receives the data transmitted by the cloud, and merges and de-duplicates the cloud data and the vehicle-end sensing data; And 2.7, finishing fusion and update of the dynamic data of the vehicle end, and facilitating subsequent planning.
6. An electronic device, comprising: at least one processor, at least one memory, and a communication interface, wherein, The processor, the memory and the communication interface are communicated with each other; the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1-4.
7. A non-transitory computer readable storage medium, wherein the non-transitory computer readable storage medium stores computer instructions, the computer instructions cause the computer to perform the method of any one of claims 1 to 4.

Description

Method and equipment for updating vehicle-end map based on attribute and attribute Technical Field The embodiment of the invention relates to the technical field of automatic driving maps of vehicles, in particular to a method and equipment for updating a vehicle-end map based on a place and an attribute. Background The map is a foundation for realizing automatic driving, plays an important role in automatic driving planning decision, beyond visual range perception and auxiliary positioning, and plays a role of a basic digital platform. The automatic driving has extremely high requirements on the accuracy and the freshness of the map, the data of the map is huge and has complexity, and under the constraint of the calculation capability and the storage capability of the vehicle, the map data is difficult to update without distinction, and a large amount of resources are wasted. The requirements of the automatic driving automobile on map data have strong characteristics of places (areas) and attributes (vehicle information), the places refer to roads or areas where the current position of the automobile is located, such as the current roads where the automobile is located in driving, space areas where the automobile is frequently active and other roads connected with the current roads of the automobile, and the attributes refer to attributes related to the automobile and passengers in the automobile, such as types of vehicles (trucks and small automobiles), states of the automobile and preferences of passengers in the automobile, which influence the decision of the automobile. There is currently no map update mechanism for this feature. According to the characteristics of the attribute and the attribute, the map updating content of the automatic driving vehicle is reduced, the updating transmission efficiency is effectively improved, and the autonomous updating taking the vehicle as the center is realized. Therefore, developing a method and device for updating a vehicle-end map based on attributes and properties can effectively overcome the defects in the related art, and is a technical problem to be solved in the industry. Disclosure of Invention Aiming at the problems existing in the prior art, the embodiment of the invention provides a vehicle-end map updating method and device based on a generic and attribute. In a first aspect, an embodiment of the present invention provides a vehicle-end map updating method based on attributes and properties, including determining that a vehicle is in a stationary state or a driving state, if the vehicle is in the stationary state, updating a vehicle-end map of the vehicle in the stationary state, and if the vehicle is in the driving state, updating the vehicle-end map of the vehicle in the driving state. On the basis of the method embodiment, the vehicle-end map updating method based on the attribute and the attribute provided by the embodiment of the invention is characterized in that if the vehicle is in a static state, the vehicle-end map updating is carried out on the vehicle in the static state, and the method comprises the steps of 1.1, obtaining the current position, the active area and the current driving task of the vehicle, obtaining an external rectangle according to the active area and the driving track, 1.2, calculating the block number of a map partition where the area is located according to the coordinates of the external rectangle, 1.3, requesting the vehicle to update static data of a related block map by a cloud, uploading the block number and the vehicle-end map version number, 1.4, judging whether the corresponding block map has content updating after receiving the request by the cloud, and 1.5, receiving the data by the vehicle and finishing the updating of the vehicle-end map according to the returned content. Based on the content of the method embodiment, the method for updating the vehicle-end map based on the attribute and the attribute provided by the embodiment of the invention comprises the steps of judging whether the corresponding block map has content update after receiving the request, transmitting related data by the vehicle-end if the corresponding block map has the content update, and returning related parameters if the corresponding block map has no content update. On the basis of the method embodiment, the vehicle-end map updating method based on the attribute and the attribute provided by the embodiment of the invention is characterized in that if a vehicle is in a driving state, the vehicle-end map updating is carried out on the vehicle in the driving state, and the method comprises the steps of 2.1, acquiring a real-time position of the vehicle, generating a rectangle centering on the vehicle according to the real-time position of the vehicle, acquiring rectangular boundary coordinates, 2.2, extracting semantic content from vehicle sensor and camera data acquired in the step 2.1, initially generating a vehicle surrounding situat