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CN-121996671-A - Map data updating method, device, equipment and storage medium

CN121996671ACN 121996671 ACN121996671 ACN 121996671ACN-121996671-A

Abstract

The disclosure provides a map data updating method, device, equipment and storage medium, relates to the technical field of data processing, and particularly relates to the technical field of intelligent transportation. The method comprises the steps of identifying road elements in a road image, obtaining first road data of the road elements in a target road area aimed at by the road image, obtaining second road data of the road elements in the target road area in existing map data, adjusting the geographic positions of the road elements in the first road data by using the geographic positions of the road elements in the second road data, determining change road data based on the first road data and the second road data after the geographic positions are adjusted, wherein the change road data indicates a subarea where the road conditions in the target road area change, and updating the map data based on the change road data. By applying the scheme provided by the embodiment of the disclosure, the accuracy of map data updating can be improved.

Inventors

  • Jiang Dianqin
  • TIAN FENG
  • ZHONG DAOCHEN
  • LIU YUTING

Assignees

  • 北京百度网讯科技有限公司

Dates

Publication Date
20260508
Application Date
20220210

Claims (19)

  1. 1.A map data updating method, comprising: identifying road elements in a road image, and obtaining first road data of the road elements in a target road area aimed at by the road image; Obtaining reference road data of road elements in a reference image, wherein a road area corresponding to the reference image is adjacent to the target road area; Judging whether the geographic position of the road element in the first road data is abnormal or not based on the geographic position of the road element in the reference road data; If not, obtaining second road data of the road elements in the target road area in the existing map data; Using the geographic position of the road element in the second road data to adjust the geographic position of the road element in the first road data; Determining changing road data based on the first road data and the second road data after the geographic position is adjusted, wherein the changing road data indicates a subarea in which the road condition in the target road area changes; and updating the existing map data based on the change road data.
  2. 2. The method of claim 1, wherein the adjusting the geographic location of the road element in the first road data using the geographic location of the road element in the second road data comprises: Calculating a first position difference value between the geographic positions of the road elements of the same type in the first road data and the second road data; If a position difference value in a preset error range exists in the calculated first position difference value, determining a target offset component of the geographic position of the road element in the first road data in each preset offset direction according to the geographic positions of the road element in the first road data and the target type in the second road data, wherein the target type is a type of the road element corresponding to the first position difference value in the preset error range; And adjusting the geographic position of the road element in the first road data based on each calculated target offset component.
  3. 3. The method of claim 2, wherein the preset offset direction comprises a first direction and a second direction; The determining, according to the geographic positions of the road elements of the target types in the first road data and the second road data, a target offset component of the geographic positions of the road elements in the first road data in each preset offset direction includes: According to the geographic positions of the road elements of the target type in the first road data and the second road data, calculating a first translation vector and a first rotation vector of the geographic positions of the road elements in the first direction; Based on a first translation vector and a first rotation vector, adjusting the geographic position of a road element of a target type in the first road data to obtain an adjusted position; Calculating a second translation vector and a second rotation vector of the adjustment position of the road element in the first road data in the second direction according to the adjustment position of the road element in the target type in the first road data and the geographic position of the road element in the target type in the second road data; and determining the calculated first translation vector, second translation vector, first rotation vector and second rotation vector as target offset components of the geographic positions of the road elements in the first road data in each preset offset direction.
  4. 4. A method according to claim 3, wherein said calculating a first translation vector and a first rotation vector of the geographical position of the road element in the first direction from the geographical position of the road element of the target type in the first road data and the second road data comprises: Calculating a first translation vector according to the following expression A first rotation vector : ; Wherein, the Representing the geographic location of the road element of the target type in the first road data, Representing the geographic location of the road element of the target type in the second road data, A first rotation vector representing the geographic location of the road element in the first road data in the first direction, A first translation vector representing a geographic location of a road element in the first road data in the first direction.
  5. 5. A method according to claim 3, wherein said calculating a second translation vector and a second rotation vector of the adjusted position of the road element in the first road data in the second direction based on the adjusted position of the road element in the first road data and the geographical position of the road element in the second road data, comprising: Calculating a second translation vector according to the following expression A second rotation vector : ; Wherein, the The adjusted position of the road element representing the target type in the first road data, Representing the geographic location of the road element of the target type in the second road data, A second rotation vector representing an adjustment position of the road element in the first road data in said second direction, A second translation vector representing the adjusted position of the road element in the first road data in the second direction.
  6. 6. The method of any of claims 2-5, further comprising, prior to adjusting the geographic location of the road element in the first road data based on each calculated target offset component: Obtaining reference offset components of geographic positions of road elements in a reference image in each preset offset direction, wherein a road area corresponding to the reference image is adjacent to the target road area; Adjusting a target offset component of the geographic position of the road element in the first road data in each preset offset direction based on the obtained reference offset component; the adjusting the geographic position of the road element in the first road data based on each calculated target offset component includes: And adjusting the geographic position of the road element in the first road data based on each adjusted target offset component.
  7. 7. The method of claim 6, wherein the adjusting the target offset component for the geographic location of the road element in the first road in each preset direction based on the obtained reference offset component comprises: Determining a second offset component except a maximum offset component and a minimum offset component in first offset components in the preset direction aiming at each preset offset direction, wherein the first offset components comprise a reference offset component and a target offset component; Carrying out statistical analysis on the second offset component corresponding to each preset offset direction to obtain a third offset component corresponding to each preset direction; And adjusting a target offset component of the geographic position of the road element in the first road in each preset offset direction based on the third offset component corresponding to each preset offset direction.
  8. 8. The method of any of claims 1-5, wherein the determining whether the geographic location of the road element in the first road data is abnormal based on the geographic location of the road element in the reference road data comprises: calculating a first width value of the lane width of the road area corresponding to the reference image based on the geographic position of the lane line element in the reference road data; Calculating a second width value of the lane width in the target road area based on the geographic position of the lane line element in the first road data; calculating an average width value of the first width value and the second width value under the condition that the reference image is a plurality of images; And judging whether the geographic position of the road element in the first road data is abnormal or not based on the second width value and the average width value.
  9. 9. The method of any of claims 1-5, wherein the determining whether the geographic location of the road element in the first road data is abnormal based on the geographic location of the road element in the reference road data comprises: Under the condition that the reference image is a plurality of images, calculating the position difference of the geographic position of the lane line element in each target image and the adjacent image in the third direction as the second position difference value of the lane line in the road area corresponding to the target image, wherein the target image is the reference image or the road image, and the adjacent image is an image adjacent to the acquisition time of the target image in the reference image and the road image; calculating the average value of the second position difference value to obtain an average difference value; And judging whether the geographic position of the road element in the first road data is abnormal or not based on the second position difference value and the average difference value of the lane line in the target road area corresponding to the road image.
  10. 10. A map data updating apparatus comprising: the element identification module is used for identifying road elements in the road image and obtaining first road data of the road elements in the target road area aimed at by the road image; the second data acquisition module is used for acquiring reference road data of road elements in a reference image, wherein a road area corresponding to the reference image is adjacent to the target road area; the abnormality judging module is used for judging whether the geographic position of the road element in the first road data is abnormal or not based on the geographic position of the road element in the reference road data, and if not, the first data obtaining module is triggered; The first data obtaining module is used for obtaining second road data of road elements in the target road area in the existing map data; the position adjustment module is used for adjusting the geographic position of the road element in the first road data by using the geographic position of the road element in the second road data; the data determining module is used for determining changing road data based on the first road data and the second road data after the geographic position is adjusted, wherein the changing road data indicates a subarea where the road condition in the target road area changes; and the data updating module is used for updating the map data based on the change road data.
  11. 11. The apparatus of claim 10, wherein the position adjustment module comprises: A difference value calculation sub-module for calculating a first position difference value between the geographic positions of road elements of the same type in the first road data and the second road data; The offset component determining submodule is used for determining a target offset component of the geographic position of the road element in the first road data in each preset offset direction according to the geographic position of the road element in the target type in the first road data and the second road data if the position difference value in the preset error range exists in the calculated first position difference value, wherein the target type is the type of the road element corresponding to the first position difference value in the preset error range; and the position adjustment sub-module is used for adjusting the geographic position of the road element in the first road data based on each calculated target offset component.
  12. 12. The apparatus of claim 11, wherein the preset offset direction comprises a first direction and a second direction; The offset component determination submodule includes: A first vector calculation unit, configured to calculate a first translation vector and a first rotation vector of the geographic position of the road element in the first road data in the first direction according to the geographic position of the road element of the target type in the first road data and the second road data; The position adjusting unit is used for adjusting the geographic position of the road element of the target type in the first road data based on the first translation vector and the first rotation vector to obtain an adjusted position; A second vector calculation unit, configured to calculate a second translation vector and a second rotation vector of the adjustment position of the road element in the first road data in the second direction according to the adjustment position of the road element in the target type in the first road data and the geographic position of the road element in the target type in the second road data; And the offset component determining unit is used for determining the calculated first translation vector, second translation vector, first rotation vector and second rotation vector as target offset components of the geographic positions of the road elements in the first road data in each preset offset direction.
  13. 13. The apparatus according to claim 12, wherein the first vector calculation unit is specifically configured to calculate the first translation vector according to the following expression A first rotation vector : ; Wherein, the Representing the geographic location of the road element of the target type in the first road data, Representing the geographic location of the road element of the target type in the second road data, A first rotation vector representing the geographic location of the road element in the first road data in the first direction, A first translation vector representing a geographic location of a road element in the first road data in the first direction.
  14. 14. The apparatus according to claim 12, wherein the second vector calculation unit is specifically configured to calculate the second translation vector according to the following expression A second rotation vector : ; Wherein, the The adjusted position of the road element representing the target type in the first road data, Representing the geographic location of the road element of the target type in the second road data, A second rotation vector representing an adjustment position of the road element in the first road data in said second direction, A second translation vector representing the adjusted position of the road element in the first road data in the second direction.
  15. 15. The apparatus of any of claims 11-14, the position adjustment module further comprising: The offset component obtaining sub-module is used for obtaining a reference offset component of the geographic position of the road element in the reference image in each preset offset direction before the geographic position of the road element in the first road data is adjusted based on each calculated target offset component in the position adjusting sub-module, wherein the road area corresponding to the reference image is adjacent to the target road area; An offset component adjustment sub-module, configured to adjust a target offset component of a geographic location of a road element in the first road data in each preset offset direction based on the obtained reference offset component; The position adjustment sub-module is specifically configured to adjust a geographic position of a road element in the first road data based on each adjusted target offset component.
  16. 16. The apparatus of claim 15, wherein the offset component adjustment submodule is specifically configured to determine, for each preset offset direction, a second offset component other than a maximum offset component and a minimum offset component among first offset components in the preset direction, where the first offset component includes a reference offset component and a target offset component, perform statistical analysis on the second offset component corresponding to each preset offset direction to obtain a third offset component corresponding to each preset direction, and adjust the target offset component of the geographic position of the road element in the first road in each preset offset direction based on the third offset component corresponding to each preset offset direction.
  17. 17. An electronic device, comprising: At least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.
  18. 18. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-9.
  19. 19. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-9.

Description

Map data updating method, device, equipment and storage medium Technical Field The disclosure relates to the technical field of data processing, and in particular relates to the technical field of intelligent transportation. Background Along with the development of science and technology, the electronic map provides great convenience for people to travel. The map data of the electronic map contains detailed road information of the road area, and in the running process of the vehicle, a user can acquire the detailed road information of the current running environment through the electronic map, and the map data of the electronic map is also the basis of safe driving of an automatic driving automobile, so that the freshness of the map data is very important. In view of the above, it is necessary to update existing map data. Disclosure of Invention The present disclosure provides a map data updating method, apparatus, device, and storage medium. According to an aspect of the present disclosure, there is provided a map data updating method including: identifying road elements in a road image, and obtaining first road data of the road elements in a target road area aimed at by the road image; obtaining second road data of road elements in the target road area in the existing map data; Using the geographic position of the road element in the second road data to adjust the geographic position of the road element in the first road data; Determining changing road data based on the first road data and the second road data after the geographic position is adjusted, wherein the changing road data indicates a subarea in which the road condition in the target road area changes; and updating the existing map data based on the change road data. According to another aspect of the present disclosure, there is provided a data updating apparatus including: the element identification module is used for identifying road elements in the road image and obtaining first road data of the road elements in the target road area aimed at by the road image; a first data obtaining module, configured to obtain second road data of road elements in the target road area in existing map data; the position adjustment module is used for adjusting the geographic position of the road element in the first road data by using the geographic position of the road element in the second road data; the data determining module is used for determining changing road data based on the first road data and the second road data after the geographic position is adjusted, wherein the changing road data indicates a subarea where the road condition in the target road area changes; and a data updating module for updating the map data based on the change road data. According to another aspect of the present disclosure, there is provided an electronic device including: At least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the map data updating method described above. According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the above-described map data updating method. According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the above-described map data updating method. By applying the scheme provided by the embodiment of the disclosure, the accuracy of map data updating is improved. It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification. Drawings The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein: Fig. 1 is a flowchart of a first map data updating method according to an embodiment of the disclosure; fig. 2 is a flowchart of a second map data updating method according to an embodiment of the disclosure; Fig. 3a is a flowchart illustrating a third map data updating method according to an embodiment of the present disclosure; FIG. 3b is a road image provided by an embodiment of the present disclosure; fig. 4 is a flowchart of a fourth map data updating method according to an embodiment of the present disclosure; fig. 5 is a flowchart of a fifth map data updating method according to an embodiment of the present disclosure; fig. 6 is a flowchart of a sixth map data updating method according to an embodiment of the disclosure; Fig. 7 is a schematic structural diagram of a map data updating apparatus according to an embodi