阅读说明：本技术 地图更新方法、装置、云端服务器和共享骑行设备 (Map updating method and device, cloud server and shared riding equipment ) 是由 杨磊 史德锋 刘怡杰 于 2021-08-25 设计创作，主要内容包括：本说明书提供了地图更新方法、装置、云端服务器和共享骑行设备。基于该方法,共享骑行设备在用户骑行过程中可以通过布设于预设位置处的摄像头自动采集共享骑行设备当前位置的环境图片,同时获取当前位置的定位数据；并将当前位置的环境图片和当前位置的定位数据一同发送至云端服务器；云端服务器根据当前位置的环境图片,获取真实环境中当前位置的道路信息和环境信息；同时根据当前位置的定位数据,在目标地图中确定出至少包含有当前位置的局部区域地图；再根据所获取的当前位置的道路信息和环境信息,有针对性地对目标地图中的局部区域地图进行更新。从而能够以降低的成本对地图信息进行更新,得到较为精细、准确的更新后的地图。(The specification provides a map updating method and device, a cloud server and shared riding equipment. Based on the method, the shared riding device can automatically acquire the environmental picture of the current position of the shared riding device through the camera arranged at the preset position in the riding process of the user, and meanwhile, the positioning data of the current position is acquired; sending the environmental picture of the current position and the positioning data of the current position to a cloud server together; the cloud server acquires road information and environment information of the current position in the real environment according to the environment picture of the current position; meanwhile, according to the positioning data of the current position, a local area map at least containing the current position is determined in the target map; and updating the local area map in the target map in a targeted manner according to the acquired road information and environmental information of the current position. Therefore, the map information can be updated at a reduced cost, and a more precise and accurate updated map can be obtained.)

1. A map updating method is applied to a cloud server and comprises the following steps:

receiving an environment picture of a current position and positioning data of the current position, which are acquired by shared riding equipment in a riding process;

acquiring road information and environment information of the current position according to the environment picture of the current position; determining a local area map at least containing the current position in the target map according to the positioning data of the current position;

and updating the local area map in the target map according to the road information and the environment information of the current position.

2. The method of claim 1, wherein obtaining the road information and the environment information of the current location according to the environment picture of the current location comprises:

and calling a preset image recognition model to process the environment picture of the current position so as to recognize and extract the road information and the environment information of the current position.

3. The method of claim 2, wherein the road information and the environmental information of the current location comprise at least one of: road information of a non-motor lane, road information of a pedestrian street, intersection information of a fork, traffic identification information, position information of a traffic light facility, link information of a construction link, and peripheral building information in the vicinity of the current position.

4. The method of claim 3, wherein updating the local area map in the target map according to the road information and the environment information of the current location comprises:

updating the corresponding road section in the local area map according to the road information and the environmental information of the current position;

and/or the presence of a gas in the gas,

updating the corresponding map identification in the local area map according to the road information and the environmental information of the current position;

and/or the presence of a gas in the gas,

and updating corresponding attribute data in the local area map according to the road information and the environmental information of the current position.

5. The method of claim 1, further comprising:

determining a region map of interest in a target map;

according to the positioning data of the current position fed back by the shared riding equipment, determining the shared riding equipment which runs in the position area corresponding to the attention area map at present as target shared riding equipment;

sending a collecting instruction to the target shared riding device; and the target sharing riding device responds to the acquisition instruction, and acquires and feeds back the environmental picture of the current position and the positioning data of the current position in the riding process.

6. A map updating method is applied to a shared riding device and comprises the following steps:

in the riding process, acquiring an environment picture of a current position through a camera arranged at a preset position, and acquiring positioning data of the current position;

sending the environmental picture of the current position and the positioning data of the current position to a cloud server; the cloud server is used for updating the target map according to the environment picture of the current position and the positioning data of the current position.

7. The method of claim 6, wherein after acquiring the environmental picture of the current location by the camera arranged at the preset location, the method further comprises:

according to a preprocessing rule, preprocessing the environment picture of the current position to obtain the environment picture preprocessed by the current position;

correspondingly, the environment picture preprocessed at the current position and the positioning data of the current position are sent to a cloud server.

8. The method of claim 7, wherein preprocessing the environmental picture of the current location according to a preprocessing rule comprises:

according to a preprocessing rule, converting an environment picture of a current position into image data of a spatial domain, and performing Fourier transform on the image data of the spatial domain to obtain image data of a corresponding frequency domain;

carrying out digital filtering processing on the image data of the frequency domain to obtain filtered image data of the frequency domain;

and restoring the filtered image data of the frequency domain into image data of a spatial domain to obtain an environment picture preprocessed at the current position.

9. The method of claim 7, further comprising:

in the riding process, sending positioning data of the current position to a cloud server at preset time intervals;

under the condition of receiving an acquisition instruction sent by a cloud server, triggering a camera arranged at a preset position to acquire an environment picture of the current position; and sending the environmental picture of the current position and the positioning data of the current position to a cloud server.

10. A map updating apparatus, comprising:

the shared riding device comprises a receiving module, a processing module and a display module, wherein the receiving module is used for receiving an environment picture of a current position and positioning data of the current position, which are acquired by the shared riding device in the riding process;

the processing module is used for acquiring road information and environment information of the current position according to the environment picture of the current position; determining a local area map at least containing the current position in the target map according to the positioning data of the current position;

and the updating module is used for updating the local area map in the target map according to the road information and the environment information of the current position.

11. A map updating apparatus, comprising:

the acquisition module is used for acquiring an environment picture of the current position through a camera arranged at a preset position in the riding process of a user and acquiring positioning data of the current position;

the sending module is used for sending the environment picture of the current position and the positioning data of the current position to a cloud server; the cloud server is used for updating the target map according to the environment picture of the current position and the positioning data of the current position.

12. A map generation method is applied to a cloud server and comprises the following steps:

receiving an environment picture of a current position and positioning data of the current position, which are acquired by shared riding equipment in a riding process;

acquiring road information and environment information of the current position according to the environment picture of the current position;

and generating a target map according to the acquired road information and the acquired environment information.

13. A cloud server comprising a processor and a memory for storing processor-executable instructions, the instructions when executed by the processor implementing the steps of the method of any one of claims 1 to 5, or 12.

14. A shared ride apparatus, comprising a processor and a memory storing processor-executable instructions that, when executed by the processor, perform the steps of the method of any of claims 6 to 9.

15. A computer readable storage medium having stored thereon computer instructions which, when executed, implement the steps of the method of any one of claims 1 to 5, 6 to 9, or 12.

Technical Field

The specification belongs to the technical field of map making, and particularly relates to a map updating method and device, a cloud server and shared riding equipment.

Background

Generally, when map information of a certain area needs to be updated, a drawing party usually needs to consume higher cost, arrange a large number of professional vehicles, equipment and personnel to specially go to the field of the area, and carry out field data acquisition on all position areas of the area one by one; and summarizing and sorting the collected field data to correspondingly update the map information. Therefore, when the method is implemented, the map updating cost is often high.

Therefore, a method for updating map information at a low cost is needed.

Disclosure of Invention

The embodiment of the specification provides a map updating method, a map updating device, a cloud server and shared riding equipment, map information can be updated at a reduced cost, and a relatively fine and accurate updated map is obtained.

The map updating method, the map updating device, the cloud server and the shared riding device provided by the embodiment of the description are realized as follows:

a map updating method is applied to a cloud server and comprises the following steps: receiving an environment picture of a current position and positioning data of the current position, which are acquired by shared riding equipment in a riding process; acquiring road information and environment information of the current position according to the environment picture of the current position; determining a local area map at least containing the current position in the target map according to the positioning data of the current position; and updating the local area map in the target map according to the road information and the environment information of the current position.

A map updating method is applied to shared riding equipment and comprises the following steps: in the riding process, acquiring an environment picture of a current position through a camera arranged at a preset position, and acquiring positioning data of the current position; sending the environmental picture of the current position and the positioning data of the current position to a cloud server; the cloud server is used for updating the target map according to the environment picture of the current position and the positioning data of the current position.

A map updating apparatus, comprising: the shared riding device comprises a receiving module, a processing module and a display module, wherein the receiving module is used for receiving an environment picture of a current position and positioning data of the current position, which are acquired by the shared riding device in the riding process; the processing module is used for acquiring road information and environment information of the current position according to the environment picture of the current position, and determining a local area map at least comprising the current position in a target map according to the positioning data of the current position; and the updating module is used for updating the local area map in the target map according to the road information and the environment information of the current position.

A map updating apparatus, comprising: the acquisition module is used for acquiring an environment picture of the current position through a camera arranged at a preset position in the riding process of a user and acquiring positioning data of the current position; the sending module is used for sending the environment picture of the current position and the positioning data of the current position to a cloud server; the cloud server is used for updating the target map according to the environment picture of the current position and the positioning data of the current position.

A map generation method is applied to a cloud server and comprises the following steps: receiving an environment picture of a current position and positioning data of the current position, which are acquired by shared riding equipment in a riding process; acquiring road information and environment information of the current position according to the environment picture of the current position; and generating a target map according to the acquired road information and the acquired environment information.

A cloud server comprises a processor and a memory for storing processor-executable instructions, wherein the processor executes the instructions to realize the relevant steps of the map updating method.

A computer readable storage medium having stored thereon computer instructions which, when executed, implement the relevant steps of the map updating method.

According to the map updating method, the map updating device, the cloud server and the shared riding device, the shared riding device can automatically acquire an environment picture of the current position of the shared riding device through a camera arranged at a preset position in the riding process of a user, and meanwhile positioning data of the current position can be acquired; sending the environment picture of the current position and the positioning data of the current position to a cloud server together; the cloud server acquires road information and environment information of the current position in the real environment according to the environment picture of the current position; meanwhile, according to the positioning data of the current position, a local area map at least containing the current position is determined in the target map; and updating the local area map in the target map in a targeted manner according to the acquired road information and environmental information of the current position so as to update the target map. Therefore, the map information of the target map can be updated at a reduced cost, and a more precise and accurate updated map can be obtained.

Drawings

In order to more clearly illustrate the embodiments of the present specification, the drawings needed to be used in the embodiments will be briefly described below, and the drawings in the following description are only some of the embodiments described in the specification, and it is obvious to those skilled in the art that other drawings can be obtained based on the drawings without any inventive work.

Fig. 1 is a schematic diagram of an embodiment of a structural component of a system to which a map updating method provided by an embodiment of the present specification is applied;

FIG. 2 is a diagram illustrating an embodiment of a map updating method provided by an embodiment of the present specification in one example scenario;

FIG. 3 is a diagram illustrating an embodiment of a map updating method provided by an embodiment of the present specification in one example scenario;

FIG. 4 is a diagram illustrating an embodiment of a map updating method provided by an embodiment of the present specification in one example scenario;

FIG. 5 is a flow chart illustrating a map updating method according to an embodiment of the present disclosure;

fig. 6 is a schematic structural component diagram of a cloud server provided in an embodiment of the present specification;

fig. 7 is a schematic structural component diagram of a map updating apparatus provided in an embodiment of the present specification.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only a part of the embodiments of the present specification, and not all of the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present specification without any inventive step should fall within the scope of protection of the present specification.

The embodiment of the present specification provides a map updating method, which may be specifically applied to a map updating system including a cloud server and a plurality of shared riding devices (e.g., shared riding device 1, shared riding device 2, shared riding device 3 … … shared riding device N). In particular, reference may be made to fig. 1. Wherein, sharing is configured with the antenna box on the equipment of riding. The shared riding device can perform specific data interaction with the cloud server through the antenna box.

In this embodiment, a camera is further disposed at a preset position (for example, a head position or a tail position) of the shared riding device, and is used for acquiring an environment image of a position where the shared riding device is located. In addition, the shared riding device is also provided with a GPS positioning module for acquiring positioning data (such as longitude and latitude coordinates and the like) of the position where the shared riding device is located.

In this embodiment, the cloud server may further be configured with a map drawing engine, configured to perform specific update processing on the target map. In addition, the cloud server can be further provided with a pre-trained preset image recognition model for processing the received environment picture and extracting corresponding road information and environment information.

In the embodiment, in the specific implementation, each shared riding device automatically obtains an environmental picture of the current position through shooting by a camera arranged at a preset position in the riding process, and obtains the positioning data of the current position through a GPS positioning module; and sending the environment picture of the current position and the positioning data of the current position to a cloud server together.

After receiving the environment picture of the current position and the positioning data of the current position sent by the shared riding device, the cloud server can extract the road information and the environment information of the current position by processing the environment picture of the current position; and simultaneously, according to the positioning data of the current position, determining a local area map at least comprising the current position in the target map.

Furthermore, the cloud server can pointedly update the map information of the local area map according to the road information and the environment information of the current position, so that the update of the target map can be completed.

Through the mode, the cloud server does not need to consume higher cost, and a large number of professional vehicles, equipment and personnel are specially arranged to collect field data, so that the target map can be updated at relatively low cost.

In this embodiment, the cloud server may specifically include a background server that is applied to a network platform side and can implement functions such as data transmission and data processing. Specifically, the cloud server may be, for example, an electronic device having data operation, storage function, and network interaction function. Or, the cloud server may also be a software program that runs in the electronic device and provides support for data processing, storage, and network interaction. In this embodiment, the number of servers included in the cloud server is not specifically limited. The cloud server may be specifically one server, or may be several servers, or a server cluster formed by a plurality of servers.

In this embodiment, the shared riding device may specifically be a shared bicycle, or may also be a travel device such as a shared electric vehicle for riding and using by a user.

Referring to fig. 2, the embodiment of the present disclosure provides a map updating method. The method is specifically applied to one side of the cloud server. In specific implementation, the method may include the following:

s201: receiving an environment picture of a current position and positioning data of the current position, which are acquired by shared riding equipment in a riding process;

s202: acquiring road information and environment information of the current position according to the environment picture of the current position; determining a local area map at least containing the current position in the target map according to the positioning data of the current position;

s203: and updating the local area map in the target map according to the road information and the environment information of the current position.

By the implementation, the cloud server can respectively perform targeted updating processing on different local area maps according to the environment pictures and the positioning data at different positions fed back by different shared riding devices, so that the target map can be updated at a lower cost, and a more precise and accurate updated map can be obtained; moreover, the map is updated in the above manner, so that each update is timely, and the obtained updated map has high timeliness.

In some embodiments, the shared ride device described above may also be configured with a sensor (e.g., a speed sensor, etc.). When the shared riding device detects that the speed of the shared riding device is not 0 through the sensor, the current riding state can be determined; and then can start camera and GPS orientation module, gather simultaneously and acquire environment picture and location data.

Specifically, the shared riding device may trigger to acquire the environmental picture of the current position and the positioning data of the current position once every preset time interval (for example, every 5 minutes) after detecting that the riding device is in the riding state; or after the riding state is detected, triggering and acquiring the environmental picture of the current position and the positioning data of the current position once every preset riding distance (for example, 1 kilometer); the method can also be used for triggering and collecting the environmental picture of the current position and the positioning data of the position when a collecting instruction sent by the cloud server is received.

In some embodiments, after acquiring the environmental picture of the current position and the positioning data of the current position, the shared riding device may first correspond the environmental picture of the current position to the positioning data of the current position to establish a corresponding relationship between the environmental picture of the current position and the positioning data of the current position; and packaging the environment picture corresponding to the current position and the positioning data of the current position, and sending the environment picture and the positioning data of the current position to the cloud server through the antenna box.

In some embodiments, the shared riding device can also be provided with an image data processing module. After the shared riding device acquires the environmental picture of the current position and the positioning data of the current position, the image data processing module can be used for preprocessing the environmental picture of the current position according to the preprocessing rule to reduce noise information in the image data and obtain a preprocessed environmental picture which is relatively easier to identify and higher in definition; and then replacing the original environment picture at the current position with the environment picture preprocessed at the current position, and sending the environment picture and the positioning data of the current position to the cloud server together.

In specific implementation, the shared riding device can convert the environmental picture of the current position into image data of a spatial domain through the image data processing module according to a preprocessing rule, and perform Fourier transform on the image data of the spatial domain to obtain image data of a corresponding frequency domain; then, carrying out digital filtering processing on the image data of the frequency domain to obtain the filtered image data of the frequency domain; and then restoring the image data of the filtered frequency domain into image data of a spatial domain to obtain an environment picture preprocessed at the current position.

By the preprocessing, the road information and the environment information in the environment picture can be relatively easily identified and extracted while the image noise in the environment picture is filtered.

In some embodiments, after receiving the environment picture of the current position and the positioning data of the current position, which are acquired and sent by the shared riding device in the riding process, the cloud server may determine the target map according to the positioning data of the current position. The target map can be specifically understood as an electronic map of an area where the shared riding device is located currently.

In some embodiments, the cloud server may obtain the road information and the environment information of the current location in the real environment by processing the environment picture of the current location.

In some embodiments, the above obtaining the road information and the environment information of the current location according to the environment picture of the current location may include the following contents in specific implementation: and calling a preset image recognition model to process the environment picture of the current position so as to recognize and extract the road information and the environment information of the current position.

The preset image recognition model may be specifically understood as a pre-trained neural network model that can recognize features such as road features and road surrounding environment features from an image and output corresponding road information and environment information based on the features.

In some embodiments, before implementation, the preset image recognition model may be obtained by training in the following manner: acquiring an environment picture acquired by riding equipment for testing as a sample image; marking relevant road information and environmental information in the sample image to obtain a marked sample image; and training an initial neural network model by using the labeled sample image to obtain a preset image recognition model.

In some implementations, in a specific implementation, the cloud server may input the environmental picture of the current location as a model input to a preset image recognition model, and operate the preset image recognition model to obtain road information and environmental information of the current location output by the model.

In some embodiments, the road information and the environment information of the current location include at least one of: road information of a non-motor lane, road information of a pedestrian street, intersection information of an intersection, traffic identification information, position information of traffic light facilities, link information of a construction link, surrounding building information, the number of surrounding pedestrians, and the like in the vicinity of the current position.

The traffic identification information may specifically include: traffic signs disposed on both sides of a road, traffic signs disposed above a road, traffic marking patterns (e.g., sidewalk patterns, bicycle lane patterns, left turn indication patterns, etc.) disposed on a road surface, and the like.

It should be understood that the above-mentioned road information and environment information are only exemplary. In specific implementation, the road information and the environment information may further include other types of characteristic information, for example, information about a road section in a hallway where a motor vehicle cannot enter but a bicycle or an electric vehicle can enter, according to a specific application scenario and a processing requirement. The present specification is not limited to these.

In some embodiments, the cloud server may also find a local area map at least including the current location in the target map according to the positioning data of the current location.

The local area map may be a corresponding area map of an area in the target map, where the area is drawn by taking a current position as a center and a preset distance length (e.g., 500 meters) as a radius.

In some embodiments, during implementation, a local area map with a relatively better effect can be determined according to the positioning data of the current position and by combining the preset position of the camera on the shared riding device and the riding direction of the shared riding device. The riding mode of the shared riding device can be determined according to the positioning data of the current position and the positioning data of the last position.

Specifically, for example, in the case that the preset position is determined as the vehicle head position, referring to fig. 3, a position point corresponding to the positioning data of the current position may be first found in the target map as a starting point; starting from the starting point, respectively making two straight line segments corresponding to preset distance lengths along the direction which forms a preset angle (for example, 30 degrees) with the riding direction of the shared riding device; and connecting the end points of the two straight line segments, and determining the enclosed map as a local area map meeting the requirements.

In some embodiments, the updating the local area map in the target map according to the road information and the environment information of the current location may include the following steps:

s1: determining a retrieval direction and an initial position point in a local area map;

s2: starting from the initial position point, gradually searching a local area map along the searching direction to acquire map information in the local area map; comparing the acquired map information with corresponding road information and environment information, and calculating a difference value between the acquired map information and the corresponding road information and the corresponding environment information;

s3: when map information of a certain position point in the local area map is retrieved, and the difference value between the road information and the environment information corresponding to the position point is larger than a preset difference threshold value, the map information of the position point in the local area map is triggered to be updated in a targeted mode by utilizing the road information and the environment information.

In some embodiments, after the local area map is retrieved, when a location point having a difference value between the corresponding road information and the corresponding environment information greater than a preset difference threshold value is not found, it may be determined that the map information of the local area map in the current target map is accurate and does not need to be updated.

In some embodiments, the updating the local area map in the target map according to the road information and the environment information of the current location may include the following steps: updating the corresponding road section in the local area map according to the road information and the environmental information of the current position; and/or updating the corresponding map identification in the local area map according to the road information and the environmental information of the current position; and/or updating corresponding attribute data in the local area map according to the road information and the environment information of the current position.

In some embodiments, the updating of the corresponding road segment in the local area map may include, when implemented, at least one of: adding missing road segments in the local area map (e.g., adding road segments not available in the original local area map, hallway segments, pedestrian road segments, etc.), filtering out motorway segments in the local area map, modifying road segment parameters of existing road segments in the local area map (e.g., modifying road segment width, road segment length, road segment turn, intersection of motor vehicles and non-motor vehicles, etc. parameters of road segments existing in the original local area map), etc.

Specifically, for example, referring to fig. 4, based on the above-described road information and environmental information, it is found that: the p sections of the hallway are missing from the original local area map. The section information of the p-section of the illustrated corridor can be added to the corresponding position in the original local area map, so as to update the corresponding road section in the local area map.

In some embodiments, the updating of the corresponding map identifier in the local area map may include, when implemented, at least one of: adding missing map identifications (e.g., adding surrounding building identifications, traffic light identifications, bus station identifications, subway station identifications, etc., which are not in the original local area map), deleting failed map identifications (e.g., deleting bus station identifications of cancelled bus stations, removed surrounding building identifications, etc.), modifying existing map identifications (e.g., modifying identification names of existing map identifications, modifying identification positions of existing map identifications, etc.), and the like.

In some embodiments, the updating of the corresponding attribute data in the local area map may include, when implemented specifically: inserting corresponding attribute data at corresponding position points in the local area map; and/or modifying the existing attribute data of the corresponding position point in the local area map.

The attribute data may be specifically understood as data for presenting a special case of a targeted location point.

Specifically, the attribute data may include at least one of: steering prompt data, one-way road prompt data, non-motor vehicle no-pass prompt data, peripheral pedestrian flow prompt data and the like. Of course, the above listed attribute data is only an illustrative illustration. In specific implementation, the attribute data may further include attribute data of other content according to a specific application scenario and a processing requirement. The present specification is not limited to these.

In some embodiments, for example, the cloud server determines that the road segment a in the local area map has a middle school in the road information and the environment information extracted from the environment picture based on the current position. Therefore, attribute data indicating that the flow rate of students for the link a is large may be inserted at the intersection of the link a in the local area map.

For another example, the cloud server determines that a new business center is opened near the position B in the local area map according to the road information and the environment information, and detects that the people around the position B have a large stream according to the environment picture of the current position. Therefore, the existing attribute data at the B position in the local area map may be modified to: the periphery has business centers and the flow of people is large.

For example, the cloud server determines that the road C in the local area map is in the construction state and is prohibited from passing through according to the road information and the environment information; and the construction time can be determined to be 8/13/2021-9/1/2021 according to the construction billboard shot in the environment picture of the current position. Therefore, the following attribute data may be inserted at the construction position point of the road C in the local area map: and C, constructing the roads C, 2021.08.13-2021.09.01, and forbidding the roads to pass through.

In some embodiments, subsequently, when the user navigates using the updated target map and passes through the corresponding location point, the terminal device of the user may automatically read and prompt the user for the attribute data of the location point.

Specifically, for example, when a mobile phone (a terminal device) of the user B uses an updated target map to navigate for riding of the user B, and when the terminal device detects that the user B enters the road C and approaches a construction position point of the road C, the terminal device reads attribute data inserted at the construction position point from the target map, and broadcasts the attribute data to the user B by voice, so as to timely and early remind the user B that the construction is prohibited from passing in front of the user B.

In some embodiments, the cloud server may also obtain, at the same time, environment pictures and positioning data (it may be understood that a difference value between the positioning data is less than or equal to a preset threshold) for the same local area map, which are acquired and fed back by a plurality of different shared riding devices in the same time period (e.g., the same week); the cloud server can obtain a plurality of pieces of road information and environment information corresponding to the same or similar positions according to the plurality of pieces of environment pictures and the positioning data; further, the server may perform clustering processing on the plurality of road information and environment information corresponding to the same or similar positions to obtain clustered road information and environment information; and according to the clustered road information and environment information, performing targeted updating on the local area map determined based on the positioning data. Therefore, the updating of the local area map can be more accurate.

In some embodiments, when the target map is updated, the cloud server may update a local area map in the target map each time road information and environment information of a location are obtained based on an environment picture and positioning data of the location. The cloud server can also update a plurality of local area maps in the target map in a parallel manner after obtaining road information and environmental information of a plurality of positions based on the environmental pictures and the positioning data of the plurality of positions. This may allow the update of the target map to be accomplished relatively more efficiently.

In some embodiments, the cloud server may also determine a region of interest map in the target map; and then, the map information of the attention area map is updated by pertinently utilizing the shared riding equipment.

In some embodiments, the method, when implemented, may further include:

s1: determining a region map of interest in a target map;

s2: according to the positioning data of the current position fed back by the shared riding equipment, determining the shared riding equipment which runs in the position area corresponding to the attention area map at present as target shared riding equipment;

s3: sending a collecting instruction to the target shared riding device; and the target sharing riding device responds to the acquisition instruction, and acquires and feeds back the environmental picture of the current position and the positioning data of the current position in the riding process.

Therefore, the method can avoid consuming a large amount of processing time and processing resources, update all the regional maps in the target map without distinguishing, and efficiently update only the concerned regional map in the target map.

In some embodiments, when the attention area map is specifically determined, the cloud server may actively perform map information detection in the target map, and find a local area map with map information missing as the attention area map. The cloud server can also collect error reporting information fed back by the user using the target map, count the error reporting positions indicated by the error reporting information, and determine the attention area map. The cloud server may also collect construction messages such as road construction news and notifications of a city or an area to which the target map is directed through the internet periodically (e.g., every other week), and determine the map of the attention area according to the construction messages.

In some embodiments, in specific implementation, after the shared riding device detects that the shared riding device is in the riding state, the shared riding device may not need to collect an environment picture of the position, and only needs to acquire and feed back the positioning data of the current position to the cloud server at every preset time interval.

Correspondingly, the cloud server can determine and screen out the shared riding equipment which runs in the position area corresponding to the attention area map at present according to the positioning data of the current position fed back by the riding equipment, the shared riding equipment serves as the target shared riding equipment to be triggered, and only the target shared riding equipment generates and sends an acquisition instruction.

And the target shared riding device which runs in the position area corresponding to the attention area map receives the acquisition instruction. The target sharing riding device responds to the acquisition instruction, starts a camera arranged at a preset position, and simultaneously acquires an environment picture of the current position and positioning data of the current position; and sending the environment picture of the current position and the positioning data of the current position to a cloud server so that the cloud server can update the concerned area map in the target map according to the environment picture of the current position and the positioning data of the current position.

In some embodiments, the shared riding device may specifically include a shared bicycle and/or a shared electric vehicle. Correspondingly, the cloud server can obtain field data which cannot be collected by large equipment such as more motor vehicles and the like through the shared riding equipment, and further can generate a relatively more precise and accurate more detailed target map.

In addition, the data (including the environment picture and the positioning data) used by the cloud server for updating the target map is acquired and provided by the shared riding device belonging to the non-motor vehicle. Thus, the updated target map is more suitable for use by non-motor vehicle users than the original target map.

In some embodiments, after updating the local area map in the target map according to the road information and the environment information of the current location, when the method is implemented, the following may be further included: constructing a navigation map for the non-motor vehicle user according to the updated target map; providing the navigation map to the non-motor vehicle user.

Through the embodiment, the navigation map more suitable for the non-motor vehicle user can be constructed.

Furthermore, the cloud server can install the navigation map on terminal equipment such as a mobile phone and a navigator used by a user in a pushing or online updating mode, so that the navigation map with higher pertinence and higher reference value can be provided for a non-motor vehicle user through the terminal equipment.

As can be seen from the above, based on the map updating method provided in the embodiments of the present specification, the shared riding device can automatically acquire an environmental picture of the current position of the shared riding device through a camera arranged at a preset position during riding of a user, and meanwhile, acquire positioning data of the current position; sending the environmental picture of the current position and the positioning data of the current position to a cloud server together; the cloud server acquires road information and environment information of the current position in the real environment according to the environment picture of the current position; meanwhile, according to the positioning data of the current position, a local area map at least containing the current position is determined in the target map; and updating the local area map in the target map in a targeted manner according to the acquired road information and environmental information of the current position. Therefore, the map information can be updated at a reduced cost, and a more precise and accurate updated map can be obtained.

Referring to fig. 5, another map updating method is provided in the embodiments of the present disclosure. The method is particularly applied to one side of the shared riding device. When the method is implemented, the following contents can be included:

s501: in the riding process, acquiring an environment picture of a current position through a camera arranged at a preset position, and acquiring positioning data of the current position;

s502: sending the environmental picture of the current position and the positioning data of the current position to a cloud server; the cloud server is used for updating the target map according to the environment picture of the current position and the positioning data of the current position.

Through the embodiment, the shared riding equipment can be used for automatically acquiring the field data such as the environment picture, the positioning data and the like of the position of the shared riding equipment in the riding process of the user, and the field data is provided for the cloud server, so that the cloud server can update the target map at lower cost.

In some embodiments, after acquiring the environmental picture of the current location through the camera disposed at the preset location, when the method is implemented, the following may be further included: according to a preprocessing rule, preprocessing the environment picture of the current position to obtain the environment picture preprocessed by the current position; correspondingly, the environment picture preprocessed at the current position and the positioning data of the current position are sent to a cloud server.

In some embodiments, the preprocessing the environment picture at the current location according to the preprocessing rule may include the following steps: according to a preprocessing rule, converting an environment picture of a current position into image data of a spatial domain, and performing Fourier transform on the image data of the spatial domain to obtain image data of a corresponding frequency domain; carrying out digital filtering processing on the image data of the frequency domain to obtain filtered image data of the frequency domain; and restoring the filtered image data of the frequency domain into image data of a spatial domain to obtain an environment picture preprocessed at the current position.

In some embodiments, the method, when implemented, may further include: in the riding process, sending positioning data of the current position to a cloud server at preset time intervals; under the condition of receiving an acquisition instruction sent by a cloud server, triggering a camera arranged at a preset position to acquire an environment picture of the current position; and sending the environmental picture of the current position and the positioning data of the current position to a cloud server.

As can be seen from the above, based on the map updating method provided in the embodiments of the present specification, the shared riding device and the cloud server may assist each other, and update of the target map is achieved at a lower cost.

The embodiment of the specification further provides a map generation method. The method is specifically applied to a cloud server, and when the method is specifically implemented, the method can comprise the following steps:

s1: receiving an environment picture of a current position and positioning data of the current position, which are acquired by shared riding equipment in a riding process;

s2: acquiring road information and environment information of the current position according to the environment picture of the current position;

s3: and generating a target map according to the acquired road information and the acquired environment information.

In some embodiments, the shared device may be specifically understood as a non-motor vehicle device that is placed in a target area for a user to use and ride in the target area. Such as sharing bicycles, sharing electric vehicles, etc.

In some embodiments, the cloud server may obtain environmental pictures and positioning data of positions fed back by multiple shared riding devices riding in different position areas within a target area (e.g., a city or a district); obtaining road information and environment information at different positions in different position areas in a target area according to the environment pictures and the positioning data of the positions fed back by the multiple shared riding devices; and then, a target map for the target area can be generated and obtained according to the road information and the environment information of different positions in different position areas in the target area.

By the embodiment, the shared riding equipment which is thrown into the target area and is used by the user for riding is fully utilized, so that the cost is reduced, and the target map which is fine and aims at the target area which is ridden by the non-motor vehicle and has higher reference value to the non-motor vehicle user is generated.

An embodiment of the present specification further provides a cloud server, including a processor and a memory for storing processor executable instructions, where the processor may perform the following steps according to the instructions when implemented specifically: receiving an environment picture of a current position and positioning data of the current position, which are acquired by shared riding equipment in a riding process; acquiring road information and environment information of the current position according to the environment picture of the current position; determining a local area map at least containing the current position in the target map according to the positioning data of the current position; and updating the local area map in the target map according to the road information and the environment information of the current position.

In order to complete the above instructions more accurately, referring to fig. 6, an embodiment of the present disclosure further provides another specific cloud server, where the cloud server includes a network communication port 601, a processor 602, and a memory 603, and the above structures are connected by an internal cable, so that each structure can perform specific data interaction.

The network communication port 601 may be specifically configured to receive an environmental picture of a current position and positioning data of the current position, which are acquired by the shared riding device in the riding process.

The processor 602 may be specifically configured to obtain road information and environment information of the current location according to the environment picture of the current location; determining a local area map at least containing the current position in the target map according to the positioning data of the current position; and updating the local area map in the target map according to the road information and the environment information of the current position.

The memory 603 may be specifically configured to store a corresponding instruction program.

In this embodiment, the network communication port 601 may be a virtual port bound with different communication protocols, so that different data can be sent or received. For example, the network communication port may be a port responsible for web data communication, a port responsible for FTP data communication, or a port responsible for mail data communication. In addition, the network communication port can also be a communication interface or a communication chip of an entity. For example, it may be a wireless mobile network communication chip, such as GSM, CDMA, etc.

In this embodiment, the processor 602 may be implemented in any suitable manner. For example, the processor may take the form of, for example, a microprocessor or processor and a computer-readable medium that stores computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, an embedded microcontroller, and so forth. The description is not intended to be limiting.

In this embodiment, the memory 603 may include multiple layers, and in a digital system, the memory may be any memory as long as binary data can be stored; in an integrated circuit, a circuit without a physical form and with a storage function is also called a memory, such as a RAM, a FIFO and the like; in the system, the storage device in physical form is also called a memory, such as a memory bank, a TF card and the like.

An embodiment of the present specification further provides a shared riding device, including a processor and a memory for storing processor executable instructions, where the processor may perform the following steps according to the instructions when implemented: in the riding process, acquiring an environment picture of a current position through a camera arranged at a preset position, and acquiring positioning data of the current position; sending the environmental picture of the current position and the positioning data of the current position to a cloud server; the cloud server is used for updating the target map according to the environment picture of the current position and the positioning data of the current position.

The present specification further provides a computer-readable storage medium based on the above map updating method, where the computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the computer program instructions implement: receiving an environment picture of a current position and positioning data of the current position, which are acquired by shared riding equipment in a riding process; acquiring road information and environment information of the current position according to the environment picture of the current position; determining a local area map at least containing the current position in the target map according to the positioning data of the current position; and updating the local area map in the target map according to the road information and the environment information of the current position.

The present specification further provides another computer-readable storage medium based on the above map updating method, where the computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the computer program instructions implement: in the riding process, acquiring an environment picture of a current position through a camera arranged at a preset position, and acquiring positioning data of the current position; sending the environmental picture of the current position and the positioning data of the current position to a cloud server; the cloud server is used for updating the target map according to the environment picture of the current position and the positioning data of the current position.

In this embodiment, the storage medium includes, but is not limited to, a Random Access Memory (RAM), a Read-Only Memory (ROM), a Cache (Cache), a Hard Disk Drive (HDD), or a Memory Card (Memory Card). The memory may be used to store computer program instructions. The network communication unit may be an interface for performing network connection communication, which is set in accordance with a standard prescribed by a communication protocol.

In this embodiment, the functions and effects specifically realized by the program instructions stored in the computer-readable storage medium can be explained in comparison with other embodiments, and are not described herein again.

Referring to fig. 7, in terms of software, the embodiment of the present disclosure further provides a map updating apparatus, which may specifically include the following structural modules:

the receiving module 701 may be specifically configured to receive an environment picture of a current position and positioning data of the current position, which are acquired by the shared riding device in a riding process;

the processing module 702 may be specifically configured to obtain road information and environment information of the current location according to the environment picture of the current location; determining a local area map at least containing the current position in the target map according to the positioning data of the current position;

the updating module 703 may be specifically configured to update the local area map in the target map according to the road information and the environment information of the current location.

The embodiment of the present specification further provides another map updating apparatus, which may specifically include the following structural modules:

the acquisition module can be specifically used for acquiring an environment picture of the current position through a camera arranged at a preset position in the riding process of a user and acquiring positioning data of the current position;

the sending module is specifically configured to send the environmental picture of the current location and the positioning data of the current location to a cloud server; the cloud server is used for updating the target map according to the environment picture of the current position and the positioning data of the current position.

It should be noted that, the units, devices, modules, etc. illustrated in the above embodiments may be implemented by a computer chip or an entity, or implemented by a product with certain functions. For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. It is to be understood that, in implementing the present specification, functions of each module may be implemented in one or more pieces of software and/or hardware, or a module that implements the same function may be implemented by a combination of a plurality of sub-modules or sub-units, or the like. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

As can be seen from the above, the map updating apparatus provided in the embodiments of the present specification can update map information with reduced cost, and obtain a more precise and accurate updated map.

The embodiment of the specification also provides a map generating device. The device may specifically comprise the following structural modules:

the receiving module is specifically used for receiving an environment picture of the current position and positioning data of the current position, which are acquired by the shared riding device in the riding process;

the acquisition module is specifically used for acquiring road information and environment information of the current position according to the environment picture of the current position;

the generating module may be specifically configured to generate a target map according to the acquired road information and the environmental information.

As can be seen from the above, the map updating apparatus provided based on the embodiments of the present specification generates a target map of a target area that is more refined and has a higher reference value for non-motor vehicle users, and is ridden on non-motor vehicles, with a reduced cost, by fully utilizing shared riding equipment that is thrown into the target area for users to use and ride on.

Although the present specification provides method steps as described in the examples or flowcharts, additional or fewer steps may be included based on conventional or non-inventive means. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an apparatus or client product in practice executes, it may execute sequentially or in parallel (e.g., in a parallel processor or multithreaded processing environment, or even in a distributed data processing environment) according to the embodiments or methods shown in the figures. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the presence of additional identical or equivalent elements in a process, method, article, or apparatus that comprises the recited elements is not excluded. The terms first, second, etc. are used to denote names, but not any particular order.

Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may therefore be considered as a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.

This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer-readable storage media including memory storage devices.

From the above description of the embodiments, it is clear to those skilled in the art that the present specification can be implemented by software plus necessary general hardware platform. With this understanding, the technical solutions in the present specification may be essentially embodied in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments in the present specification.

The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. The description is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.

While the specification has been described with examples, those skilled in the art will appreciate that there are numerous variations and permutations of the specification that do not depart from the spirit of the specification, and it is intended that the appended claims include such variations and modifications that do not depart from the spirit of the specification.