MAP UPDATING METHOD AND APPARATUS, AND STORAGE MEDIUM
Example embodiments of the present disclosure provide a map updating method and apparatus, a device and a computer-readable storage medium, which may be applied to a field of autonomous driving. The map updating method includes determining that there is an interruption on a road edge of a road on a map, the road edge representing a boundary of a part of the road available for vehicles. The method further includes determining, based on the map, a reference distance between an existing part of the road edge and a division line, the existing part being within a predetermined distance from the interruption, and the division line representing a division between different traveling directions of the road. The method further includes generating a supplementary part for the interruption on the map based on the reference distance and the division line.
1 . A map updating method, comprising:
determining that there is an interruption on a road edge of a road on a map, the road edge representing a boundary of a part of the road available for vehicles;
determining, based on the map, a reference distance between an existing part of the road edge and a division line, the existing part being within a predetermined distance from the interruption, and the division line representing a division between different traveling directions of the road; and
generating a supplementary part for the interruption on the map based on the reference distance and the division line.
2 . The method of claim 1 , wherein determining the reference distance comprises:
determining a plurality of sampling points corresponding to the existing part on the map;
for the plurality of sampling points, determining a plurality of sampling distances between the existing part and the division line; and
determining an average value of the plurality of sampling distances as the reference distance.
3 . The method of claim 2 , wherein determining the plurality of sampling points comprises:
determining a lane line of the road closest to the existing part;
obtaining a first sampling point and a second sampling point on the lane line, the first sampling point and the second sampling point being spaced by a predetermined distance; and
determining, based on the first sampling point, the second sampling point and the predetermined distance, sampling points other than the first sampling point and the second sampling point from the plurality of sampling points along the lane line.
4 . The method of claim 2 , wherein determining the plurality of sampling distances comprises:
determining a first point corresponding to a third sampling point in the plurality of sampling points from the existing part;
determining a second point corresponding to the third sampling point on the division line; and
determining a distance between the first point and the second point as one of the plurality of sampling distances.
5 . The method of claim 1 , wherein the existing part comprises a first part and a second part, the first part being located behind the interruption along a traveling direction of the road, and the second part being located in front of the interruption along the traveling direction of the road.
6 . The method of claim 1 , wherein generating the supplementary part comprises:
determining a plurality of reference points corresponding to the interruption on the division line;
determining a plurality of supplementary points between the division line and a lane line of the road based on the plurality of reference points and the reference distance; and
generating the supplementary part by connecting the plurality of supplementary points.
7 . The method of claim 2 , further comprising:
determining a dispersion degree of a distance between the existing part and the division line in at least a part of the plurality of sampling points;
determining a distance threshold for a potential error in the road edge based on the dispersion degree; and
providing information related to the potential error based on the distance threshold.
8 . A map updating apparatus, comprising:
one or more processors;
a memory storing instructions executable by the one or more processors;
wherein the one or more processors are configured to:
determine that there is an interruption on a road edge of a road on a map, the road edge representing a boundary of a part of the road available for vehicles;
determine, based on the map, a reference distance between an existing part of the road edge and a division line, the existing part being within a predetermined distance from the interruption, and the division line representing a division between different traveling directions of the road; and
generate a supplementary part for the interruption on the map based on the reference distance and the division line.
9 . The apparatus of claim 8 , wherein the one or more processors are configured to:
determine a plurality of sampling points corresponding to the existing part on the map;
for the plurality of sampling points, determine a plurality of sampling distances between the existing part and the division line; and
determine an average value of the plurality of sampling distances as the reference distance.
10 . The apparatus of claim 9 , wherein the one or more processors are configured to:
determine a lane line of the road closest to the existing part;
obtain a first sampling point and a second sampling point on the lane line, the first sampling point and the second sampling point being spaced by a predetermined distance; and
determine, based on the first sampling point, the second sampling point and the predetermined distance, sampling points other than the first sampling point and the second sampling point from the plurality of sampling points along the lane line.
11 . The apparatus of claim 9 , wherein the one or more processors are configured to:
determine a first point corresponding to a third sampling point in the plurality of sampling points from the existing part;
determine a second point corresponding to the third sampling point on the division line; and
determine a distance between the first point and the second point as one of the plurality of sampling distances.
12 . The apparatus of claim 8 , wherein the existing part comprises a first part and a second part, the first part being located behind the interruption along a traveling direction of the road, and the second part being located in front of the interruption along the traveling direction of the road.
13 . The apparatus of claim 8 , wherein the one or more processors are configured to:
determine a plurality of reference points corresponding to the interruption on the division line;
determine a plurality of supplementary points between the division line and a lane line of the road based on the plurality of reference points and the reference distance; and
generate the supplementary part by connecting the plurality of supplementary points.
14 . The apparatus of claim 9 , wherein the one or more processors are configured to:
determine a dispersion degree of a distance between the existing part and the division line in at least a part of the plurality of sampling points;
determine a distance threshold for a potential error in the road edge based on the dispersion degree; and
provide information related to the potential error based on the distance threshold.
15 . A non-transitory computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, a map updating method is implemented, and the method comprises:
determining that there is an interruption on a road edge of a road on a map, the road edge representing a boundary of a part of the road available for vehicles;
determining, based on the map, a reference distance between an existing part of the road edge and a division line, the existing part being within a predetermined distance from the interruption, and the division line representing a division between different traveling directions of the road; and
generating a supplementary part for the interruption on the map based on the reference distance and the division line.