CN114840539A - Data processing method, device, equipment and storage medium - Google Patents

Abstract

The present disclosure provides a data processing method, device, device, and storage medium, and relates to the technical field of computers, in particular to the technical fields of automatic driving, intelligent transportation, and the like. The data processing method comprises: in response to an update message sent by the server, requesting the server for incremental data of the current version number from the server, the update message is that the server adds the current version number to the server that generated the current version number. The incremental data of the server of the current version number is the map data that has changed in the current cycle corresponding to the current version number; based on the acquisition of the incremental data of the server of the current version number, Determine the client-side incremental data of the current version number; add the client-side incremental data of the current version number in addition to the client-side map data before the update to obtain the updated client-side map data. The present disclosure can improve the timeliness of client map data.

Description

Data processing method, apparatus, device and storage medium

technical field

The present disclosure relates to the field of computer technologies, in particular to the technical fields of autonomous driving, intelligent transportation, and the like, and in particular, to a data processing method, apparatus, device, and storage medium.

Background technique

Self-driving vehicles (Autonomous vehicles; Self-driving automobile), also known as unmanned vehicles, computer-driven vehicles or wheeled mobile robots, are intelligent vehicles that realize unmanned driving through computer systems.

The map data in the car can be used when the autonomous vehicle is driving. In the related art, the full amount of data in the vehicle terminal is generally updated regularly, for example, the full amount of data is regularly downloaded from the server side or offline update is performed at a designated location. However, the method of regularly updating the full amount of data limits the frequency of data updating, generally at the quarterly level, resulting in poor timeliness of on-board map data.

SUMMARY OF THE INVENTION

The present disclosure provides a data processing method, apparatus, device and storage medium.

According to an aspect of the present disclosure, a data processing method is provided, comprising: in response to an update message sent by a server, requesting the server for incremental data of the current version number, wherein the update message is the service Sent by the terminal after generating the server incremental data of the current version number, the server incremental data of the current version number is the map data that changes in the current cycle corresponding to the current version number; based on the current version number The acquisition situation of the server-side incremental data of the version number, determine the client-side incremental data of the current version number; in addition to the client-side map data before the update, add the client-side incremental data of the current version number to Get updated client-side map data.

According to another aspect of the present disclosure, a data processing apparatus is provided, comprising: a request module, configured to request the server for incremental data of the current version number from the server in response to an update message sent by the server, the The update message is sent by the server after generating the server incremental data of the current version number, and the server incremental data of the current version number is the map that has changed in the current cycle corresponding to the current version number data; a determination module, used for determining the client incremental data of the current version number based on the acquisition of the server incremental data of the current version number; an update module, used for between the client map data before the update In addition, the client incremental data of the current version number is added to obtain updated client map data.

According to another aspect of the present disclosure, there is provided an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores information that can be used by the at least one processor Instructions that are executed, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any of the preceding aspects.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions are used to cause the computer to perform any one of the preceding aspects. 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 method according to any of the preceding aspects.

According to another aspect of the present disclosure, there is provided an autonomous vehicle comprising the electronic device of any one of the preceding aspects.

According to the technical solutions of the present disclosure, the timeliness of the client map data can be improved.

It should be understood that what is described in this section is not intended to identify key or critical features of embodiments of the disclosure, nor is it intended to limit the scope of the disclosure. Other features of the present disclosure will become readily understood from the following description.

Description of drawings

The accompanying drawings are used for better understanding of the present solution, and do not constitute a limitation to the present disclosure. in:

1 is a schematic diagram according to a first embodiment of the present disclosure;

FIG. 2 is a schematic diagram of server-side incremental data and vehicle-side incremental data in an embodiment of the present disclosure;

3 is a schematic diagram according to a second embodiment of the present disclosure;

Fig. 4 is the system interaction diagram corresponding to Fig. 3;

5 is a schematic diagram of map elements at grid junctions in an embodiment of the present disclosure;

6 is a schematic diagram of incremental indexes corresponding to each version number according to an embodiment of the present disclosure;

7 is a schematic diagram of an update process of an incremental index according to an embodiment of the present disclosure;

8 is a schematic diagram of storage of vehicle-end map data in an embodiment of the present disclosure;

9 is a schematic diagram of the composition of a database in an embodiment of the present disclosure;

10 is a schematic diagram of a spatial index in an embodiment of the present disclosure;

FIG. 11 is a schematic flowchart of performing a query operation in an embodiment of the present disclosure;

12a-12c are schematic diagrams of a process of performing a merge operation in an embodiment of the present disclosure;

13 is a schematic diagram according to a third embodiment of the present disclosure;

14 is a schematic diagram of a fourth embodiment according to the present disclosure;

FIG. 15 is a schematic diagram of an electronic device used to implement the data processing method of an embodiment of the present disclosure.

Detailed ways

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding and should be considered as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted from the following description for clarity and conciseness.

In the related art, in-vehicle map data generally adopts the method of regularly updating the full amount of data, which limits the frequency of data updating, generally at the quarterly level.

However, the quarter-level data update method will lead to poor timeliness of the car-end map data, and the inconsistency between the car-end map data and the real world, which will affect the normal driving of the vehicle.

In order to improve the timeliness of vehicle-end map data, the present disclosure provides the following embodiments.

FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure. This embodiment provides a data processing method. The method provided by this embodiment includes:

101. In response to an update message sent by the server, request the server for incremental data of the current version number from the server, and the update message is after the server generates the server incremental data of the current version number. Sent, the server-side incremental data of the current version number is map data that has changed in the current cycle corresponding to the current version number.

102. Determine the client incremental data of the current version number based on the acquisition situation of the server incremental data of the current version number.

103. In addition to the client-side map data before the update, add the client-side incremental data of the current version number to obtain the updated client-side map data.

The method in this embodiment may be applied to a client, and the client may include: a vehicle terminal, a mobile terminal (such as a mobile phone, a tablet computer, a wearable device), and the like.

The data processing method in the following embodiments is described by taking the vehicle end as an example, for example, it may be performed by an automatic driving system on a vehicle, and/or performed by an on-board system on the vehicle.

The server is used to produce multiple versions of map data, and the production cycle is small, such as hourly.

Different versions of map data may be identified by different version numbers. For example, the version numbers of multiple versions of map data are 101, 102, and 103, respectively.

Incremental data refers to map data that has changed in the current cycle, and the current cycle refers to the time period between the generation time point of the map data of the current version number and the generation time point of the map data of the previous version number.

Map data is generally organized and processed in units of grids (or called tiles).

For example, the server generates the map data of the previous version number at t1, and generates the map data of the current version number at t2. If there is a change (for example, the map element in the corresponding grid has changed), the changed grid data is used as the server-side incremental data of the current version number.

When the server and vehicle end store map data, they can be stored in the form of incremental data. Correspondingly, incremental data can be divided into server-side incremental data and vehicle-side incremental data.

The initial full amount of map data may be referred to as baseline map data. The baseline map data on the server side may be referred to as server baseline data, and the baseline map data on the vehicle side may be referred to as vehicle baseline data.

As shown in Figure 2, the map data on the server can include: server baseline data and server incremental data, the version number of the server baseline data is 101, and the server incremental data can correspond to one or more version numbers, as shown in Figure 2 , the version numbers of the incremental data on the server are 102 and 103 respectively.

The server-side incremental data with version number 102 is marked with a thick solid line and marked with 102; the server-side incremental data with version number 103 is marked with a thick solid line and marked with 103.

When a version update occurs, for example, the server updates version 101 to version 102, or updates version 102 to version 103, and can send an update message to the vehicle.

In response to the update message sent by the server, the car end may request the server for incremental data from the server. For example, after the server-side map data is updated from version 101 to version 102, the car end can request the server-side incremental data with version number 102.

Although the car end can request data from the server, because the network connection between the car end and the server end may be poor or even no network, the car end may or may not obtain the requested data.

Based on the acquisition of incremental data of the server requested by the vehicle, the incremental data of the vehicle can be determined. That is, due to the uncertainty of the network, the car-side incremental data and the server-side incremental data of the same version may be consistent or inconsistent.

For example, as shown in Figure 2, assuming that the data that cannot be obtained is called unknown data, which is represented by x, for version number 102, the incremental data of the server with version number 102 is 5 grid data marked with 102, but , the car-end incremental data with version number 102 includes 2 grid data marked with 102 and 3 unknown data (marked with x). For version number 103, assuming that the car end obtains all the incremental data of the corresponding version from the server, the server incremental data of version 103 and the car end incremental data of version 103 both include two tags marked as 103 grid data.

After the vehicle-side incremental data corresponding to the current version number is determined, the vehicle-side map data can be updated by adding.

Still referring to Figure 2, assuming that the current version number is 102, the on-board map data before the update is the on-board baseline map data with version number 101. After obtaining the on-board incremental data with version number 102, you can add the version number as 102 of the vehicle-side incremental data, so the updated vehicle-side map data includes: the vehicle-side baseline map data with version number 101 and the vehicle-side incremental data with version number 102.

Assuming that the current version number is 103, the on-board map data before the update includes: on-board baseline map data with version number 101, and on-board incremental data with version 102, to obtain on-board incremental data with version 103 After the data, the vehicle-side incremental data with version number 103 can be added, so that the updated vehicle-side map data includes: vehicle-side baseline map data with version number 101, vehicle-side incremental data with version number 102, and, Incremental data on the vehicle end with version number 103.

Because when the car-end map data is updated, the method of adding is adopted, and the car-end incremental data of the current version number is added to the car-end map data before the update, and it is not a way of covering one or some grid data. , therefore, the on-board map data will include on-board map data with multiple version numbers.

In this embodiment, the car-end map data is updated by using the car-end incremental data of the current version number, and the car-end incremental data of the current version number is determined based on the acquisition of the server-end incremental data in response to the update message of the server end, The update message is sent after the server generates a new version of the incremental map data. Therefore, the update cycle of the car-end incremental data is consistent with the generation cycle of the server-end incremental map data, which is generally hourly, compared to the quarterly full volume. The data update method can ensure that the car-end map data is updated in time, improve the timeliness of the car-end map data, and then the latest data can be queried when the map data is subsequently queried; by requesting incremental data instead of full data, it can be faster. Updating the car-end map data can also reduce the amount of data transmission, improve transmission efficiency, and save resource overhead; by adding the car-end incremental data corresponding to the new version in addition to the car-end map data before the update, instead of using coverage The method of updating the car-end map data before the update can avoid the data loss caused by the poor network connection between the car-end and the server, ensure the integrity and accuracy of the car-end map data, and query the car-end map in the follow-up. It can also play an optimal downgrade when it comes to data, that is, try to query the latest version of the on-board map data.

The above describes the update process of the on-board map data, and the updated on-board map data can be used for subsequent processes. For example, an application installed on the car end can query the updated car end map data, and perform operations such as route navigation based on the queried car end map data. For another example, since the updated on-board map data is map data of multiple versions, in order to save storage resources and improve query efficiency, the map data of multiple versions can be merged regularly.

FIG. 3 is a schematic diagram according to a second embodiment of the present disclosure, which provides a data processing method, and FIG. 4 is a system interaction diagram corresponding to FIG. 3 .

Referring to FIG. 3, the method provided by this embodiment includes:

301. The server produces incremental server data of the current version number.

Among them, the production cycle of the server is generally an hour level, that is, a new version of the server map data can be produced every hour.

Specifically, referring to FIG. 4 , the server can be divided into offline services and online services, and the map data production module in the offline service can generate various versions of server map data offline. After the offline service generates a new version of the server-side map data, the new version of the server-side map data can be pushed to the online map data service, which is represented as publishing the latest version of data in FIG. 7 .

The current version number refers to the version number of the latest version data published by the server.

The initial version of the server-side map data can be called server-side baseline data, and the non-initial version of server-side map data can be called server-side incremental data. In addition, the incremental data of the server-side baseline data can be considered as the server-side baseline data itself.

Multiple versions of server-side map data can be shown on the left side of Figure 2, including server-side baseline data with version number 101, server-side incremental data with version number 102, and server-side incremental data with version number 103 data.

The server-side map data of each version can be produced in the following ways:

Map data is processed in units of grids (or tiles). The map data can be divided into n (n is a positive integer) layers. The larger n is, the smaller the size of a single grid is. The side length of the grid is 150m, m=15, and the side length of the grid is 1200m, and the specific value can be adjusted according to actual needs.

For the map data of the same version, the grid data corresponding to each grid can be identified by the unique ID in the version. The above unique ID can be obtained by using the GeoHash algorithm. The GeoHash algorithm is an address encoding method that can encode two-dimensional spatial latitude and longitude data into a one-dimensional character string.

The map elements may include points, lines, and surfaces, and points, lines, and surfaces at the intersection of grids, as shown in (a) to (c) of FIG. 5 .

For the above points, lines and areas, the corresponding map data can be generated as follows:

Point data, store one copy in the grid data of two adjacent grids, and mark each other as the same point

The line data is interrupted at the junction of adjacent grids, and new nodes (nodes) are generated in the grid data associated with the breakpoints, and are marked with each other as the same site.

The surface data is interrupted at the junction of adjacent meshes, and new nodes are generated in the mesh data associated with the breakpoints, which are marked as co-located points with each other, and form new surface data with the vertices of the mesh.

302. The server sends an update message to the vehicle.

Among them, as shown in FIG. 4 , after receiving the map data of the new version, the online map data service can send the version number of the new version to the message queue. The in-vehicle middle-end service subscribes to the version number, and the message queue pushes version update messages to the in-vehicle middle-end service. After receiving the version update message, the vehicle-machine middle-station service pushes the latest version number to the map application programming interface (Application Programming Interface, API) on the vehicle side.

303. The vehicle terminal, in response to the update message sent by the server terminal, requests the server terminal for the server-side incremental data of the current version number.

The current version number is the latest version number pushed by the server.

Update messages are push messages that contain the current version number.

After receiving the push message containing the current version number, the vehicle terminal can request the server-side incremental data of the current version number from the server side.

Wherein, as shown in FIG. 4 , the vehicle-end map data service may include a baseline map data module, a map data cache module, and an online data module. The vehicle-end baseline data can be stored in the baseline map data module; the incremental data obtained by the vehicle-end from the server can be stored in the map data cache module; the online data module is used to obtain data from the server in real time.

After the map API receives the update message from the server, it can send the map data read command to the car-end map data service. The online data module in the car-end map data service can pull the latest version from the online map data service based on the read command. data.

It is understandable that the read command of the map API can also be generated based on the trigger of the application. For example, when the application needs to use map data, the application can send a query request to the map API, and the map API generates the read command based on the query request.

Since the car-end map data is generally organized according to grids, the organizational structure of the car-end map data can be shielded through the map API, a logically seamless map can be established, and map data can be provided to upper-layer applications. For example, when querying the details of a certain road (link) through the map API, the upper-layer application does not need to pay attention to the grid to which the link belongs, and can query the corresponding version of the on-board map data according to the link_id.

In addition, both the server-side baseline data and the vehicle-side baseline data can be updated regularly. Since the baseline map data is full data, the update cycle is generally longer than the production cycle of incremental data produced by the server.

The server-side baseline data is generated in a fixed period, which can reduce the data level that the online map data service needs to query when delivering incremental data, and reduce the storage scale of old version data. On-board baseline data is also regularly updated to reduce the bad case of using outdated baseline data without a network.

The version numbers of the server-side baseline data and the vehicle-side baseline data can be consistent or inconsistent. The user can specify the full data of a version number as the vehicle-side baseline data. However, the version numbers corresponding to incremental data need to be consistent. For example, the version number of the vehicle-side baseline data is 102, the version number of the server-side baseline data is 101, and the version number of the vehicle-side incremental data of the first version is 103, then the vehicle-side incremental data of version 103 needs to be based on The acquisition situation of the server-side incremental data of version number 103 is determined.

304. The vehicle terminal determines the vehicle-side incremental data of the current version number based on the acquisition of the server-side incremental data of the current version number, and generates an incremental index corresponding to the current version number, the incremental data of the current version number. The volume index is used to indicate the latest version number of the vehicle-end mesh data of each mesh in the full mesh.

About car-end incremental data:

Among them, due to the uncertainty of the network connection between the vehicle terminal and the server terminal, the incremental data of the server terminal and the incremental data of the vehicle terminal of the same version number may be consistent or inconsistent.

Specifically, the server-side incremental data includes: server-side grid data of at least one grid; the vehicle-side incremental data includes: vehicle-side grid data of at least one grid; The acquisition situation of the server-side incremental data of the current version number, and determining the vehicle-side incremental data of the current version number, including: for the first grid, converting the server-side grid of the first grid of the current version number data, as the vehicle-end grid data of the first grid of the current version number; for the second grid, set the vehicle-end grid data of the second grid of the current version number as Unknown data; wherein the first grid is the grid to which the acquired server-side grid data belongs, and the second grid is the grid to which the unacquired server-side grid data belongs.

For example, the relationship between the vehicle-side incremental data of each version number and the server-side incremental data of the corresponding version number may be as shown in FIG. 2 . Wherein, unknown data is identified by x, and non-unknown data is identified by corresponding version numbers (eg 101, 102, 103). The incremental data of the vehicle-end baseline data can be considered as the vehicle baseline data itself.

In the above example, the server-side incremental data of the first grid is used as the vehicle-side grid data of the first grid, and the grid data of the first grid can be updated in time to ensure that the vehicle-side grid data of the corresponding grid is the same as the grid data of the first grid. Consistency of server-side grid data; set the vehicle-side grid data of the second grid to unknown data, since the second grid is the grid to which the server-side grid data that has not been obtained belongs, it can reflect the real Data acquisition to ensure the authenticity of the car-end map data.

Regarding incremental indexing:

Wherein, the incremental index corresponding to the previous version number of the current version number can be used as the initial value; based on the acquisition of the server incremental data of the current version number, the initial value is updated to generate The incremental index corresponding to the current version number.

Among them, as shown in FIG. 6 , the version number of the vehicle-end baseline data is 101, and the corresponding incremental index is represented by the first incremental index 601. The specific values can all be their version numbers, that is, the first incremental index 601 The version number corresponding to each grid is 101.

If the current version number is 102, after updating the first incremental index 601 corresponding to the version number 101, a second incremental index 602 corresponding to the version number 102 may be generated.

If the current version number is 103, after updating the second incremental index 602 corresponding to the version number 102, a third incremental index 603 corresponding to the version number 103 may be generated.

In the above example, the incremental index corresponding to each version number can be obtained by updating the incremental index corresponding to each version number one by one.

Specifically, for the first grid, update the latest version number of the vehicle-end grid data of the first grid to the current version number; for the second grid, update the latest version number of the vehicle-end grid data of the first grid to the current version number; The latest version number of the grid data on the vehicle end, set as the unknown flag.

Wherein, based on the acquisition of incremental data of the server of each version number shown in FIG. 2 , the incremental index corresponding to each version number shown in FIG. 6 can be obtained.

For example, when the current version number is 102, for the grid in the first row and the second column, since the grid has not acquired data, the corresponding version number is represented by an unknown mark x. For the grid in the second row and the third column, since the grid obtains data, the corresponding version number is updated to the current version number, that is, 102.

For another example, when the current version number is 103, for the grid in the third row, the second column, and the grid in the third row and third column, since both grids obtain data, their corresponding version numbers are updated. is the current version number, ie 103.

In the above example, the version number corresponding to the first grid is updated to the current version number, and the version number corresponding to the second grid is set to the unknown mark, which is consistent with the acquisition of the grid data at the vehicle end, that is, the current The incremental index corresponding to the version number can reflect the latest situation of the vehicle-end incremental data of the current version number, which can ensure the accuracy of the incremental index.

The specific update process of updating from the initial value to the incremental index corresponding to the current version number may refer to FIG. 7 . To better illustrate the update process, it introduces update flags. The update flag corresponding to the vehicle-end baseline data can be set to all 1s. Figure 7 takes the current version number as 102 as an example.

As shown in FIG. 7 , in the initial state, the incremental index and update identifier corresponding to 101 can be obtained, which are all 101 and all respectively.

The intermediate state, for the update flag, sets the update flag of the changed mesh to 0, and sets the version number of the changed mesh to the unknown flag. The update message received by the vehicle terminal may include the mesh ID of the changed mesh. Therefore, the vehicle terminal can know the changed mesh, and set its update identifier to 0 and the corresponding version number to x.

In the final state, based on the acquisition of grid data of each grid, if the grid data is acquired, the update flag of the corresponding grid is updated to 1, and the version number of the corresponding grid is updated to the current version number 102 . If the grid data is not obtained, keep the update ID and version number of the corresponding grid unchanged, that is, keep 0 and x respectively.

The incremental index obtained in the final state is the incremental index corresponding to the current version number.

305. The vehicle terminal adds the vehicle terminal incremental data of the current version number in addition to the vehicle terminal map data before the update, so as to obtain the updated vehicle terminal map data.

Because when the car-end map data is updated, the method of adding is adopted, and the car-end incremental data of the current version number is added to the car-end map data before the update, and it is not a way of covering one or some grid data. , therefore, the on-board map data will include on-board map data with multiple version numbers.

Among them, multiple versions of the on-board map data can be stored in different databases.

Assuming that the car-end map data before the update is stored in the existing database, the car-end incremental data of the current version number may be stored in the current database, and the current database is different from the existing database.

For example, as shown in FIG. 8 , the in-vehicle map data with version numbers 101 to 103 are respectively stored in the corresponding databases corresponding to 101 to 103 . Specifically, the database with version number 101 stores the vehicle-end baseline data with version number 101, the database with version number 102 stores the on-board incremental data with version number 102, and the database with version number 103 stores version number It is the car-end incremental data of 103.

In the above example, multiple versions of the on-board map data are stored in different databases. Since the data of different versions are stored separately and independently, the optimal downgrade effect can be provided in offline application. For example, when there is no network state, when the grid data of version 103 cannot be queried for the required grid data, it can be downgraded forward and the grid data of 102 can be queried.

Map data can be divided into various layers, and the data storage structure of each layer can be as follows:

For road network layer data, its storage structure can be shown in Table 1 and Table 2:

Table 1

Table 2

For Point of Interest (POI) layer data, its storage structure can be shown in Table 3:

table 3

For the area layer data, its storage structure can be shown in Table 4:

Table 4

The above shows that the incremental data of the vehicle end of each version can be stored in different databases, and the incremental index corresponding to each version can also be stored in the database of the corresponding version.

For example, referring to FIG. 9 , a plurality of databases are represented by a first database, a second database and a third database; each database corresponds to a version number, respectively corresponding to version numbers 101, 102, and 103; each database includes a corresponding version number The incremental index and car-side incremental data. In addition, each database can also store a corresponding spatial index for spatial retrieval.

The spatial index may be constructed based on the relevant identifiers in the above-mentioned layer data corresponding to the vehicle-end incremental data in the database, and its structure may be as shown in FIG. 10 .

As shown in Figure 10, the spatial index indicates the association between the grid identifier (geohash) and the road network (identified by link_id and node_id), POI (identified by poi_id), and area face (identified by polygon_id).

Based on the spatial index, you can query the spatial relationship between map elements. For example, when querying the spatial relationship of a POI, you can obtain the POI in the same grid or surrounding grids based on the association relationship in the spatial index corresponding to the latest version number. information about other map elements.

After obtaining the multiple databases shown in FIG. 9 , the vehicle end can subsequently perform related operations based on the multiple databases, for example, map data query operations, map data merging operations, and spatial relationship retrieval operations. In this way, relevant operations can be performed based on the latest data to ensure operation accuracy.

Referring to Fig. 3, taking the query operation as an example, the method may further include:

306. The vehicle terminal receives a query request sent by an application installed on the vehicle terminal.

307. In response to the query request, the vehicle terminal performs a query operation based on the incremental index corresponding to the query request.

Specifically, for the query operation, as shown in Figure 11, you can execute:

1101. In response to the query request, determine a first version number, where the first version number is the latest version number of the incremental data of the server.

1102. Determine the incremental index corresponding to the first version number.

1103. Determine a second version number corresponding to the current grid based on the incremental index corresponding to the first version number, where the current grid is the grid to which the map data queried by the query request belongs, and the second version number corresponds to the current grid. The version number is the version number corresponding to the current grid indicated by the incremental index.

1104. Obtain the map data queried by the query request based on the second version number.

In the above example, the second version number is the version number corresponding to the grid to which the queried map data belongs, and the corresponding version number is determined based on the incremental index. The latest version number, therefore, the second version number is the latest version number of the queried map data, and then the map data obtained based on the second version number is the latest data; in addition, the incremental index is determined based on the first version number, and the first A version number is the latest version number of the incremental data on the server, so the incremental index is also the latest. Therefore, the consistency between the queried map data and the real world can be improved. For example, when the network connection between the vehicle end and the server end is good, the queried map data is consistent with the latest data generated by the server end.

The query request may be generated by an application (APP) installed on the vehicle. For example, the APP responds to the user's route planning, road binding (determining the road where the vehicle is currently located), retrieval (such as retrieving the address of the destination), etc. operation to generate a query request.

The server can generate different versions of map data. For example, map data can be updated on an hourly basis to generate different versions of map data.

Each time the server generates a new version of map data, it can push the new version number to the car, so that the car can know the latest version number of the server's map data. For distinction, the latest version number of the server-side map data may be referred to as the first version number.

The vehicle end may generate an incremental index corresponding to the first version number based on the acquisition of incremental data of the server of the first version number. The incremental index is used to indicate the latest version number of the vehicle-end mesh data of each mesh in the full mesh.

Different version numbers may respectively correspond to a set of incremental indexes. For example, referring to FIG. 6 , the version number 101 corresponds to the first incremental index 601 , the version number 102 corresponds to the second incremental index 602 , and the version number 103 corresponds to the third incremental index 603 , assuming that the first version number is 103, the incremental index corresponding to the first version number is the third incremental index 603.

The current grid refers to the grid to which the map data requested by the query request belongs, and the number of the current grid can be one or more.

For example, assuming that the full grid is the 9 grids shown in Figure 6, the current grid refers to some or all of the 9 grids, which can be determined based on existing algorithms. For example, the query request carries longitude and latitude information. The current grid is determined by calculating the latitude and longitude.

Based on the incremental index corresponding to the first version number, the second version number corresponding to the current network may be determined.

For example, referring to FIG. 6 , assuming that the incremental index corresponding to the first version number is the third incremental index 603, and assuming that the current grid is the grid of the first row and the first column among the nine grids shown in FIG. 6 , Then the second version number corresponding to the current grid is 101. For another example, assuming that the current grid includes all grids in the 9 grids shown in FIG. 9 , the second version numbers corresponding to the current grid are 101, x, 101, x, x, 102, 101, 103 respectively , 103.

After the second version number corresponding to the current grid is determined, the map data queried by the query request may be acquired based on the second version number.

The above queried map data may be obtained from the vehicle end, and/or the above queried map data may be obtained from the server end.

Specifically, if the second version number is not an unknown mark, obtain the data corresponding to the current grid in the vehicle-end incremental data of the second version number, as the map data queried by the query request; Or, if the second version number is an unknown mark, and there is a grid connection between the vehicle end and the server end, the current grid corresponding to the current grid in the server incremental data of the first version number is obtained from the server end. , as the map data queried by the query request; or, if the second version number is an unknown mark, and there is no network connection between the vehicle end and the server end, query the version before the first version number in sequence The version number corresponding to the current grid in the incremental index corresponding to the number of , obtain the data corresponding to the current grid as the map data queried by the query request.

For example, the current grid is the grid of the first row and the first column of the 9 grids. Since the second version number corresponding to the grid is 101, the current incremental data corresponding to 101 can be used to obtain the current grid. The data corresponding to the grid (the grid of the first row and the first column) is used as the queried map data.

For another example, if the current grid is all of the nine grids, the latest data corresponding to each grid in all the grids can be obtained, and the latest data corresponding to each grid can be formed into the queried map data.

For each grid, for example, for the grid whose corresponding second version number is 102, the corresponding grid (the grid in the second row and the third column) can be obtained from the vehicle-end incremental data corresponding to 102. data, as the latest data corresponding to the grid (the grid in the second row and the third column). For another example, for the last grid (the corresponding second version number is 103), the corresponding grid (the grid in the third row and third column) can be obtained from the vehicle-end incremental data corresponding to 103. data, as the latest data corresponding to the grid (the grid in the third row and third column).

In addition, since the second version number corresponding to the current grid may be an unknown mark (such as x), in this case, if there is a network connection between the vehicle and the server, the data can be obtained from the server. For example, the current grid is the first For a grid in a row and a second column, the corresponding second version number is x. Suppose the first version number is 103. If there is a network connection between the vehicle and the server, the data can be incremented from the server whose version number is 103. The grid data of the grid (the grid in the first row and the second column) is obtained in , referring to Figure 2, the data is the grid data marked as 102, the server can return the data to the vehicle as the grid The corresponding latest data. Or, if there is no network connection between the vehicle and the server, you can downgrade the query on the vehicle. Still take this grid (the grid in the first row and the second column) as an example, assuming that there is no network connection between the vehicle and the server, Then you can query the incremental index corresponding to the next version number in sequence. For example, if the second version number corresponding to the grid in the incremental index corresponding to version number 103 is x, then query the incremental index corresponding to version number 102. The second version number corresponding to the grid, see Figure 5, the second version number corresponding to the grid in the incremental index corresponding to version number 102 is still x, and then query the grid in the incremental index corresponding to version number 101. The second version number corresponding to the grid, the corresponding second version number is 101, not the unknown mark x, you can obtain the grid corresponding data as the latest data for the grid.

In the above example, when the queried map data is obtained based on the second version number, the latest data can be obtained from the car end, the latest data can be obtained from the server end, or the newest data can be obtained from the car end. In actual situations, when the latest data is stored on the vehicle end or the vehicle does not store the latest data but there is a good network connection, the latest data can be obtained and the latest data can be used; when the latest data is not stored on the vehicle end and there is no good network connection, It is also possible to obtain as new data as possible, to achieve optimal degradation query, and to ensure the consistency of the queried map data with the real world to the greatest extent.

For merge operations, you can do:

The map data before the update includes: the vehicle-end baseline data of the initial version number; the performing a merging operation of the map data based on the incremental index includes: performing a copying operation on the vehicle-end baseline data of the initial version number , to obtain duplicate data; based on the incremental index corresponding to each version number, update the duplicate data to obtain the merged vehicle-end baseline data, and set the version of the merged vehicle-end baseline data The number is the latest version number among the plurality of version numbers.

Wherein, the merge operation may be performed periodically, assuming that the initial version number is 101, and the merge operation is performed on the vehicle-end map data whose version numbers are from 101 to 103. The process of the merging operation can be referred to FIG. 12a to FIG. 12c.

Specifically, in the first step, as shown in FIG. 12a , copy the vehicle-end baseline data with the initial version number 101 as duplicate data, which is also the data initial value of the merged vehicle-end baseline data to be generated. In addition, the incremental index corresponding to the initial version number 101 is used as the initial value of the incremental index of the merged vehicle-end baseline data. The version number of the merged vehicle-end baseline data is the latest version number 103.

The second step, as shown in Figure 12b, is to update the replicated data and its corresponding incremental index. The updating may include: updating the corresponding grid data by using the vehicle-end incremental data (version numbers 102 and 103), and obtaining the corresponding grid data from the server for missing data (marked with x).

In the third step, as shown in Figure 12c, after the update process, the merged vehicle-end baseline data and its corresponding incremental index can be obtained, and the version number corresponding to each grid indicated by the incremental index is updated to the latest version number.

In addition, the previous in-vehicle baseline data with version number 101 and the in-vehicle incremental data with version number 102 can be deleted or retained, and the reservation can be used for rollback of the in-vehicle baseline data with version 103 obtained after the merge.

In the above example, by merging on-vehicle map data of multiple version numbers, the number of databases can be reduced and storage redundancy can be reduced; the query level can also be reduced and the query efficiency can be improved when querying data.

FIG. 13 is a schematic diagram of a third embodiment of the present disclosure, which provides a data processing apparatus. As shown in FIG. 13 , the data processing apparatus 1300 includes: an acquisition module 1301 , a determination module 1302 and an update module 1303 .

The acquiring module 1301 is configured to request the server incremental data of the current version number from the server in response to an update message sent by the server, where the update message is the server incremental data of the server generating the current version number. After sending the data, the server-side incremental data of the current version number is the map data that changes in the current cycle corresponding to the current version number; the determining module 1302 is used for the server-side incremental data based on the current version number. The acquisition situation of the data, determine the client incremental data of the current version number; the update module 1303 is used to add the client incremental data of the current version number in addition to the client map data before the update, to obtain the updated Post client map data.

In this embodiment, the client-side map data is updated using the client-side incremental data of the current version number, and the client-side incremental data of the current version number is determined based on the acquisition of the server-side incremental data in response to an update message from the server side, The update message is sent after the server generates a new version of the map data. Therefore, the update cycle of the incremental data on the client side is the same as the generation cycle of the map data generated by the server, which is generally hourly, compared to the quarterly full data update method. , which can ensure that the client map data is updated in time, improve the timeliness of the client map data, and then the latest data can be queried when querying the map data later; by requesting incremental data instead of full data, the amount of data transmission can be reduced and improved. Transmission efficiency saves resource overhead; by adding the client incremental data corresponding to the new version in addition to the client map data before the update, instead of overwriting the client map data before the update, the client and the service can be avoided. The data loss caused by the poor network connection between the terminals ensures the integrity and accuracy of the client map data, and it can also perform optimal degradation when querying the client map data subsequently, that is, try to query the latest version of the map data as much as possible. The effect of client-side map data.

In some embodiments, the server-side incremental data includes: server-side grid data of at least one grid; the client-side incremental data includes: client-side grid data of at least one grid; the determining module 1302 It is further used to: for the first grid, use the server grid data of the first grid of the current version number as the client grid data of the first grid of the current version number; For the second grid, set the client grid data of the second grid of the current version number as unknown data; wherein, the first grid belongs to the acquired server grid data A grid, where the second grid is a grid to which the unacquired server-side grid data belongs.

In the above example, the server-side incremental data of the first grid is used as the client-side grid data of the first grid, and the grid data of the first grid can be updated in time to ensure that the client-side grid data of the corresponding grid is the same as the grid data of the first grid. Consistency of server-side grid data; set the client-side grid data of the second grid as unknown data, since the second grid is the grid to which the server-side grid data that has not been acquired belongs, it can reflect the real Data acquisition to ensure the authenticity of the client map data.

In some embodiments, the client map data before the update is stored in an existing database; the update module 1303 is further configured to: store the client incremental data of the current version number in the current database, and the update module 1303 is further configured to: The current database is different from the existing database.

In the above example, multiple versions of the client-side map data are stored in different databases. Since the data of different versions are stored separately and independently, the optimal degradation effect can be provided in offline application.

In some embodiments, the updated client map data includes client map data of multiple version numbers, and the client map data of each version number of the client map data of multiple versions includes at least one grid. The client grid data; the device further includes: a generating module for generating an incremental index corresponding to each version number, the incremental index is used to indicate the client of each grid in the full grid The latest version number of the grid data; the processing module is used to perform a query operation or a merge operation based on the incremental index.

In the above example, relevant operations can be performed based on the latest data to ensure operation accuracy.

In some embodiments, the incremental index corresponding to each version number includes: the incremental index corresponding to the current version number; the generating module is further configured to: generate the incremental index corresponding to the previous version number of the current version number. The amount index is used as the initial value; based on the acquisition of the incremental data of the server of the current version number, the initial value is updated to generate the incremental index corresponding to the current version number.

In the above example, the incremental index corresponding to each version number can be obtained by updating the incremental index corresponding to each version number one by one.

In some embodiments, the server-side incremental data of the current version number includes: server-side grid data of at least one grid; the generating module is further configured to: The latest version number of the client grid data of the second grid is updated to the current version number; for the second grid, the latest version number of the client grid data of the second grid is set as the unknown mark; wherein , the first grid is the grid to which the acquired server-side grid data belongs, and the second grid is the grid to which the unacquired server-side grid data belongs.

In the above example, the version number corresponding to the first grid is updated to the current version number, and the version number corresponding to the second grid is set to the unknown mark, which is consistent with the acquisition of the client grid data, that is, the current The incremental index corresponding to the version number can reflect the latest situation of the client incremental data of the current version number, which can ensure the accuracy of the incremental index.

In some embodiments, the processing module is further configured to: in response to the query request, determine a first version number, where the first version number is the latest version number of the incremental data of the server; determine the corresponding value of the first version number. Incremental index; based on the incremental index corresponding to the first version number, determine the second version number corresponding to the current grid, where the current grid is the grid to which the map data queried by the query request belongs, and the The second version number is the version number corresponding to the current grid indicated by the incremental index; based on the second version number, the map data queried by the query request is acquired.

In the above example, the second version number is the version number corresponding to the grid to which the queried map data belongs, the corresponding version number is determined based on the incremental index, and the incremental index is used to indicate the client grid data of each grid. The latest version number, therefore, the second version number is the latest version number of the queried map data, and then the map data obtained based on the second version number is the latest data; in addition, the incremental index is determined based on the first version number, and the first A version number is the latest version number of the incremental data on the server, so the incremental index is also the latest. Therefore, the consistency of the queried map data with the real world can be improved.

In some embodiments, the processing module is further configured to: if the second version number is not an unknown mark, obtain data corresponding to the current grid in the client incremental data of the second version number, as The map data queried by the query request; or, if the second version number is an unknown mark, and the client and the server have a network connection, obtain the server increment of the first version number from the server The data corresponding to the current grid in the data is used as the map data queried by the query request; or, if the second version number is an unknown mark, and there is no network connection between the client and the server, query in order The version number corresponding to the current grid in the incremental index corresponding to the version number before the first version number, until the queried version number is not the unknown mark, and the queried version number that is not the unknown mark In the corresponding client incremental data, the data corresponding to the current grid is obtained as the map data queried by the query request.

In the above example, when the queried map data is obtained based on the second version number, the latest data can be obtained from the client, or the latest data can be obtained from the server, or the newest data can be obtained from the client. In fact, when the client stores the latest data or the client does not store the latest data but there is a good network connection, the latest data can be obtained, and then the latest data can be used; when the client does not store the latest data and there is no good network connection, It is also possible to obtain as new data as possible, to achieve optimal degradation query, and to ensure the consistency of the queried map data with the real world to the greatest extent.

In some embodiments, the processing module is further configured to: the map data before the update includes: the client-side baseline data of the initial version number; the performing a merging operation of the map data based on the incremental index, including: The client baseline data of the initial version number is replicated to obtain replicated data; based on the incremental index corresponding to each version number, the replicated data is updated to obtain merged client baseline data, and setting the version number of the merged client baseline data as the latest version number among the multiple version numbers.

In the above example, by merging the client map data of multiple versions, the number of databases can be reduced, and the storage redundancy can be reduced; when querying data, the query level can be reduced and the query efficiency can be improved.

It can be understood that, in the embodiments of the present disclosure, the same or similar contents in different embodiments may refer to each other.

It can be understood that, in the embodiments of the present disclosure, "first", "second", etc. are only used for distinction, and do not indicate the level of importance, the order of time sequence, and the like.

In the technical solutions of the present disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of the user's personal information involved are all in compliance with relevant laws and regulations, and do not violate public order and good customs.

FIG. 14 is a schematic diagram of a fourth embodiment according to the present disclosure, which provides an autonomous driving vehicle. Referring to FIG. 14 , an autonomous vehicle 1400 includes an electronic device 1401 . For the description of the electronic device 1401, reference may be made to the related embodiments.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

15 shows a schematic block diagram of an example electronic device 1500 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are by way of example only, and are not intended to limit implementations of the disclosure described and/or claimed herein.

As shown in FIG. 15 , the electronic device 1500 includes a computing unit 1501 that can be generated according to a computer program stored in a read only memory (ROM) 1502 or a computer program loaded from a storage unit 1508 into a random access memory (RAM) 1503 Various appropriate actions and processes are performed. In the RAM 1503, various programs and data required for the operation of the electronic device 1500 can also be stored. The computing unit 1501 , the ROM 1502 , and the RAM 1503 are connected to each other through a bus 1504 . An input/output (I/O) interface 1505 is also connected to bus 1504 .

Various components in the electronic device 1500 are connected to the I/O interface 1505, including: an input unit 1506, such as a keyboard, mouse, etc.; an output unit 1507, such as various types of displays, speakers, etc.; a storage unit 1508, such as a magnetic disk, an optical disk etc.; and a communication unit 1509, such as a network card, modem, wireless communication transceiver, and the like. The communication unit 1509 allows the electronic device 1500 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks.

Computing unit 1501 may be various general-purpose and/or special-purpose processing components with processing and computing capabilities. Some examples of computing units 1501 include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various specialized artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processing processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1501 executes the various methods and processes described above, such as data processing methods. For example, in some embodiments, a data processing method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 1508 . In some embodiments, part or all of the computer program may be loaded and/or installed on the electronic device 1500 via the ROM 1502 and/or the communication unit 1509 . When a computer program is loaded into RAM 1503 and executed by computing unit 1501, one or more steps of the data processing method described above may be performed. Alternatively, in other embodiments, the computing unit 1501 may be configured to perform the data processing method by any other suitable means (eg, by means of firmware).

Various implementations of the systems and techniques described herein above may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOC), complex programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs executable and/or interpretable on a programmable system including at least one programmable processor that The processor, which may be a special purpose or general-purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device an output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, performs the functions/functions specified in the flowcharts and/or block diagrams. Action is implemented. The program code may execute entirely on the machine, partly on the machine, partly on the machine and partly on a remote machine as a stand-alone software package or entirely on the remote machine or server.

In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with the instruction execution system, apparatus or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), fiber optics, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.

To provide interaction with a user, the systems and techniques described herein may be implemented on a computer having a display device (eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user ); and a keyboard and pointing device (eg, a mouse or trackball) through which a user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (eg, visual feedback, auditory feedback, or tactile feedback); and can be in any form (including acoustic input, voice input, or tactile input) to receive input from the user.

The systems and techniques described herein may be implemented on a computing system that includes back-end components (eg, as a data server), or a computing system that includes middleware components (eg, an application server), or a computing system that includes front-end components (eg, a user's computer having a graphical user interface or web browser through which a user may interact with implementations of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system. The components of the system may be interconnected by any form or medium of digital data communication (eg, a communication network). Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

A computer system can include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or a cloud host. It is a host product in the cloud computing service system to solve the traditional physical host and VPS service ("Virtual Private Server", or "VPS" for short). , there are the defects of difficult management and weak business expansion. The server can also be a server of a distributed system, or a server combined with a blockchain.

It should be understood that steps may be reordered, added or deleted using the various forms of flow shown above. For example, the steps described in the present disclosure can be executed in parallel, sequentially, or in different orders. As long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, there is no limitation herein.

The above-mentioned specific embodiments do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure should be included within the protection scope of the present disclosure.

Claims (22)

1. A method of data processing, comprising:

responding to an update message sent by a server, and requesting server incremental data of a current version number from the server, wherein the update message is sent by the server after the server generates the server incremental data of the current version number, and the server incremental data of the current version number is map data which changes in a current period corresponding to the current version number;

determining client incremental data of the current version number based on the acquisition condition of the server incremental data of the current version number;

and adding the client incremental data of the current version number in addition to the client map data before updating to obtain the updated client map data.

2. The method of claim 1, wherein,

the server incremental data comprises: server grid data for at least one grid;

the client delta data includes: client grid data for at least one grid;

the determining the client incremental data of the current version number based on the obtaining condition of the server incremental data of the current version number comprises the following steps:

regarding a first grid, using the server grid data of the first grid with the current version number as the client grid data of the first grid with the current version number;

setting the client grid data of the second grid with the current version number as unknown data aiming at the second grid;

the first grid is a grid to which the acquired server grid data belongs, and the second grid is a grid to which the non-acquired server grid data belongs.

3. The method of claim 1, wherein,

the map data of the client before updating is stored in an existing database;

adding the client incremental data of the current version number in addition to the client map data before updating, including:

and storing the client incremental data of the current version number into a current database, wherein the current database is different from the existing database.

4. The method according to any one of claims 1 to 3,

the updated client map data comprises client map data with a plurality of version numbers, and the client map data with each version number in the client map data with the plurality of version numbers comprises client grid data of at least one grid;

the method further comprises the following steps:

generating an increment index corresponding to each version number, wherein the increment index is used for indicating the latest version number of the client grid data of each grid in the full-scale grid;

based on the incremental index, a query operation or a merge operation is performed.

5. The method of claim 4, wherein,

the increment index corresponding to each version number comprises: the increment index corresponding to the current version number;

generating an increment index corresponding to the current version number, including:

taking the increment index corresponding to the last version number of the current version number as an initial value;

and updating the initial value based on the acquisition condition of the server-side incremental data of the current version number to generate an incremental index corresponding to the current version number.

6. The method of claim 5, wherein,

the server incremental data of the current version number includes: server grid data for at least one grid;

the updating the initial value based on the acquisition condition of the server incremental data of the current version number includes:

updating the latest version number of the client grid data of the first grid to the current version number aiming at the first grid;

setting a latest version number of client mesh data of a second mesh as an unknown mark for the second mesh;

the first grid is a grid to which the acquired server grid data belongs, and the second grid is a grid to which the non-acquired server grid data belongs.

7. The method of claim 4, wherein the performing a query operation based on the delta index comprises:

responding to a query request, and determining a first version number, wherein the first version number is the latest version number of the server-side incremental data;

determining an increment index corresponding to the first version number;

determining a second version number corresponding to a current grid based on the increment index corresponding to the first version number, wherein the current grid is the grid to which the map data inquired by the inquiry request belongs, and the second version number is the version number corresponding to the current grid indicated by the increment index;

and acquiring the map data inquired by the inquiry request based on the second version number and the updated client map data.

8. The method of claim 7, wherein the obtaining the map data queried by the query request based on the second version number comprises:

if the second version number is not an unknown mark, acquiring data corresponding to the current grid from the client incremental data of the second version number as the map data queried by the query request; or,

if the second version number is an unknown mark and network connection exists between the client and the server, acquiring data corresponding to the current grid in the server incremental data of the first version number from the server as map data inquired by the inquiry request; or,

if the second version number is an unknown mark and no network connection exists between the client and the server, sequentially inquiring the version number corresponding to the current grid in the incremental index corresponding to the version number before the first version number until the inquired version number is not the unknown mark, and acquiring data corresponding to the current grid from the client incremental data corresponding to the inquired version number which is not the unknown mark to serve as the map data inquired by the inquiry request.

9. The method of claim 4, wherein,

the pre-update map data includes: client baseline data of an initial version number;

the merging operation of the map data is executed based on the increment index, and comprises the following steps:

copying the client baseline data of the initial version number to obtain copied data;

and updating the copied data based on the increment indexes corresponding to the version numbers to obtain combined client baseline data, and setting the version number of the combined client baseline data as the latest version number in the plurality of version numbers.

10. A data processing apparatus comprising:

an obtaining module, configured to request, from a server, server incremental data of a current version number in response to an update message sent by the server, where the update message is sent by the server after the server incremental data of the current version number is generated, and the server incremental data of the current version number is map data that changes in a current period corresponding to the current version number;

the determining module is used for determining the client incremental data of the current version number based on the acquisition condition of the server incremental data of the current version number;

and the updating module is used for adding the client incremental data of the current version number in addition to the client map data before updating so as to obtain the updated client map data.

11. The apparatus of claim 10, wherein,

the server incremental data comprises: server grid data for at least one grid;

the client delta data includes: client grid data for at least one grid;

the determination module is further to:

regarding a first grid, using the server grid data of the first grid with the current version number as the client grid data of the first grid with the current version number;

setting the client grid data of the second grid with the current version number as unknown data aiming at the second grid;

the first grid is a grid to which the acquired server grid data belongs, and the second grid is a grid to which the non-acquired server grid data belongs.

12. The apparatus of claim 10, wherein,

the map data of the client before updating is stored in an existing database;

the update module is further to:

and storing the client incremental data of the current version number into a current database, wherein the current database is different from the existing database.

13. The apparatus of any one of claims 10-12,

the updated client map data comprises client map data with a plurality of version numbers, and the client map data with each version number in the client map data with the plurality of version numbers comprises client grid data of at least one grid;

the device further comprises:

a generating module, configured to generate an incremental index corresponding to each version number, where the incremental index is used to indicate a latest version number of client grid data of each grid in the full-scale grid;

and the processing module is used for executing query operation or combination operation based on the increment index.

14. The apparatus of claim 13, wherein,

the increment index corresponding to each version number comprises: the increment index corresponding to the current version number;

the generation module is further to:

taking the increment index corresponding to the last version number of the current version number as an initial value;

and updating the initial value based on the acquisition condition of the server incremental data of the current version number to generate an incremental index corresponding to the current version number.

15. The apparatus of claim 14, wherein,

the server incremental data of the current version number includes: server grid data for at least one grid;

the generation module is further to:

updating the latest version number of the client grid data of the first grid to the current version number aiming at the first grid;

setting a latest version number of client mesh data of a second mesh as an unknown mark for the second mesh;

the first grid is a grid to which the acquired server grid data belongs, and the second grid is a grid to which the non-acquired server grid data belongs.

16. The apparatus of claim 13, wherein the processing module is further to:

responding to a query request, and determining a first version number, wherein the first version number is the latest version number of the server-side incremental data;

determining an increment index corresponding to the first version number;

determining a second version number corresponding to a current grid based on an increment index corresponding to the first version number, wherein the current grid is a grid to which map data inquired by the inquiry request belongs, and the second version number is a version number corresponding to the current grid indicated by the increment index;

and obtaining the map data inquired by the inquiry request based on the second version number.

17. The apparatus of claim 13, wherein the processing module is further to:

if the second version number is not an unknown mark, acquiring data corresponding to the current grid from the client incremental data of the second version number as the map data queried by the query request; or,

if the second version number is an unknown mark and network connection exists between the client and the server, acquiring data corresponding to the current grid in the server incremental data of the first version number from the server as map data inquired by the inquiry request; or,

if the second version number is an unknown mark and no network connection exists between the client and the server, sequentially querying the version number corresponding to the current grid in the incremental index corresponding to the version number before the first version number until the queried version number is not the unknown mark, and acquiring data corresponding to the current grid from the client incremental data corresponding to the queried version number which is not the unknown mark as the map data queried by the query request.

18. The apparatus of claim 13, wherein the processing module is further to:

the pre-update map data includes: client baseline data of an initial version number;

the executing the merging operation of the map data based on the increment index comprises:

copying the client baseline data of the initial version number to obtain copied data;

and updating the copied data based on the increment indexes corresponding to the version numbers to obtain combined client baseline data, and setting the version number of the combined client baseline data as the latest version number in the plurality of version numbers.

19. 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.

20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.

21. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-9.

22. An autonomous vehicle comprising: the electronic device of claim 19.

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