A method and device for generating and using a map

Abstract

The present application discloses a method and apparatus for map generation and use. The map generation method includes: generating a map, where the map includes: location information of a first event and location reference information of the first event, the location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference manner based on which the location information is obtained; and sending the map. By sending the location information of the first event and the location reference information of the first event, it can be used to indicate different expressions of the location information of the first event, improving the flexibility and compatibility of the map in expressing events.

Description

Technical Field

[0001] This application relates to the technical field of intelligent connected vehicles, and particularly to a method and device for map generation and use. Background Art

[0002] Maps play a crucial role in vehicle positioning, vehicle navigation, and even vehicle autonomous driving.

[0003] Due to the increasing requirements for the accuracy and real-time performance of high-precision maps, data collection needs to be carried out frequently, and the high-precision maps need to be updated in a timely manner according to the collected data. In different scenarios, there are different requirements for the location expression of events in the map, and currently different map providers have different expression methods for events. The existing event expression methods are difficult to meet the requirements in terms of flexibility and compatibility. Summary of the Invention

[0004] In a first aspect, this application provides a map generation method, which can be applied to a map generation device. The map generation device can be a cloud device, a roadside device, or a terminal device. The cloud device is, for example, a map server, a software module, a hardware module, or a chip in the map server. The roadside device is, for example, a roadside unit, a software module, a hardware module, or a chip in the roadside unit. The terminal device is, for example, a vehicle, a software module, a hardware module, or a chip in the vehicle. The method includes: generating a map, where the map includes: location information of a first event and location reference information of the first event. The location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference method based on which the location information is obtained; and sending the map.

[0005] It should be noted that the sending in the embodiments of the present invention can be carried out between devices. For example, it can be carried out between different cloud devices, or between different terminal devices, or between different roadside devices. It can also be carried out between a cloud device and a terminal device, or between a cloud device and a roadside device, or between a terminal device and a roadside device. For another example, it can be carried out within a device. For example, it is sent between components, modules, chips, or modules within a device through a bus or an interface. For example, sending a map can be carried out within the same cloud device, or within the same terminal device, or within the same roadside device.

[0006] Among them, the map generation device may send the map to the map using device. The map using device may be a cloud device, a roadside device, or a terminal device. For example, the cloud device may be a map server, a software module, a hardware module, or a chip in the map server. The roadside device may be a roadside unit, a software module, a hardware module, or a chip in the roadside unit. The terminal device may be a vehicle, a software module, a hardware module, or a chip in the vehicle. The map using device and the map generation device may be deployed on the same device or on different devices, which is not limited in this application.

[0007] Through the above method, the position reference information is used to indicate the position reference method based on which the position information is obtained, so that the position information of the first event can be flexibly represented under different position reference information. On the other hand, the position reference information can be used as the basis for exchanging position information between map providers using different position reference methods. Therefore, this embodiment improves the flexibility and compatibility of the representation of the position information of events.

[0008] A possible implementation is that the map further includes: the position information includes first position information and second position information, and the position reference information includes first position reference information and second position reference information. Among them, the first position reference information is used to indicate the first position reference method based on which the first position information is obtained, and the second position reference information is used to indicate the second position reference method based on which the second position information is obtained. The second position information is different from the first position information, and the second position reference method is different from the first position reference method.

[0009] Through the above method, the map generation device can generate first position information and second position information for the first event. Among them, the position reference methods of the first position information and the second position information are different. Therefore, the generated first position information and second position information can be applicable to different scenarios. For example, the first position reference method is a road-level position reference method, and the second position reference method is a lane-level position reference method. Therefore, according to this method, the first event can be expressed based on the road-level position reference method and can also be expressed based on the lane-level position reference method, improving the generality and flexibility of the representation of the position information of events.

[0010] A possible implementation is that the position reference method includes at least one of the type of reference coordinate system, the type of reference point, and the type of reference line.

[0011] Through the above method, the position reference information can determine the position reference method through multiple different dimensions. For example, the position reference information can be determined by the type of reference coordinate system, by the type of reference point, or by the type of reference line. Of course, it can also be to determine the type of reference point and the type of reference line on the premise of determining the type of reference coordinate system, so as to determine the position reference information, realizing the flexible definition of the position reference information in multiple dimensions and the flexibility of representing the position information of events.

[0012] A possible implementation manner, the reference line includes: a horizontal reference line and a vertical reference line.

[0013] Through the above method, the reference line can also be divided into a horizontal reference line and a vertical reference line, improving the diversity of the types of reference lines.

[0014] A possible implementation manner, the type of the reference coordinate system includes at least one of: an ENU rectangular coordinate system and a coordinate system along the reference line.

[0015] Through the above method, the position reference line information can be flexibly selected through the ENU rectangular coordinate system and the coordinate system along the reference line.

[0016] A possible implementation manner, the type of the reference point includes at least one of the following multiple types: the starting point of the road center line; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane center line; and the starting point of the lane edge line.

[0017] A possible implementation manner, the type of the reference line includes at least one of the following multiple types: the center line of the road; the edge line of the road; the center line of the lane; and the edge line of the lane.

[0018] A possible implementation manner, the map further includes:

[0019] The third position information of the second event and the event correlation indication information, where the event correlation indication information is used to indicate the position reference method indicated by the third position information based on the position reference information.

[0020] Through the above method, when the first event and the second event are related, for example, the first event is an accident event and the second event is a traffic flow event. At this time, the second event is related to the first event, and the position reference information of the second event can be determined based on the position reference information of the first event, thereby reducing the complexity of expressing the third position information of the second event. And update the third position information of the second event in a timely manner according to the change of the position information of the first event, improving the timeliness of expressing the third position information of the second event.

[0021] In yet another possible scenario, the first event and the second event are events that share location reference information. By indicating the event correlation indication information, it is possible to avoid repeatedly indicating the same location reference information, reduce the overhead of the map, and improve the effects of map generation and map usage.

[0022] In a second aspect, the present application provides a map usage method, which can be applied to a map usage device. The map usage device can be a map server, a vehicle, or a map collection device. For example, the map collection device can be a roadside unit, etc., or a component on the map server, vehicle, or map collection device, including: receiving a map; the map includes: the location information of the first event and the location reference information of the first event, the location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference method based on which the location information is determined; according to the map, perform a map update operation, or display the location information or make an assisted driving decision.

[0023] The map generation device can be a cloud device, a roadside device, or a terminal device. The cloud device is, for example, a map server, a software module, a hardware module, or a chip in the map server. The roadside device is, for example, a roadside unit, a software module, a hardware module, or a chip in the roadside unit. The terminal device is, for example, a vehicle, a software module, a hardware module, or a chip in the vehicle. The map usage device can also be a cloud device, a roadside device, or a terminal device. The cloud device is, for example, a map server, a software module, a hardware module, or a chip in the map server. The roadside device is, for example, a roadside unit, a software module, a hardware module, or a chip in the roadside unit. The terminal device is, for example, a vehicle, a software module, a hardware module, or a chip in the vehicle. The map usage device and the map generation device can be deployed on the same device or chip, or can be deployed on different devices or chips. The present application does not make any limitations.

[0024] It should be noted that the reception in the embodiments of the present invention can be carried out between devices. For example, it can be carried out between different cloud devices, or between different terminal devices, or between different roadside devices. It can also be carried out between a cloud device and a terminal device, or between a cloud device and a roadside device, or between a terminal device and a roadside device. For another example, it can be carried out within a device. For example, reception is carried out between components, modules, chips, or modules within a device through a bus or an interface. For example, receiving a map can be carried out within the same cloud device, or within the same terminal device, or within the same roadside device.

[0025] Through the above method, after obtaining the map, the map using device can perform map update operations based on the location information of the first event, can also display the first information based on the location information of the first event, and can also assist in driving decisions based on the location information of the first event, so as to flexibly use the location information of the first event to be represented under the corresponding location reference information to meet various needs of map use, improve the user's map use effect, and enhance the driving experience.

[0026] A possible implementation manner, the map further includes: the location information includes first location information and second location information, and the location reference information includes first location reference information and second location reference information, where the first location reference information is used to indicate the first location reference manner based on which the first location information is based, the second location reference information is used to indicate the second location reference manner based on which the second location information is based, the second location information is different from the first location information, and the second location reference manner is different from the first location reference manner.

[0027] A possible implementation manner, the location reference manner includes at least one of the type of reference coordinate system, the type of reference point, and the type of reference line.

[0028] A possible implementation manner, the reference line includes: a horizontal reference line and a vertical reference line.

[0029] A possible implementation manner, the type of reference coordinate system includes at least one of: ENU rectangular coordinate system and coordinate system along the reference line.

[0030] A possible implementation manner, the type of reference point includes at least one of the following multiple types: the starting point of the road center line; the starting point of the road edge line; the midpoint of the lane group starting line; the starting point of the lane center line; and the starting point of the lane edge line.

[0031] A possible implementation manner, the type of reference line includes at least one of the following multiple types: the center line of the road; the edge line of the road; the center line of the lane; and the edge line of the lane.

[0032] A possible implementation manner, the map further includes: the third location information of the second event and event correlation indication information, and the event correlation indication information is used to indicate the location reference manner indicated by the third location information based on the location reference information.

[0033] A possible implementation method for displaying the location information includes: in response to a request message, changing the display of the first location information to the display of the second location information; the display of the first location information is to display the first location information based on the first location reference method indicated by the first location reference information, and the display of the second location information is to display the second location information based on the second location reference method indicated by the second location reference information.

[0034] Among them, the request message can be generated after a user operates on map information, navigation information, etc. displayed on the display interface, or can be initiated by the vehicle to the map usage device before making a driving decision.

[0035] Through the above method, the second location information can be displayed based on the user's selection, improving the flexibility of the display of the first event and meeting various needs of the user for map usage.

[0036] A possible implementation method for displaying the location information according to the map includes:

[0037] When the distance between the first event and the vehicle meets a preset condition, changing the display of the first location information to the display of the second location information. Among them, the display of the first location information is to display the first location information based on the first location reference method indicated by the first location reference information, and the display of the second location information is to display the second location information based on the second location reference method indicated by the second location reference information.

[0038] Through the above method, the preset condition can be to display the second location information when the distance is less than a preset threshold, or to display the second location information when the distance is greater than the preset threshold, so as to adapt to the display of location information in different reference methods in different scenarios.

[0039] For example, if the amount of information of the second location information is more than that of the first location information, the second location information can be displayed when the distance between the first event and the vehicle is relatively close, so as to give the vehicle detailed information about the first event and improve the user's driving experience. Another example is that when the vehicle is in different lanes, different driving strategies can be selected according to the lane where the first event corresponds to the vehicle. For example, if the first event is the lane where the vehicle is located, the threshold between the first event and the vehicle in different lanes can be set accordingly. When the distance between the vehicle and the first event is less than the corresponding threshold, the second location information is displayed, thereby improving the flexibility of map usage and the user's driving experience.

[0040] A possible implementation, the assisting driving decision based on the map includes: when the distance between the first event and the vehicle meets a preset condition, changing the assisting driving decision based on the first position information to the assisting driving decision based on the second position information.

[0041] Through the above method, the preset condition can be that when the distance is less than a preset threshold, the assisting driving decision is based on the second position information, or when the distance is greater than the preset threshold, the assisting driving decision is based on the second position information. Thus, it can adapt to using the position information in different reference methods in different scenarios for assisting driving decisions, which helps to improve the effect of the assisting driving decision.

[0042] A possible implementation, the first event is on the planned driving path of the vehicle.

[0043] Through the above method, when the first event is on the planned driving path of the vehicle, it is judged whether the distance between the first event and the vehicle meets the preset condition, and it is determined whether to change the display of the first position information to the display of the second position information. This improves the display effect of events during the vehicle's driving process.

[0044] A possible implementation, the displaying of the position information includes:

[0045] Selecting the first position information for display from the first position information and the second position information according to the attribute, occurrence time or position of the first event, and the display is based on the first position reference method indicated by the first position reference information.

[0046] A possible scenario, taking the first event as a traffic flow event as an example, the position information of the traffic flow event can be road-level position information or lane-level position information. At this time, it can be divided into morning and evening peak periods and non-morning and evening peak periods according to the congestion degree of the traffic flow, and can also be divided according to time such as weekdays, non-weekdays, and holidays. Thus, it is considered that at different times, the display can be based on different position information. For example, during non-morning and evening peak periods, the road-level position information can be displayed to save the complexity of the map display. During morning and evening peak periods, the lane-level position information can be displayed to improve the driving experience of users driving the vehicle using the map.

[0047] Another possible scenario is that the location where the first event occurs may be in a sensitive area. At this time, according to the requirements for displaying the sensitive area, the first location information for displaying the first event is determined. For example, the first location information includes the location information allowed to be displayed in the sensitive area. In some embodiments, the first location information of the first event that can be displayed may be location information with a lower display accuracy. After leaving the sensitive area, the first location information of the first event can be updated to high-precision location information.

[0048] Another possible scenario is that the location where the first event occurs may be in a region with complex terrain. For example, the first event is near a viaduct. At this time, lane-level location information can be preferentially displayed to improve the user experience of using the map by the user and avoid the problem of incorrect display of the first event caused by inaccurate positioning of road-level location information. For example, when the vehicle starts the map display under the viaduct, if the first event occurs in a lane on the viaduct and road-level location information is used for display, the first event may be displayed on the map, causing the user to mistakenly think that the first event occurs on the ground of the viaduct and resulting in the user choosing another route. At this time, lane-level location information can be selected for display, that is, it is displayed that the first event occurs in a lane on the viaduct, or the display of the first event can be avoided, and the first event is displayed after it is determined that the vehicle is driving on the viaduct, so as to improve the user experience of using the map.

[0049] A possible implementation manner of displaying the location information includes: selecting the first location information for display from the first location information and the second location information according to the permission of the device for display or the permission of the user using the device, and the display is based on the first location reference manner indicated by the first location reference information.

[0050] For example, the user can be the driver or passenger of the vehicle. Among them, the driver of the vehicle can be the vehicle owner or non-vehicle owner. Therefore, for different users using the vehicle, user permissions can be set accordingly. The user permissions can be set by the map generation device for the user, or by the map usage device for the user, or by a third party such as an operator for the user, which is not limited herein. For another example, permissions can also be set for the device for displaying the map. When the device is on the vehicle, the permission can be the permission of the user, the permission of the vehicle, or a permission specifically set for the device. The permission can also be the permission set for the device, which is not limited herein.

[0051] By obtaining the permission of the device for display or the permission of the user using the device, a personalized way of displaying the first event is provided for different devices or users, providing the generality and flexibility of the display of the location information of the event.

[0052] A possible implementation manner, after the map update operation is performed, the method further includes:

[0053] Determine that the accuracy of the location information is higher than the accuracy based on which the location of the first event is currently displayed according to the location reference information; display the location of the first event based on the location reference manner indicated by the location reference information.

[0054] A possible scenario is that when an event changes, for example, the first event can be expressed in a manner corresponding to its respective location reference information based on different moments or different periods.

[0055] When the accuracy requirement for the location information of an accident event is not high, for example, when a vehicle is navigating and regards a congested road as an impassable road, the vehicle may not need to determine the range of the accident event as long as it determines the road where the accident event is located. At this time, the traffic accident can be expressed by location information with lower accuracy. When the scenario changes, for example, when a first event occurs during the vehicle's driving process and higher-accuracy location information needs to be displayed. At this time, it can be determined that the accuracy of the location information is higher than the accuracy based on which the location of the first event is currently displayed according to the location reference information; display the location of the first event based on the location reference manner indicated by the location reference information.

[0056] Another possible scenario is that in the initial stage of an accident event, higher-accuracy location information cannot be obtained, and the location information displayed at this time can be low-accuracy location information. During the development process of the accident event, after more location information can be obtained, the map using device can obtain higher-accuracy location information of the first event. At this time, when it is determined that the accuracy of the obtained updated location information is higher than the accuracy based on which the location of the first event is currently displayed, higher-accuracy location information can be displayed to meet the needs of event display.

[0057] In a third aspect, the present application provides a map generation device, including:

[0058] A generation module, configured to generate a map, where the map includes: location information of a first event and location reference information of the first event, the location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference manner based on which the location information is obtained;

[0059] A sending module, configured to send the map.

[0060] A possible implementation, the map further includes: the location information includes first location information and second location information, the location reference information includes first location reference information and second location reference information, wherein, the first location reference information is used to indicate the first location reference method based on the first location information, the second location reference information is used to indicate the second location reference method based on the second location information, the second location information is different from the first location information, and the second location reference method is different from the first location reference method.

[0061] A possible implementation, the location reference method includes at least one of the type of reference coordinate system, the type of reference point, and the type of reference line.

[0062] A possible implementation, the reference line includes: a horizontal reference line and a vertical reference line.

[0063] A possible implementation, the type of reference coordinate system includes at least one of: ENU rectangular coordinate system and coordinate system along the reference line.

[0064] A possible implementation, the type of reference point includes at least one of the following multiple types: the starting point of the road center line; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane center line; and the starting point of the lane edge line.

[0065] A possible implementation, the type of reference line includes at least one of the following multiple types: the center line of the road; the edge line of the road; the center line of the lane; and the edge line of the lane.

[0066] A possible implementation, the map further includes: the third location information of the second event and event correlation indication information, and the event correlation indication information is used to indicate that the third location information is based on the location reference method indicated by the location reference information.

[0067] In a fourth aspect, the present application provides a map usage device, including:

[0068] A receiving module, configured to receive a map; the map includes: the location information of the first event and the location reference information of the first event, the location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference method based on the location information;

[0069] A map update module, configured to perform a map update operation according to the map;

[0070] Alternatively, a display module, configured to display the location information according to the map;

[0071] Or an assisted driving decision-making module, configured to make an assisted driving decision according to the map.

[0072] A possible implementation is that the map further includes: the position information includes first position information and second position information, and the position reference information includes first position reference information and second position reference information. Among them, the first position reference information is used to indicate the first position reference method based on which the first position information is determined, and the second position reference information is used to indicate the second position reference method based on which the second position information is determined. The second position information is different from the first position information, and the second position reference method is different from the first position reference method.

[0073] A possible implementation is that the position reference method includes at least one of the type of reference coordinate system, the type of reference point, and the type of reference line.

[0074] A possible implementation is that the type of reference coordinate system includes at least one of an ENU rectangular coordinate system and a coordinate system along a reference line.

[0075] A possible implementation is that the type of reference point includes at least one of the following multiple types: the starting point of the road center line; the starting point of the road edge line; the midpoint of the starting line of a lane group; the starting point of the lane center line; and the starting point of the lane edge line.

[0076] A possible implementation is that the type of reference line includes at least one of the following multiple types: the center line of the road; the edge line of the road; the center line of the lane; and the edge line of the lane.

[0077] A possible implementation is that the map further includes: the third position information of a second event and event correlation indication information, where the event correlation indication information is used to indicate that the third position information is based on the position reference method indicated by the position reference information.

[0078] A possible implementation is that the display module is further configured to, in response to a request message, change the display of the first position information to the display of the second position information; where the display of the first position information is to display the first position information based on the first position reference method indicated by the first position reference information, and the display of the second position information is to display the second position information based on the second position reference method indicated by the second position reference information.

[0079] In some embodiments, the request message may be generated after a user operates on the map displayed on the display interface, or may be initiated by the vehicle to the map generation device before making a driving decision. Correspondingly, after the map generation device determines the location information of the first event and the location reference information of the first event, it may send the location information of the first event and the location reference information of the first event to the map usage device.

[0080] A possible implementation is that the display module is further configured to change the display of the first location information to the display of the second location information when the distance between the first event and the vehicle meets a preset condition.

[0081] Wherein, the display of the first location information is to display the first location information based on the first location reference manner indicated by the first location reference information, and the display of the second location information is to display the second location information based on the second location reference manner indicated by the second location reference information.

[0082] A possible implementation is that the first event is on the planned driving path of the vehicle.

[0083] A possible implementation is that the assisted driving decision-making module is configured to change the assisted driving decision based on the first location information to the assisted driving decision based on the second location information when the distance between the first event and the vehicle meets a preset condition.

[0084] A possible implementation is that the first event is on the planned driving path of the vehicle.

[0085] A possible implementation is that the display module is further configured to select the first location information for display from the first location information and the second location information according to the attribute, occurrence time, or location of the first event, and the display is based on the first location reference manner indicated by the first location reference information.

[0086] A possible implementation is that the display module is further configured to select the first location information for display from the first location information and the second location information according to the permission of the device for display or the permission of the user using the device, and the display is based on the first location reference manner indicated by the first location reference information.

[0087] A possible implementation. After the map update module performs a map update operation, the display module is further configured to determine, based on the position reference information, that the accuracy of the position information is higher than the accuracy based on which the position of the first event is currently displayed; and display the position of the first event based on the position reference method indicated by the position reference information.

[0088] In a fifth aspect, the present application provides a map, including the position information of a first event and the position reference information of the first event. The position information is used to indicate the position where the first event occurs, and the position reference information is used to indicate the position reference method based on which the position information is determined.

[0089] A possible implementation. The map further includes: the position information includes first position information and second position information, and the position reference information includes first position reference information and second position reference information. Among them, the first position reference information is used to indicate the first position reference method based on which the first position information is determined, the second position reference information is used to indicate the second position reference method based on which the second position information is determined, the second position information is different from the first position information, and the second position reference method is different from the first position reference method.

[0090] A possible implementation. The position reference method includes at least one of the type of reference coordinate system, the type of reference point, and the type of reference line.

[0091] A possible implementation. The reference line includes: a horizontal reference line and a vertical reference line.

[0092] A possible implementation. The type of reference coordinate system includes at least one of: ENU rectangular coordinate system and coordinate system along the reference line.

[0093] A possible implementation. The type of reference point includes at least one of the following multiple types: the starting point of the road center line; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane center line; and the starting point of the lane edge line.

[0094] A possible implementation. The type of reference line includes at least one of the following multiple types: the center line of the road; the edge line of the road; the center line of the lane; and the edge line of the lane.

[0095] A possible implementation. The map further includes: the third position information of a second event and event correlation indication information. The event correlation indication information is used to indicate that the third position information is based on the position reference method indicated by the position reference information.

[0096] In a sixth aspect, the present application provides a map generation device, including a processor and a communication interface. The communication interface is configured to receive signals from other communication devices other than the map generation device and transmit them to the processor, or to send signals from the processor to other communication devices other than the map generation device. The processor is configured to implement the method described in any one of the designs in the first aspect above through logic circuits or by executing code instructions.

[0097] In a seventh aspect, the present application provides a map usage device, including a processor and a communication interface. The communication interface is configured to receive signals from other communication devices other than the map usage device and transmit them to the processor, or to send signals from the processor to other communication devices other than the map usage device. The processor is configured to implement the method described in any one of the designs in the second aspect above through logic circuits or by executing code instructions.

[0098] In an eighth aspect, the present application provides a map generation device, including a processor and a memory. The memory stores a computer program, and the processor runs the computer program to implement any possible method in the first aspect above.

[0099] In a ninth aspect, a map usage device includes a processor and a memory. The memory stores a computer program, and the processor runs the computer program to implement any possible method in the second aspect above.

[0100] In a tenth aspect, the present application provides a map generation device, including a processor and a memory. The memory stores computer program instructions, and the processor runs the computer program instructions to implement the method described in any one of the designs in the first aspect above.

[0101] In an eleventh aspect, the present application provides a map usage device, including a processor and a memory. The memory stores computer program instructions, and the processor runs the computer program instructions to implement the method described in any one of the designs in the second aspect above.

[0102] In a twelfth aspect, the present application provides a vehicle. The vehicle generates a map according to the method described in any one of the designs in the first aspect above. The map includes: location information of a first event and location reference information of the first event. The location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference method based on which the location information is obtained. The vehicle also sends the map according to the method described in any one of the designs in the first aspect above.

[0103] In a thirteenth aspect, the present application provides a vehicle. The vehicle uses a map according to the method described in any one of the designs in the second aspect above.

[0104] In a fourteenth aspect, the present application provides a system, including a map generation device and a map usage device. Among them, the map generation device can be a map server, a map acquisition device, or a vehicle, or a component in the corresponding device, for example, a chip. The map usage device can be a vehicle, a map server, or a map acquisition device, or a component in the corresponding device, for example, a chip. After the map generation device generates a map according to the method described in any one of the above first aspects, it sends the map to the map usage device. The map usage device performs a map update operation according to the method described in any one of the above second aspects based on the map, or displays the position information or makes an assisted driving decision.

[0105] In a fifteenth aspect, the present application provides a chip, which may include a processor and an interface. The processor is used to read instructions through the interface to execute the method described in any one of the above first aspects or execute the method described in any one of the above second aspects.

[0106] In a sixteenth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is run, it implements the method described in any one of the above first aspects, or implements the method described in any one of the above second aspects, or stores the map described in any one of the above third aspects.

[0107] In a seventeenth aspect, the present application provides a computer program product. When the computer program product runs on a processor, it implements the method described in any one of the above first aspects or implements the method described in any one of the above second aspects.

[0108] For the beneficial effects of the various designs in the above third aspect to seventeenth aspect, please specifically refer to the technical effects that can be achieved by the corresponding designs in the above first aspect or second aspect, and will not be repeated here.

[0109] In the embodiments of the present application, the description of "at least one of A, B, and C" should be understood as that A, B, or C can be used alone, or some or all of A, B, and C can be used in any combination. Description of the Drawings

[0110] Figure 1a It is a schematic structural diagram of a map;

[0111] Figure 1b Exemplarily shows a schematic diagram of a possible system architecture applicable to the embodiments of the present application;

[0112] Figure 2 Exemplarily shows a schematic flowchart of a map generation method provided by the embodiments of the present application;

[0113] Figure 3a This is a schematic flowchart of a method for using a map provided by an embodiment of the present application;

[0114] Figures 3b - 3e This is a schematic diagram of a map provided by an embodiment of the present application;

[0115] Figure 4a This is a schematic diagram of the midpoint of the starting line of a lane group provided by an embodiment of the present application;

[0116] Figures 4b - 4c This is a schematic diagram of a first event represented under position reference information provided by an embodiment of the present application;

[0117] Figures 5a - 5b This is a schematic diagram of point E of a first event represented under position reference information provided by an embodiment of the present application;

[0118] Figure 5c This is a schematic diagram of point F of a first event represented under position reference information provided by an embodiment of the present application;

[0119] Figures 5d - 5e This is a schematic diagram of a first event represented under position reference information provided by an embodiment of the present application;

[0120] Figures 6a - 6d This is a schematic diagram of a first event represented under position reference information provided by an embodiment of the present application;

[0121] Figures 7a - 7b This is a schematic diagram of a first event represented under position reference information provided by an embodiment of the present application;

[0122] Figures 8a - 8b This is a schematic diagram of a first event represented under position reference information provided by an embodiment of the present application;

[0123] Figure 9 Exemplarily shown is a schematic flowchart of a map generation method provided by an embodiment of the present application;

[0124] Figure 10a This is a schematic flowchart of a method for using a map provided by an embodiment of the present application;

[0125] Figures 10b - 10d This is a schematic diagram of a map provided by an embodiment of the present application;

[0126] Figure 11 This is a schematic structural diagram of a map generation device provided by an embodiment of the present application;

[0127] Figure 12 This is a schematic structural diagram of a map using device provided by an embodiment of the present application;

[0128] Figure 13 The figure is a schematic structural diagram of a map generation device provided by an embodiment of the present application;

[0129] Figure 14 The figure is a schematic structural diagram of a map usage device provided by an embodiment of the present application. Detailed implementation manners

[0130] Some terms involved in the embodiments of the present application are explained below for easy understanding.

[0131] 1) Map

[0132] A map refers to an electronic map in the form of electronic data, which includes a large number of interconnected road segment information and other related information (such as the level and type of road segments, etc.).

[0133] A road-level map can only provide road-level navigation information to meet the navigation needs of driving routes. For example, a road-level map can provide navigation information such as the number of lanes on the current road, speed limit information, turning information, and route planning.

[0134] A vector map, such as an open-source vector map, includes road-level information. Among them, the road-level information can provide navigation information for users to meet the navigation needs of driving routes. For example, the road-level information can include: the number of lanes on the current road, the speed limit information on the current road, and turning information.

[0135] A high-precision map includes road-level information and lane-level information. Among them, the lane-level information is used to indicate information about lanes in the road network environment. For example, lane curvature, lane heading, lane center axis, lane width, lane markings, lane speed limits, lane segmentation, and lane merging and other information. In addition, the lane line conditions (dashed line, solid line, single line, and double line) between lanes, lane line colors (white, yellow), road isolation belts, isolation belt materials, road arrows, text content, and location can also be included in the lane-level information.

[0136] 2) Map element

[0137] Map elements refer to some elements in the map, including but not limited to: roads, lane lines, signs, ground markings, signal lights, drivable area marking lines, etc. Among them, roads can include guardrails, curbs, etc.; signs include various types such as road signs, indicative signs, height limit signs, etc., and ground markings include: diversion markings, entrance and exit markings, speed limit markings, time limit markings, etc.

[0138] 3) Layer

[0139] The management and storage of map data also exist in the form of files, and different versions of files represent the freshness of high-precision map data. Therefore, it is possible to determine whether there is a map to be updated based on the version identifier of the map (for example, version number, version information, etc.).

[0140] Considering the diversity of map content, different layers can be set according to different functions, and the elements contained in each layer can correspond to the function of the layer. According to the update frequency of map layers, static layers and dynamic layers can be included.

[0141] The static layer mainly refers to some target objects or subjects in the HD map that are updated less frequently and do not need to be updated frequently, and may include roads, lanes, intersections, road markings, traffic signs, traffic lights and other road ancillary facilities. For another example, the information of the road-level static layer may include road geometry, road curvature, road heading, road speed limit, number of lanes, longitudinal slope and transverse slope. In some embodiments, such as Figure 1a As shown in the figure, the static layer part can be the base map part of the map, which contains the layers of the most basic and commonly used map data elements. For example: map elements such as roads, rivers, bridges, green spaces, buildings or other landforms. On the basis of the base map, various layers can be superimposed to meet the needs of the application. For example, Figure 1a As shown, it can include: lane layer, Place of Interests (POI) layer (used to set points of interest, such as restaurants, gas stations, etc.), etc. It can also include: road direction layer (used for navigation and route planning), road congestion layer, satellite image layer and other vector layers.

[0142] Dynamic layers refer to layers in high-precision maps that are updated more frequently and are used to express real-time dynamic information. In some embodiments, the dynamic information included in the dynamic layer may be information that may change during vehicle driving, such as changing traffic flow, real-time road conditions, road repairs or road closures, and other data that needs to be pushed or updated in real time. There are various types of dynamic information in the dynamic layer, and the information in the dynamic layer may also have the characteristics of changing over time. The information in the dynamic layer may also have different location expression accuracy requirements, such as lane-level location information or road-level location information.

[0143] 4) Events

[0144] In this application, events can be divided into static events and dynamic events. Among them, static events can be events that do not often change. For example, entities in a static layer, etc. Dynamic events refer to information that may change over time. Dynamic events can include: lanes, construction events on roads, traffic control events, traffic accident events, bad weather or natural disasters, and so on. Correspondingly, the information of dynamic events can be traffic control information, traffic accident information, road occupation construction information, etc. Dynamic events can be reported to the map generation device through vehicle networking messages, such as vehicle-to-everything (V2X) messages, so that the map generation device can update the corresponding dynamic layer in the map, enabling subsequent map usage devices to obtain the information of corresponding events in a timely manner.

[0145] It should be noted that the solutions in the embodiments of this application can be applied to vehicle networking, such as V2X, long term evolution-vehicle (LTE-V), vehicle to vehicle (V2V), etc. For example, it can be applied to vehicles with map generation or map usage functions, or other devices in the vehicle with map generation or map usage functions. Such other devices include, but are not limited to: in-vehicle terminals, in-vehicle controllers, in-vehicle modules, in-vehicle components, in-vehicle chips, in-vehicle units, in-vehicle radars, or in-vehicle cameras and other sensors. The vehicle can implement the method provided in this application through the in-vehicle terminal, in-vehicle controller, in-vehicle module, in-vehicle component, in-vehicle chip, in-vehicle unit, in-vehicle radar, or in-vehicle camera. For example, the map can be used by a device with a map usage function to implement traffic services. The traffic services in the embodiments of this application can be various autonomous driving and assisted driving services, such as: path planning, providing driving risk warnings for manual driving. The above traffic services are only examples.

[0146] Certainly, the solution in the embodiments of the present application can also be used in other devices with map functions other than vehicles, or be set in other devices with map functions other than vehicles, or be set in components of such devices. Among them, the devices with map functions can be smart terminals or servers, etc. Among them, the smart terminal can be a smart transportation device, a smart home device, a robot, etc. For example, it includes but is not limited to a smart terminal or other sensors such as a controller, a chip, a radar, or a camera in the smart terminal, as well as other components. The server involved in the embodiments of the present application can be a local server or a cloud server, and the server can be deployed in various ways. For example, the server can be a single physical machine. Another example is that the server can also be a virtual machine (VM) loaded on a certain physical server. Another example is that the server can also be a container (docker) loaded on a certain physical server, and so on. The following embodiments take the server as a cloud server for exemplary illustration, and the cloud server can also be simply referred to as the cloud.

[0147] Figure 1b FIG. is a schematic diagram of a possible system architecture applicable to the embodiments of the present application, as Figure 1b shown, the system architecture includes a collection device 110 and a map generation device 120. Optionally, a map usage device 130 can also be included.

[0148] Among them, the collection device 110 can be a movable collection device 110, such as a vehicle, or an electronic device loaded on a vehicle (for example, a mobile data center (MDC), etc.), an in-vehicle chip, and a processor in the vehicle. When the collection device 110 is a vehicle, the vehicle can communicate directly or indirectly with the map generation device. For example, data can be forwarded through intermediate media such as roadside units and base stations.

[0149] The vehicle can be a vehicle that has previously agreed with the map generation device 120 to actively report environmental information during vehicle driving. For example, a vehicle that joins the traffic experience project of the map generation device 120, or a survey vehicle that accepts an outsourcing commission from the map generation device 120, etc. For each vehicle successfully registered on the map generation device 120, the map generation device 120 can return an inquiry interface to the vehicle owner asking whether to allow joining the traffic experience project. If the vehicle owner chooses to join the traffic experience project, the vehicle will actively report the current environmental information to the map generation device 120 during subsequent driving. Of course, the vehicle will also receive the location information of the target event updated by the map generation device 120 based on the current environmental information reported by each vehicle, so that the vehicle can pass the current section in a manner more in line with the current road environment or lane environment, improving the vehicle owner's traffic experience. For another example, the map generation device 120 can also commission a specialized survey company, and the commissioned survey company can dispatch survey vehicles according to a fixed collection cycle. For example, let the survey vehicle drive along the city, collect data, and collect the environmental information on the road in real time during driving. It can also be collected according to the sections or time periods where traffic congestion often occurs.

[0150] The collection device 110 can also be a fixed collection device 110, such as a roadside unit (RSU) and other devices. Among them, the RSU can be a device with communication functions installed on one or both sides of the road. Usually, the roadside unit can establish a connection with the on-board unit (OBU) on the vehicle when the vehicle passes by, realizing the identification of the vehicle's identity. In the embodiment of the present application, modules with collection functions, processing functions, and transceiver functions such as cameras, radars, or laser emitters can also be encapsulated in the roadside unit. The roadside unit can monitor the road where it is located in real time through these functional modules and timely obtain the changed environmental information when the road environment changes.

[0151] The collection device 110 can also be a server. For example, the server can be a server set in a third-party organization with sharing functions. In the field of vehicle networking, the third-party organization is usually set as the manager of the transportation system, such as the national transportation management department, transportation management offices or stations at all levels in cities, etc. The manager of the transportation system has the ability to monitor each traffic line in the transportation system in real time, not only can timely know the traffic conditions of each traffic line, but also can make certain changes to the traffic mode of the traffic line, such as changing the speed limit of a certain traffic line. The environmental information of the road can also be obtained through the server set in the third-party organization.

[0152] For another example, the server may be a vehicle networking server, which can provide planning and control services for vehicle networking terminals by maintaining and updating information of a high definition map (HD MAP), and can also maintain and update map information to provide navigation services for vehicle networking terminals. For example, vehicle networking messages containing dynamic information of the high definition map can be sent to vehicle networking terminals through roadside units.

[0153] Taking the acquisition device 110 as an example when it is located in a vehicle, the acquisition device 110 can be a device with functions such as camera function and sensing function that have acquisition functions. This acquisition function can be realized by sensor components such as on-vehicle cameras or on-vehicle radars provided on the acquisition device. The camera device of the vehicle can be a monocular camera, a binocular camera, etc. The shooting area of the camera device can be the external environment of the vehicle. The sensing device of the vehicle can include radars such as lidar, millimeter-wave radar, and ultrasonic radar for obtaining environmental information, and can also include an inertial navigation system for obtaining the vehicle's pose (for example, a global navigation satellite system (GNSS), an inertial measurement unit (IMU), etc.). GNSS can be used to estimate the geographical location of the vehicle. For this purpose, GNSS can include a transceiver to estimate the position of the vehicle relative to the earth based on satellite positioning data. In the example, the computer system in the vehicle can use GNSS in combination with map data to estimate the road on which the vehicle is traveling. IMU can sense the changes in the position and orientation of the vehicle based on inertial acceleration and any combination thereof. In some examples, the combination of sensors in IMU can include, for example, an accelerometer and a gyroscope. The positioning information obtained based on GNSS and the information obtained based on other technologies (such as IMU) are fused, and the fused result is used as the global pose of the vehicle at the current moment. This way of fusing the information obtained based on GNSS and the information obtained based on other technologies (such as sensors such as IMU) to achieve positioning can be called combined positioning. Of course, combined positioning can also match the data collected by other sensors with the corresponding sensor data stored in the map, and can achieve the lane-level positioning position where the vehicle is currently located. For example, a millimeter-wave radar sensor can use radio signals to sense the targets in the surrounding environment of the vehicle. In some embodiments, in addition to sensing the targets, the millimeter-wave radar can also be used to sense the speed and / or forward direction of the targets. A lidar can use laser to sense the targets in the environment where the vehicle is located. The sensors can be used to capture multiple images of the surrounding environment of the vehicle. In addition, each vehicle can be provided with one or more types of sensors, and the number of each type of sensor can be one or more. The sensors can be installed on the top of the vehicle (for example, can be set at the middle position on the top of the vehicle), the front end of the vehicle, etc. The embodiments of the present application do not limit the installation position and number of sensors in each vehicle.

[0154] Exemplarily, the acquisition device is a system composed of a combination of a camera device and a sensing device, that is, the two devices exist independently, and the two devices as a whole are called the acquisition device; or, the acquisition device can be a device integrating the camera device and the sensing device; or, the acquisition device can be a sensing device with a camera function, etc.

[0155] The map generation device 120 can be a device, component, or chip with image processing capabilities. For example, it can include physical devices such as a host or a processor, virtual devices such as a virtual machine or a container, or a chip or an integrated circuit.

[0156] The map generation device 120 can be a cloud device, a roadside device, or a terminal device. For example, the cloud device can be a map server, a software module, a hardware module, or a chip within the map server; the roadside device can be a roadside unit, a software module, a hardware module, or a chip within the roadside unit; and the terminal device can be a vehicle, a software module, a hardware module, or a chip within the vehicle. The map usage device can also be a cloud device, a roadside device, or a terminal device. For example, the cloud device can be a map server, a software module, a hardware module, or a chip within the map server; the roadside device can be a roadside unit, a software module, a hardware module, or a chip within the roadside unit; and the terminal device can be a vehicle, a software module, a hardware module, or a chip within the vehicle.

[0157] Taking the map generation device 120 as a server as an example, the server can refer to a single server or a server cluster composed of multiple servers. In the field of vehicle networking, the server can specifically be a cloud server, also known as the cloud, the cloud side, the cloud server, the cloud controller, or the vehicle networking server, etc. A cloud server is a general term for devices or components with data processing capabilities. For example, it can include physical devices such as a host or a processor, virtual devices such as a virtual machine or a container, or a chip or an integrated circuit.

[0158] The map generation device 120 can also be a vehicle. For example, both the acquisition device 110 and the map generation device 120 are located within the vehicle, and the vehicle autonomously completes the entire process of image acquisition and map generation.

[0159] It should be understood that the types and quantities of the acquisition devices, the quantity of the map generation devices, and the quantity of the map usage devices in the system architecture in the embodiments of the present application are not limited. For example, one map generation device can only interact with one type of acquisition device (such as a third-party server) and one map usage device, or can interact with multiple types of acquisition devices (such as roadside units and crowdsourcing vehicles) and one map usage device, or can also interact with multiple types of acquisition devices and multiple map usage devices. The information interaction between two devices can refer to the direct interaction between these two devices through wired or wireless means, or can also refer to the indirect interaction between these two devices through one or more other devices. Moreover, in the system architecture applicable to the embodiments of the present application, in addition to including acquisition devices, map generation devices, and map usage devices, other devices such as terminal devices, network devices, core network devices, etc. can also be included, and this is not limited in the embodiments of the present application. Also, any device in the embodiments of the present application can integrate the functions on an independent physical unit, or can distribute the functions on multiple independent physical units, and this is not limited in the embodiments of the present application.

[0160] The map usage device 130 can be a cloud device, a roadside device, or a terminal device. Among them, the cloud device is, for example, a map server, a software module, a hardware module, or a chip in the map server; the roadside device is, for example, a roadside unit, a software module, a hardware module, or a chip in the roadside unit; the terminal device is, for example, a vehicle, a software module, a hardware module, or a chip in the vehicle. The map usage device can also be a cloud device, a roadside device, or a terminal device. Among them, the cloud device is, for example, a map server, a software module, a hardware module, or a chip in the map server; the roadside device is, for example, a roadside unit, a software module, a hardware module, or a chip in the roadside unit; the terminal device is, for example, a vehicle, a software module, a hardware module, or a chip in the vehicle.

[0161] Taking map usage for navigation as an example, when the map usage device 130 has a map navigation function, the map usage device 130 can obtain a map from the map generation device 120. When implementing the map navigation function, the map usage device 130 can first obtain the destination location input by the vehicle owner, and then use the locally stored map to plan the best route from the current location (or the starting location input by the vehicle owner) to the destination location, and drive to the destination location according to the best route indicated in the map. At the same time, when the map generation device 120 determines that the dynamic layer event in the map has changed, it can send the update information of the corresponding updated dynamic map to the map usage device 130, or can also send the information of the updated event. Or, it can also be that the map usage device 130 actively queries the map generation device 120 at a preset time to check whether there is an updated event to obtain the information of the updated event.

[0162] Taking the acquisition device 110 as a vehicle as an example, the sensing device of the vehicle can be used to obtain information about a target event. Alternatively, the camera device of the vehicle and the sensing device of the vehicle can be used in combination to collect information about the target event, thereby assisting the processing device and the positioning device in the vehicle to determine the location information of the target event.

[0163] In a possible solution, when the acquisition device 110 is a vehicle, after the vehicle starts, the acquisition device 110 can call the on-vehicle camera to capture the surrounding environment to obtain camera data, and call the lidar to sense the surrounding environment to obtain lidar data, and report the camera data and the lidar data as information about the target event to the map generation device 120 together. In another possible solution, when the acquisition device 110 is a roadside unit, during a set time period, the acquisition device 110 can call the on-vehicle camera to capture the surrounding environment to obtain camera data, and call the lidar to sense the surrounding environment to obtain lidar data, and report the camera data and the lidar data as information about the target event to the map generation device 120 together.

[0164] The map generation device 120 projects the camera data onto the lidar data, constructs a point cloud map using the lidar data and the camera data, and then marks the information of traffic entities or traffic events such as lanes, traffic signs, traffic lights, and lane lines on the point cloud map to update the map.

[0165] Correspondingly, the map usage device 130 can obtain information about the event according to the map updated by the map generation device 120. For example, it can obtain the location information of the event, and perform corresponding operations according to the location information of the event. For example, according to the location information of the event, it can determine the congestion level at the road level or the lane level, so as to guide the vehicle navigation or select a lane change in advance.

[0166] Of course, the above description of map usage takes map navigation as an example. Map usage can also be scenarios such as map display and map usage in combination with other applications. This application does not make any limitations.

[0167] It should be understood that the number of acquisition devices 110 and the number of map generation devices 120 in the system architecture are not limited in the embodiments of this application. One map generation device 120 can be connected to multiple acquisition devices 110 at the same time (for example Figure 1awhile being connected to three collection devices 110 simultaneously as shown, so that the map generation device 120 can use the different data collected in parallel by multiple collection devices 110 to create a map. A map generation device 120 can be connected to multiple map usage devices 130 simultaneously. The map usage devices 130 can obtain the information of the events updated by the map generation device in a timely manner, improving the accuracy of map usage and facilitating the improvement of the driving experience of vehicle owners. For another example, the map usage device 130 and the map generation device 120 can also be located on the same device or the same chip, which is not limited in this application.

[0168] In addition, in the system architecture applicable to the embodiments of this application, in addition to including the collection device 110 and the map generation device 120, it can also include other devices, such as core network devices, wireless relay devices, and wireless backhaul devices, etc., which are not limited in the embodiments of this application. Moreover, the map generation device 120 in the embodiments of this application can integrate all functions on an independent physical device, or deploy different functions on multiple independent physical devices, which is not limited in the embodiments of this application.

[0169] In the embodiments of this application, "at least one" means one or more, and "multiple" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of single items (items) or plural items (items). For example, "at least one (item) of a, b, or c" can represent: {a, b, c, a and b, a and c, b and c, a and b and c}. "At least one (item) of a, b, and c" has the same meaning as "at least one (item) of a, b, or c", that is, it can also represent: {a, b, c, a and b, a and c, b and c, a and b and c}.

[0170] Moreover, unless otherwise specified, the ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects and are not used to limit the order, time sequence, priority, or importance of multiple objects. For example, the first location information and the second location information are only used to distinguish different location information, rather than indicating differences in the priority or importance of these two location information, etc.

[0171] Based on Figure 1bIn the system architecture shown, when the map-using device 130 uses the map, it can obtain the map from the map generation device 120 in advance. The map is usually constructed by the map generation device 120 based on the real traffic environment pictures collected. Considering the characteristic that the real traffic environment in the real world changes in real time, in order to improve the accuracy of map use, the map generation device 120 needs to update the map frequently, especially the events in the dynamic layer of the map. Considering the way that the events in the dynamic layer are represented according to the geographic coordinate system, it may not be able to well reflect the characteristics of the events in the dynamic layer. In addition, because the events in the dynamic layer change relatively frequently over time, it may also lead to an excessive amount of data for updating the map, increasing the difficulty of updating the map, and being not conducive to the update and use of the dynamic layer.

[0172] Based on the above problems, Figure 2 An exemplary flowchart of a map generation method is shown. This method is applicable to the map generation device 120 as Figure 1b shown. As Figure 2 shown, the method includes:

[0173] Step 201: Generate a map.

[0174] The map includes: the location information of the first event and the location reference information of the first event. The location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference method based on which the location information is obtained;

[0175] Among them, the location reference method may include at least one of the type of reference coordinate system, the type of reference point, and the type of reference line. The type of reference coordinate system includes at least one of the ENU rectangular coordinate system and the coordinate system along the reference line. The type of reference point includes at least one of the following multiple types: the starting point of the road center line; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane center line; and the starting point of the lane edge line. The type of reference line includes at least one of the following multiple types: the center line of the road; the edge line of the road; the center line of the lane and the edge line of the lane. Details will be introduced below.

[0176] Among them, the location where the first event occurs may include at least one location information of the first event.

[0177] In some embodiments, the first event may be a dynamic event. For example, the first event may be any event that can affect the vehicle's driving mode, such as road conditions, traffic facilities, terrain, meteorological conditions, traffic activities of other traffic participants, and so on. For example, the location information of the first event may be the location information of the center position of the dynamic event. The location information of the dynamic event may also be the location information of multiple points, line segments, and regions corresponding to a range composed of multiple points, line segments, and regions.

[0178] The location where the first event occurs obtained by the map generation device 120 may be the location information of the first event collected by the collection device 110.

[0179] Among them, when the collection device 110 reports, the collection device 110 may report the location where the first event occurs each time it is obtained to the map generation device 120, or may only report the location where the first event changes to the map generation device 120. Among them, the location where the first event changes may be the location that has changed compared to the location of the first event obtained in the previous collection cycle, or may be the location that has changed compared to the location where the first event occurs in the map. Among them, the location where the first event occurs may include the location information of the collected area, and the area may be a point area, a line area, or a surface area. The location information of the area may be presented in the form of coordinates. For example, the location information of the point area is represented by the longitude and latitude coordinates of the point area in the geodetic coordinate system (GCS) or the three-dimensional coordinates in the projected coordinate system (PCS), while the location information of the line area or the surface area is represented by the set of longitude and latitude coordinates of the line area or the surface area in the GCS or the set of three-dimensional coordinates in the PCS. Alternatively, the location information of the collected area may also be presented in the form of the road segment location associated with the area in the map (or the real world), and the road segment location generally consists of the road name, the road segment name, and the road segment range.

[0180] Taking the first event as an accident as an example, the collection device 110 may be a roadside unit. If the roadside unit detects an accident on a certain fixed road section during a certain detection, the location information of the fixed road section and the image of the detected accident generate the location where the first event occurs and report it to the map generation device 120 in real time. After obtaining the location where the first event occurs sent by the roadside unit, the map generation device 120 may determine at least one location information of the first event. For example, the location information of the fixed road section may be used as one location information of the first event. It may also be at least one location information of the first event determined after analyzing the image of the detected accident.

[0181] For another example, the acquisition device 110 may be a vehicle. For example, when the vehicle detects an accident on the road section during a certain driving process, the position where the first event occurs is generated based on the positioning information of the vehicle and the image of the detected accident, and is reported to the map generation device 120 in real time.

[0182] After obtaining the position where the first event occurs sent by the acquisition device 110, the map generation device 120 may determine at least one position information of the first event. For example, according to the positioning information of the vehicle reported when the acquisition device 110 is a vehicle and the acquired image information, where the image information includes the environmental information where the vehicle is located, the map generation device 120 may determine the position where the accident occurs, that is, the position information of the first event in the map coordinate system, based on the image acquired by the vehicle and the positioning position of the vehicle. It may also be directly using the positioning position of the vehicle as a position information of the first event.

[0183] It should be noted that the position where the first event occurs obtained by the map generation device 120 may also be forwarded to the map generation device 120 after a server other than the fingerprint of the map generation device 120 obtains the position where the first event occurs, and this is not limited herein.

[0184] Considering that the first event may vary with time, vary with space, be related to different events, and may also have road-level position information or lane-level position information. Therefore, the first event can select various position reference information for representation to meet the needs of expressing the first event on the map and the needs of using the map to obtain the first event to perform map usage functions. For example, the need to guide vehicle navigation after obtaining the first event through the map.

[0185] Among them, the position reference information of the first event can be used to indicate the position reference method based on which the position information is determined. For example, the type of reference coordinate system selected when expressing the position information of the first event, the type of reference point or reference line selected when expressing the position information of the first event, and the geometric topological information such as points, line segments, or regions included in the first event. The geometric topological information of the first event may be the scope involved in the first event.

[0186] The position reference method may include at least one of the following: the type of reference coordinate system, the type of reference point, the type of reference line, etc.

[0187] In some embodiments, the position reference method may be one or more of the types of reference coordinate systems. For example, the position reference method may be a rectangular coordinate system. For another example, the position reference method may be a coordinate system along a reference line. The position reference method may also be a combination of a rectangular coordinate system and a coordinate system along a reference line.

[0188] In some embodiments, the position reference method may be one or more of the types of reference points. For example, the position reference method may be one or more of the starting point of the road center line, the starting point of the lane center line, the starting point of the road center line, the starting point of the road edge line, the starting point of the lane edge line, etc.

[0189] In some embodiments, the position reference method may be one or more of the types of reference lines. For example, the position reference method may be one or more of the road center line, the lane center line, the road center line, the road edge line, the lane edge line.

[0190] In some embodiments, the position reference method may also be one or more of the types of reference coordinate systems and the types of reference points. For example, taking the type of reference coordinate system as the rectangular coordinate system and the type of reference point as the starting point of the road center line, the position reference method may be in the rectangular coordinate system and the starting point of the road center line. For another example, the position reference method may also be along the reference line coordinate system and one or more types of reference points, such as along the reference line coordinate system, the starting point of the road center line, and the starting point of the lane center line.

[0191] In some embodiments, the position reference method may also be one or more of the types of reference coordinate systems and the types of reference lines. For example, taking the type of reference coordinate system as the reference line coordinate system and the type of reference line as the road center line, the position reference method may also be along the reference line coordinate system and the road center line. For another example, the position reference method may also be along the reference line coordinate system and one or more types of reference lines, such as along the reference line coordinate system, the road center line, and the lane center line.

[0192] In some embodiments, the position reference method may also be one or more of the types of reference points and the types of reference lines. For example, taking the type of reference point as the starting point of the road center line and the type of reference line as the lane center line, the position reference method may be the starting point of the road center line and the lane center line.

[0193] In some embodiments, the position reference method may also be one or more of the types of reference coordinate systems, one or more of the types of reference points, and one or more of the types of reference lines.

[0194] For example, the position reference method may be along the reference line coordinate system, one or more types of reference lines, and one or more types of reference points, such as along the reference line coordinate system, the road center line, the lane center line, the starting point of the road center line, the starting point of the lane center line, etc.

[0195] For another example, the position reference method may be a reference line coordinate system, the types of one or more reference lines, and the types of one or more reference points. For example, a reference line coordinate system, a road center line, a lane center line, a starting point of the road center line, a starting point of the lane center line, and a rectangular coordinate system, a starting point of the road center line, a starting point of the lane center line.

[0196] After determining the position reference information of the first event, at least one position information of the first event relative to the position reference information can be determined, and thus, the expression of the position information of the first event on the map can be determined.

[0197] Correspondingly, after determining the first position information represented by the first event under the position reference information, the first event can be stored in the corresponding dynamic layer to obtain an updated map. Combining with the example of step 202, in the updated map, words or patterns such as "accident" can be displayed at the position corresponding to the first event, for example, on the road section corresponding to the first event, or information such as the scope of the accident can be displayed.

[0198] For example, the first event in the dynamic layer of the map may include at least one of the following: the first position information, geometric topology information, position reference information, attribute information of the dynamic event, etc.

[0199] Among them, the geometric topology information can represent the range involved in the position information of the first event. The characteristic information of the dynamic event may include: the characteristic information of the dynamic event changing with time, the characteristic information of the dynamic time changing with space, the road-level position information of the dynamic event, the lane-level position information of the dynamic event, and other different precision characteristic information. The characteristic information of the dynamic event may also be related to the association between different events, and the association between different events may also affect the expression of the dynamic event on the map. For example, an accident event may be associated with a traffic flow event. At this time, after updating the accident event, the map generation device 120 may also update the traffic flow event.

[0200] Optionally, Figure 3a An exemplary flowchart corresponding to a map usage method is shown. This method is applicable to a map usage device 130 as Figure 1b shown. As shown in Figure 3, the method includes:

[0201] Step 301: The map usage device receives a map.

[0202] Among them, the map includes: the position information of the first event and the position reference information of the first event. The position information is used to indicate the position where the first event occurs, and the position reference information is used to indicate the position reference method based on which the position information is determined.

[0203] In a possible implementation, after the map generation device determines the update of the first event in the map, it may send the location information of the first event represented under the location reference information of the first event to the map using device.

[0204] For example, in a possible scenario, the accuracy of the location where the first event occurs currently obtained by the map generation device can only represent the location information of the first event at the road level. At this time, the map generation device may determine the location information of the first event based on the road-level location reference information. After the map generation device obtains more information about the first event, it may determine the lane-level information of the first event. For example, it may determine the lane-level range where the first event is located. At this time, the map generation device may determine the location information of the first event based on the road-level location reference information and / or the lane-level location reference information.

[0205] In another possible implementation, the map generation device determines the location information of the first event and the location reference information of the first event in response to a request message; wherein, the request message may be generated after the user operates on the map information, navigation information, etc. displayed on the display interface, or may be initiated by the vehicle to the map generation device before making a driving decision.

[0206] The driving decision may include decisions such as controlling the vehicle speed, accelerating, decelerating, whether to brake emergently, the vehicle driving direction, the vehicle driving lane, avoidance, lane change, etc., which are not limited in this application.

[0207] Correspondingly, after the map generation device determines the location information of the first event and the location reference information of the first event, it may send the location information of the first event and the location reference information of the first event to the map using device.

[0208] In a possible implementation, the map generation device may, based on the user's selection or the need for driving decision-making, determine that after the map generation device obtains the location where the first event occurs, the map generation device may, according to the user's selection or the need for driving decision-making (for example, by determining the user's selection or the need for driving decision-making after receiving a request message sent by the map using device), determine whether the location reference information corresponding to the first event is road-level location reference information or lane-level location reference information, thereby determining the location information of the first event and sending it to the map using device. Correspondingly, the map using device may display the location information of the first event.

[0209] In another possible implementation, after obtaining the location where the first event occurs, the map generation device can determine the location reference information corresponding to the first event by itself as road-level location reference information and lane-level location reference information. The map generation device generates the location information of the first event under the road-level location reference information and the location information of the first event under the lane-level location reference information. And store the location information of the first event under the road-level location reference information and the location information of the first event under the lane-level location reference information in the map.

[0210] Step 302: According to the map, perform a map update operation, or display the location information or make an assisted driving decision.

[0211] In an optional implementation manner, the update information for the first event in the first layer of the map (such as a road layer or a lane layer) may include: an update identifier for indicating the update of the first event; the location information of the first event for indicating the range of the location applicable to the updated first event; the attribute of the first event, which may be a traffic attribute or a congestion attribute for a road or a lane. When it is passable, it can be represented in the first layer by being displayed as connected or green; when it is not passable, it can be represented in the first layer by being displayed as disconnected or red. Optionally, the congestion degree of the location corresponding to the road or the lane can also be distinguished by colors, which is not limited here.

[0212] The map using device can update the first layer in the map using device according to the update information of the first event. Thus, after the update, use the corresponding road congestion situation to determine the passable roads or lanes of the vehicle, so as to notify the user that the vehicle should preferably complete the passage with reference to the passable location information.

[0213] In another possible implementation, the map using device uses the updated map and displays the first event according to the first location information of the first event represented under the location reference information of the first event. Furthermore, the map using device can guide the navigation of the vehicle according to the first event.

[0214] In some embodiments, the map using device determines that the accuracy of the location information is higher than the accuracy based on which the location of the first event is currently displayed according to the location reference information; and displays the location of the first event according to the location reference manner indicated by the location reference information. Correspondingly, the map using device can also guide the navigation of the vehicle according to the updated first event, improving the effect of vehicle navigation.

[0215] In some embodiments, the map using device responds to a request message and changes the display of the first location information to the display of the second location information.

[0216] Among them, the request message can be generated after the user operates on the map information displayed on the display interface, or can be initiated by the vehicle to the map generation device before making a driving decision.

[0217] In a possible implementation, the map usage device generates a request message for obtaining the first event in response to the request message, and sends the request message for obtaining the first event to the map generation device. Correspondingly, the map usage device receives a response message of the first event from the map generation device. Among them, the response message of the first event includes: the location information of the first event and the location reference information of the first event; the location reference information is determined by the server according to at least one location information of the first event.

[0218] In another possible implementation, the map usage device can, based on the user's selection or the need for driving decision-making, after the map usage device obtains the location information where the first event occurs, the map usage device can determine, according to the user's selection, whether the location reference information corresponding to the first event is road-level location reference information or lane-level location reference information, and thus determine the location information of the first event expressed by the location reference information, and display the location information of the first event.

[0219] Considering the need for map usage, the first event may be represented based on different location reference methods. For example, the location information includes first location information and second location information, and the location reference information includes first location reference information and second location reference information. Among them, the first location reference information is used to indicate the first location reference method based on the first location information, the second location reference information is used to indicate the second location reference method based on the second location information, the second location information is different from the first location information, and the second location reference method is different from the first location reference method.

[0220] Taking the first location reference method as the road-level reference method and the second location reference method as the lane-level reference method as an example, that is, taking the first location information as the road-level location information and the second location information as the lane-level location information as an example. For example, when the vehicle has not started driving yet, but uses the map to view the road conditions and screen the navigation path, the vehicle or the user may only care about the congestion situation at the road level. At this time, taking the first location information of the first event as the road-level location information as an example, as Figure 3b shown, there is a first event on path 1. At this time, when path 1 is displayed, the first location information of the first event can be displayed.

[0221] For another example, when the user or the vehicle has already started moving, and the map usage device obtains through the map generation device that there is a traffic jam ahead on the road and chooses to pass through this congested road, the user may be more in need of obtaining the position information of the first event at the lane level, so as to better avoid the congested position and improve the vehicle passing experience.

[0222] Correspondingly, the map usage device can determine whether the position reference information corresponding to the first event is road-level position reference information or lane-level position reference information based on the user's selection. For example, when determining to use the road-level position reference information to represent the position of the first event, it can call the position information of the first event under the road-level position reference information from the map.

[0223] For example, taking the first position information of the first event as road-level position information and the second position information of the first event as lane-level position information as an example, in response to a request message, for example, as Figure 3c shown, this request message can be triggered by the user. For example, the user can click on the position corresponding to the congested section. The map usage device can, in response to this click operation, change from displaying the first position information of the first event (for example, Figure 3b ) to displaying the second position information of the first event.

[0224] In some other embodiments, when the distance between the first event and the vehicle meets a preset condition, the display of the first position information is changed to the display of the second position information, where the distance between the first event and the vehicle is determined according to the position of the vehicle and the position information of the first event, and the first event is on the path planning of the vehicle; the display of the first position information is to display the first position information based on the first position reference method indicated by the first position reference information, and the display of the second position information is to display the second position information based on the second position reference method indicated by the second position reference information.

[0225] That the distance between the first event and the vehicle meets the preset condition can be determined according to whether the distance is less than a preset threshold or greater than a threshold. Optionally, taking whether the distance is greater than the threshold as an example of whether the preset condition is met, different thresholds can be set for each lane. For example, as Figure 3d shown, when the vehicle is in the first lane, the vehicle needs to change lanes to the third lane earlier to ensure smooth communication, while when the vehicle is in the second lane, it can change lanes later than in the first lane, and the third lane can be the lane that displays the second position information latest compared to the first lane and the second lane. Therefore, as Figure 3dAs shown, when the vehicle is in the first lane, the second position information can be displayed when the distance between the position point A of the first event in the first lane and the vehicle is greater than or equal to the first threshold. When the vehicle is in the second lane, the second position information can be displayed when the distance between the position point B of the first event in the second lane and the vehicle is greater than or equal to the second threshold. When the vehicle is in the third lane, the second position information can be displayed when the distance between the position point C of the first event in the third lane and the vehicle is greater than or equal to the third threshold. Thus, the driving experience of the user is improved and the traffic efficiency of the vehicle is increased.

[0226] In some other embodiments, when the distance between the first event and the vehicle meets a preset condition, a driving decision is made according to the second position information.

[0227] Wherein, the distance between the first event and the vehicle is determined according to the position of the vehicle and the position information of the first event, and the first event is on the path planning of the vehicle; the display of the first position information is to display the first position information based on the first position reference manner indicated by the first position reference information, and the display of the second position information is to display the second position information based on the second position reference manner indicated by the second position reference information.

[0228] For example, the distance between the first event and the vehicle meeting the preset condition can be determined according to whether the distance is less than a preset threshold or greater than a threshold. Optionally, taking whether the distance is greater than the threshold as an example of meeting the preset condition, different thresholds can be set for each lane. For example, combined with Figure 3d As shown, when the vehicle is in the first lane, the vehicle can be controlled to change lanes when the distance between the position point A of the first event in the first lane and the vehicle is greater than or equal to the first threshold. When the vehicle is in the second lane, the vehicle can be controlled to change lanes when the distance between the position point B of the first event in the second lane and the vehicle is greater than or equal to the second threshold. When the vehicle is in the third lane, the vehicle can be controlled to slow down when the distance between the position point C of the first event in the third lane and the vehicle is greater than or equal to the third threshold. Thus, the driving experience of the user is improved and the traffic efficiency of the vehicle is increased.

[0229] In another possible implementation manner, according to the attribute of the first event, the first position information is selected from the first position information and the second position information for display, and the display is based on the first position reference manner indicated by the first position reference information.

[0230] Among them, the attributes of the event may include: accident event, traffic flow event, weather type, etc. It may also include road-level events or lane-level events. For another example, the event attribute may be determined based on the time change frequency. For example, according to the speed of change of the event over time, the determined event attribute is a fast-updating event or a slow-updating event. Based on the event attributes with different time changes, the corresponding location information of the event can also be determined accordingly, and the location information is expressed corresponding to a kind of location reference information. For example, the weather event can be displayed based on the road-level location information.

[0231] Another possible implementation manner is to select the first location information from the first location information and the second location information for display according to the time when the first event occurs, and the display is based on the first location reference manner indicated by the first location reference information.

[0232] In a possible scenario, taking the first event as a traffic flow event as an example, the location information of the traffic flow event can be road-level location information or lane-level location information. At this time, it can be divided into morning and evening peak periods and non-morning and evening peak periods according to the congestion degree of the traffic flow, and it can also be divided according to time such as weekdays, non-weekdays, and holidays.

[0233] In a possible embodiment, it is considered that at different times, display can be based on different location information. For example, during non-morning and evening peak periods, the road-level location information can be displayed to save the complexity of map display. During morning and evening peak periods, the lane-level location information can be displayed to improve the driving experience of users driving vehicles using the map.

[0234] In another possible embodiment, during morning and evening peak periods, the user can also be prompted whether to view the lane-level location information. After the user confirms to view the lane-level location information, the display is then performed. During non-morning and evening peak periods, the road-level location information is default displayed without prompting the user whether to view the lane-level location information.

[0235] Another possible implementation manner is to select the first location information from the first location information and the second location information for display according to the location where the first event occurs, and the display is based on the first location reference manner indicated by the first location reference information.

[0236] In another possible scenario, the location where the first event occurs may be located in a sensitive area. For example, according to the display requirements of the sensitive area, the first location information for displaying the first event is determined. For example, the first location information includes the location information allowed to be displayed in the sensitive area. In some embodiments, such as Figure 3eAs shown, the first position information of the first event that can be displayed can be position information with a lower display accuracy. After leaving the sensitive area, the first position information of the first event can be updated to high-precision position information.

[0237] In another possible scenario, the position where the first event occurs may be in a region with complex terrain. For example, the first event is near a viaduct. At this time, lane-level position information can be preferentially displayed to improve the user experience of using the map by the user, and to avoid the problem of incorrect display of the first event caused by inaccurate positioning of road-level position information. For example, when the vehicle starts the map display under the viaduct, if the first event occurs in a lane on the viaduct and road-level position information is used for display, the first event may be displayed on the map, causing the user to mistakenly think that the first event occurred on the ground of the viaduct and choose to drive on other routes. At this time, lane-level position information can be selected for display, that is, it is displayed that the first event occurred in the lane on the viaduct, or the display of the first event can be avoided, and after it is determined that the vehicle is driving on the viaduct, the first event is then displayed to improve the user experience of using the map.

[0238] In another possible implementation manner, according to the permission of the device for display or the permission of the user using the device, the first position information is selected from the first position information and the second position information for display, and the display is based on the first position reference method indicated by the first position reference information.

[0239] For example, the user can be the driver or passenger of the vehicle. Among them, the driver of the vehicle can be the vehicle owner or non-vehicle owner. Therefore, for different users using the vehicle, user permissions can be set accordingly. The user permissions can be set by the map generation device for the user, or by the map use device for the user, or by a third party such as an operator for the user, which is not limited herein.

[0240] For another example, permissions can also be set for the device for displaying the map. When the device is located on the vehicle, the permission can be the permission of the user, the permission of the vehicle, or a permission set specifically for the device. The permission can also be the permission set for the device, which is not limited herein.

[0241] In a possible implementation manner, the map use device can determine the position information of the first event that can be displayed and perform the display after verifying the user and obtaining the user permission. Or, the map use device can determine the position information of the first event that can be displayed and perform the display after verifying the vehicle and obtaining the vehicle permission. The verification method is not limited in this application.

[0242] In a possible implementation, after the map update operation, the method further includes: determining that the accuracy of the location information is higher than the accuracy based on which the location of the first event is currently displayed according to the location reference information; and displaying the location of the first event based on the location reference manner indicated by the location reference information.

[0243] The following takes Manner 1 to Manner 2 and Scenario 2 to Scenario 5 as examples to illustrate the location reference information of the first event and the location information represented in the reference manner of the first event based on the location reference information.

[0244] To improve the flexibility and generality of dynamic event expression and the expression under different accuracies, in the map usage device 130 and the map generation device 120, there can be multiple implementation manners for expressing the location information of the first event. The following takes the location reference information including: the type of coordinate system, the type of reference point, and the type of reference line as an example to illustrate the optional location reference information of the location information of the event (for example, the first location information of the first event or the third location information of the second event).

[0245] The location reference information for event expression may include location reference information, geometric topology information, etc. Among them, the location reference manner may include: the type of reference coordinate system, the type of reference point, the type of reference line, etc. The geometric topology information may include at least one geometric location information. In the data structure corresponding to the location reference information for event expression, it may include field names, field types, data types, etc. Taking the data format of proto buffer as an example, for example, as shown in Table 1, the reference coordinate system type may be the rectangular coordinate system in Manner 1. At this time, the 1 carried in the field RefCoordType may be used to indicate that the reference coordinate system type may be the rectangular coordinate system. The reference coordinate system type may be the coordinate system along the reference line in Manner 2. At this time, the 2 carried in the field RefCoordType may be used to indicate that the reference coordinate system type may be the coordinate system along the reference line. The type of reference point and the type of reference line (for example, the type of horizontal reference line, the type of vertical reference line) may be indicated by means of enumeration as shown in Table 1, and may also include more types. The specific manner may refer to the descriptions in Table 2 and Table 3 below.

[0246] It should be noted that the field type may include Required fields, Optional fields, Repeated fields, etc. Among them, the repeated field indicates that this field is used to represent that this type is an array or a list. For example, when describing the geometric topology information of an event, multiple geometric location repeated fields may be used simultaneously or may be empty, which is not limited here.

[0247] Table 1

[0248]

[0249]

[0250] It should be noted that a lane group can be a lane group composed of multiple lanes with the same vehicle traveling direction, or a lane group composed of multiple lanes with the same driving identifier. As Figure 4a shown, lane group 1 is a lane group of straight lanes composed of lanes 1 to 3, and lane group 2 is a lane group of all same-direction lanes composed of lanes 1 to 5. There are two ways to define the midpoint of the starting line of the lane group: In the first way, the intersection point of the center line of the middle lane in the lane group and the starting line of the lane group is determined as the midpoint of the starting line of the lane group. Then, the midpoint of the starting line of lane group 1 is point A in Figure 4a , and the midpoint of the starting line of lane group 2 is point B in Figure 4a ; or, in the second way, the midpoint of the line connecting the two intersection points of the two edge lines of the lane group and the starting line of the lane group is determined as the midpoint of the starting line of the lane group. Then, the midpoint of the starting line of lane group 1 is the midpoint of the line connecting point C and point D in Figure 4a , and the midpoint of the starting line of lane group 2 is the midpoint of the line connecting point C and point E in Figure 4a . Since the widths of multiple lanes in a lane group are generally the same, when the number of lanes included in the lane group is odd, the midpoints of the starting lines of the lane group determined by the above two methods may coincide. That is, in Figure 4a , point A is the midpoint of the line connecting point C and point D, and point B is the midpoint of the line connecting point C and point E.

[0251] In some embodiments, the location reference information may further include at least one of the following: road-level location reference information or lane-level location reference information.

[0252] Among them, the event attributes may include: accident events, traffic flow events, weather types, etc. It may also include road-level events or lane-level events. For another example, the event attributes may be determined based on the time change frequency. For example, according to the speed of change of the event over time, the determined event attributes are fast-updated events and slow-updated events. Based on the event attributes with different time changes, the corresponding location information of the event can also be set accordingly.

[0253] For example, the location reference information can be set according to the needs of event expression. At the same time, an appropriate expression method of geometric topology information can be selected. For example, multiple geometric positions are selected to represent the geometric topology information of the event. The expression method of geometric positions can refer to the expression methods of reference points and reference lines, which are not limited here. Among them, the types of reference points and reference lines can be expanded, including but not limited to the specific examples in the table.

[0254] The following specifically introduces the expression methods of the types of reference points.

[0255] A reference point refers to a node for describing information about a road or an event, and can also refer to a position for describing changes in lane attributes. The reference point can be the starting point of the road centerline, the starting point of the lane centerline, etc.; it can also be a reference point determined according to the expression of an event or a map. For example, reference points can be set at the starting point of a lane, the ending point of a lane, an intersection, or the position of a lane change. The types of reference points can include, but are not limited to, any one or more of the following: the starting and ending points of a lane, a lane change point, or the starting and ending points of a right-turn only lane. Among them, the starting and ending points of a lane include the starting point and the ending point of the lane. The starting and ending points of a lane include the starting and ending points of several lane lines on a road. The starting point of a lane is the point on the starting line of the lane, and the ending point of the lane is the point on the stop line of the lane. Generally, in practical applications, the starting line of a lane and the stop line of the reverse lane are on the same straight line. A lane change point can be a fork point generated by adding a turning lane when approaching an intersection on some roads, or a merging point generated by entering a new road through an intersection with one less lane, or a fork of the exit lane of a highway / viaduct, or a merging point of the entrance lane of a highway / viaduct. In summary, the lane change point can include, but is not limited to, any one or more of the following: a fork point where the number of lanes increases, a merging point where the number of lanes decreases, a fork of the exit lane of a highway (and / or viaduct), a merging point of the entrance lane of a highway (and / or viaduct). The starting and ending points of a right-turn only lane include the starting and ending intersection points of the lane line (or the extension line of the lane line) of the right-turn only lane and the two connected lane lines. It should be noted that the meaning of the reference point can be extended to the lane information change point under any working condition. Each example of the type of reference point is only exemplary, and the type of reference point can also include other types, or can also be other types, which are not limited in this application.

[0256] The position of a reference point can refer to the point coordinate value of the reference point in a rectangular coordinate system, that is, the geographical coordinate of the reference point. There are many methods to determine the position of a reference point. For example, the position of each reference point can be collected by manual annotation. Optionally, this method can be used to determine the position of the starting and ending points of a right-turn only lane and the starting and ending points of a lane. It is also possible to determine the position of a reference point by using the data collected by a sensor and the data collected by GNSS, which is not limited here.

[0257] The types of reference points may include one or more of the following: the identification ID of the reference point (node), the mesh_ID of the reference point mapped to the map, the type ID of the reference point mapped to the map (e.g., road ID, lane ID, etc.), or the type of the reference point. The type of the reference point is used to describe the connection between the reference point and the map. For example, the type of the reference point (or the type of the dynamic layer corresponding to the event involved by the reference point) can be represented by Table 2.

[0258] Table 2

[0259]

[0260] As shown in Table 2, the identification (node_ID) of the reference point is used to indicate the globally unique ID of the reference point, which is used to distinguish different reference points. The ID can also be denoted as id. The node_ID is an automatically generated identification. The mesh identification (mesh_ID) is used to indicate the mesh ID of the reference point mapped to the map, which is used to distinguish different meshes and to establish a mapping relationship between the reference point and the mesh of the map. The mesh_ID is derived from the attributes of the road lines in the map. Among them, the mesh is an attribute in the map, which is used to quickly determine the position in the map. There can be multiple type IDs. For example, when the type is a road, the type ID is the road identification (road_ID), which is used to indicate the road ID of the reference point mapped to the map, to distinguish different roads, and to establish a mapping relationship between the reference point and the road in the map. When the type is a lane, the type ID is the lane identification (lane_ID), which is used to indicate the lane ID of the reference point mapped to the map, to distinguish different lanes, and to establish a mapping relationship between the reference point and the lane in the map.

[0261] The road_ID is derived from the attributes of the road lines in the map. The lane ID or lane line ID (lane_ID) is used to indicate the sequence number of the lane where the reference point is located, for differentiating different lane lines. For example, for a two-way road, including the forward and reverse lanes. The reverse nth lane - the reverse first lane can be represented by the sequence numbers [-n...-1], [0] represents the center lane line, and the sequence numbers [1...n] represent the forward first lane - the forward nth lane. For a one-way road, the forward 0th lane - the forward nth lane can be represented by the sequence numbers [0...n]. The types of reference points include the type 1 of the reference point (node_type) and the type 2 of the reference point (node_type_2). The type 1 of the reference point includes lane change points, lane start and end points, and the start and end points of exclusive right-turn lanes. Different types are indicated by different sequence numbers, index numbers, or IDs. For example, 0 can be used to represent a lane change point, 1 to represent a lane start and end point, and 2 to indicate the start and end points of an exclusive right-turn lane. The type 2 of the reference point is a further refinement of the type 1 of the reference point. Different sequence numbers, index numbers, or IDs can be used to further indicate the type 1 of the reference point. For example, -1 is used to represent that the sub-type of the lane change point is that the number of lanes changes from more to less. 1 is used to represent that the sub-type of the lane change point is that the number of lanes changes from less to more. -1 is used to represent that the sub-type of the lane start and end point is the lane start point. 1 is used to represent that the sub-type of the lane start and end point is the lane end point. -1 is used to represent that the sub-type of the start and end points of the exclusive right-turn lane is the start point of the exclusive right-turn lane, and 1 is used to represent that the sub-type of the start and end points of the exclusive right-turn lane is the end point of the exclusive right-turn lane. The type of the reference point may also include at least one of the following multiple types: the start point of the road center line; the start point of the road edge line; the midpoint of the starting line of the lane group; the start point of the lane center line; and the start point of the lane edge line. Specifically, the description in Table 1 can be referred to.

[0262] The lane_ID, node_type, and node_type_2 are obtained when determining the position of the reference point. Among them, the type of each attribute of the reference point is int, and int is a function that rounds a numerical value down to the nearest integer.

[0263] According to the position of the reference point and the attributes of the reference point, the ID of the reference point is packed, and the attributes of the reference point and the mapping relationship or association information between the reference point and the map layer are stored in the map. A possible implementation method is that the map can generate a reference point layer according to the information of the reference point. At this time, the event obtains the type ID corresponding to the event from the reference point layer in the map according to the type of the reference point.

[0264] The following specifically introduces the type expression method of the reference line.

[0265] The reference line can be the center line of a road, the edge line of a road, the center line of a lane, or other types of reference lines, etc. The ways in which the reference line is stored in the map can include one or more of the following types: the identification ID of the reference line (line), the mesh ID of the reference line mapped to the map, the type ID of the reference line mapped to the map (such as road ID, lane ID, etc.), or the type of the reference line. The attributes of the reference line are used to describe the connection between the reference line and the map. For example, the type of the reference line (or the type of the dynamic layer corresponding to the event involved in the reference line) can be represented by Table 3.

[0266] Table 3

[0267]

[0268]

[0269] As shown in Table 3, the identification of the reference line (node_ID) is used to indicate the globally unique ID of the reference line, which is used to distinguish different reference lines. The ID can also be denoted as id. The node_ID is an automatically generated identification. The mesh identification (mesh_ID) is used to indicate the mesh ID of the reference line mapped to the map, which is used to distinguish different meshes and to establish a mapping relationship between the reference line and the mesh of the map. The mesh_ID is derived from the attributes of the road lines in the map. Among them, the mesh is an attribute in the map, which is used to quickly determine the position in the map. There can be multiple type IDs. For example, when the type is a road, the type ID is the road identification (road_ID), which is used to indicate the road ID of the reference line mapped to the map, to distinguish different roads, and to establish a mapping relationship between the reference line and the road in the map. When the type is a lane, the type ID is the lane identification (lane_ID), which is used to indicate the lane ID of the reference line mapped to the map, to distinguish different lanes, and to establish a mapping relationship between the reference line and the lane in the map.

[0270] The road_ID is used to identify the road lines in the map. When the reference line is a road line, the type of the reference line can be determined according to the road_type. For example, the road_type can include the center line of the road, the left edge line of the road, the right edge line of the road, the vehicle stop line, etc. Of course, it can also be the reference line corresponding to the corresponding proportion determined based on the width of the road. For example, it can be the reference line with a preset proportion of the event relative to the road width. For example, the reference line can be the road line such as the road shoulder near the event. Different types are indicated by different serial numbers, index numbers or IDs.

[0271] The lane ID or lane line ID (lane_ID) is used to indicate the sequence number of the lane where the reference line is located, for differentiating different lane lines. For example, for a two-way road, including the forward and reverse lanes. The reverse nth lane - the reverse 1st lane can be represented by the sequence numbers [-n...-1], [0] represents the center lane line, and the sequence numbers [1...n] represent the forward 1st lane - the forward nth lane. For a one-way road, the forward 0th lane - the forward nth lane can be represented by the sequence numbers [0...n]. The types of reference lines include reference line type 1 (line_type) and reference line type 2 (line_type_2). Reference line type 1 includes at least one of the lane center line, lane left edge line, lane right edge line, road center line, road edge line, lane center line, and lane edge line, etc.

[0272] In combination with the lane, determine the position information of the event relative to the reference lane. For example, it can be a reference line determined according to the position of the event relative to the lane. For example, the reference line can be the lane to the left of the event, the lane to the right of the event, or the road shoulder near the event, etc. The reference line can also be determined according to the total number of lanes in the road and the lane where the event is located. Different types are indicated by different sequence numbers, index numbers, or IDs. For example, 0 can be used to represent the lane left edge line, 1 can be used to represent the lane right edge line, and 2 can be used to indicate the lane center line. Reference line type 2 is another way of classifying reference line types. For example, horizontal reference lines and vertical reference lines. Among them, the types of reference lines can be further indicated by different sequence numbers, index numbers, or IDs. For example, -1 is used to represent that the type of the reference line is a horizontal reference line, that is, a reference line parallel to the lane line. -2 is used to represent that the type of the reference line is a vertical reference line, that is, a reference line perpendicular to the lane line.

[0273] In yet another possible scenario, the vertical reference line can be determined based on the position of the reference point and the horizontal reference line. That is, the vertical reference line is perpendicular to the horizontal reference line, and the reference point is included on the vertical reference line.

[0274] It should be noted that road_ID, road_type, line_ID, line_type, and line_type_2 are obtained when determining the position of the reference line. Among them, the data type of each type of reference line is int, and int is a function that rounds a numerical value down to the nearest integer.

[0275] According to the position information of the reference line and the type of the reference line, it is packaged by the ID of the reference line, and the type of the reference line and the mapping relationship or association information between the reference line and the map layer are stored in the map. A possible implementation method is that the map can generate a reference line layer according to the information of the reference line (for example, the position information of the reference line and the type of the reference line). At this time, the event obtains the type ID corresponding to the event from the reference line layer in the map according to the type of the reference line, and obtains the coordinates of the reference line according to the type ID. Among them, there are various ways to obtain the type ID of the map. For example, when the type of the reference line is a point under the road element, such as the road center line, the road ID where the event is located is obtained, and the coordinates of the center line under the road ID are obtained; when the type of the reference line is a point under the lane element, such as the lane center line, the lane ID where the event is located is obtained, and the coordinates of the center line under the lane ID are obtained.

[0276] Considering that dynamic events may require lane-level position information and the association between dynamic events and static map elements, in this application, the position information of the event can be represented in a relative position manner. That is, the position information of the event is represented by the relative position of the event relative to the reference point and / or the reference line.

[0277] A possible implementation method is for each position information in the at least one position information: determine the position reference information corresponding to the position information according to the position information of the first event; determine the position information corresponding to the position information according to the position reference information corresponding to the position information.

[0278] It should be noted that the position information of the event can be represented by at least one point. For example, the center point where the event is located, etc. When the position information of the event is a specific range, at least one point describing the event and / or at least one line segment describing the event can be determined according to the geometric topology information described by the event.

[0279] The following introduces possible implementation methods of the position reference method including different types of reference coordinate systems in Method 1 and Method 2 respectively. Of course, Method 1 and Method 2 can also be used in combination, which is not limited in this application.

[0280] Method 1, the position information of the event in the rectangular coordinate system.

[0281] In some embodiments, the position information of the event relative to the coordinates of the reference point can be determined according to the position information of the reference point, for example, the coordinates (x, y) of the reference point in the rectangular coordinate system.

[0282] Among them, the rectangular coordinate system can be a geographic coordinate system, such as the ENU east-north-up coordinate system, the global positioning system (GNSS) coordinate system, etc.

[0283] In a possible implementation, the map can generate a reference point layer according to the information of the reference points. At this time, the position reference method of the event can include the type of the reference points. Specifically, according to the type of the reference points, the type ID corresponding to the event can be obtained from the reference point layer in the map. According to this type ID, there can be various ways to obtain the type ID of the map. For example, when the type of the reference point is a point under the road element, such as the starting point of the road center line, the road ID where the event is located is obtained, and the geographical coordinates of the starting point of the center line under this road ID are obtained; when the type of the reference point is a point under the lane element, such as the starting point of the lane center line, the lane ID where the event is located is obtained, and the coordinates of the starting point of the center line under this lane ID are obtained. After obtaining the coordinates of the reference point according to the type ID, the position information of the event can be calculated according to the coordinates of the reference point. Of course, other types of reference points can also be selected as the position reference information, which will not be elaborated here.

[0284] For example, as Figure 4b shown, when the event is represented by the position information of a point in the event, the position information of the point of the event relative to the coordinates of the reference point A can be determined according to the coordinates of the reference point A. Taking an accident as the first event as an example, the center point where the accident occurs can be used as a point in the first event. At this time, based on the position information of the center point where the accident occurs, the position information (Δx, Δy) of the event can be determined. Of course, the reference point A can be any one of the types of reference points, which is not limited here.

[0285] In another possible implementation, the position reference method of the event can include the types of multiple reference points. For example, multiple types of reference points can be selected as the reference position method of the event. For example, taking the selection of 2 types of reference points as an example, the starting point of the road center line and the starting point of the road edge line are selected as the reference position information of the event to determine the position information of the event relative to the starting point of the road center line and the starting point of the road edge line. For example, Δx of the event can be determined according to the starting point of the road center line, and Δy of the event can be determined according to the starting point of the road edge line. Of course, other methods can also be selected for determination, which is not limited here.

[0286] For another example, as Figure 4c shown, when the event is represented by the position information of a region in the event, the position information d1 of the starting position of the event relative to the coordinates of the reference point A and the position information d2 of the ending position of the event relative to the coordinates of the reference point A can be determined according to the coordinates of the reference point A, so as to represent the region composed of the starting position and the ending position of the event.

[0287] Taking traffic flow as an example of the target event, a possible area is an area at the road level. At this time, the starting position corresponding to the target event can be the starting point of vehicle congestion, and the ending position corresponding to the target event can be the ending point of vehicle congestion. According to the position information d1 of the starting point of vehicle congestion relative to the reference point, the position information d2 of the ending point of vehicle congestion relative to the reference point, and the driving direction along the road, a congestion area at the road level can be determined, and this congestion area at the road level can be the area corresponding to the target event.

[0288] Another possible area is an area at the lane level. At this time, the starting position corresponding to the target event can be the starting point of the lane with vehicle congestion, and the ending position corresponding to the target event can be the ending point of the lane with vehicle congestion. According to the position information d1 of the starting point of the lane with vehicle congestion relative to the reference point, the position information d2 of the ending point of the lane with vehicle congestion relative to the reference point, and the driving direction along the lane, a congestion area at the lane level can be determined, and this congestion area at the lane level can be the area corresponding to the target event.

[0289] Another possible implementation method in the position reference method can also include multiple types of reference points. For example, when choosing the starting point of the road center line and the starting point of the road edge line as reference points, taking the position information of an area in a passing event as an example, the starting point of the road center line can be used as the reference point for the starting point of the event, and the position information d1 of the starting position of the event relative to the starting point of the road center line can be determined. The starting point of the road edge line can be used as the reference point for the end of the event, and the position information d2 of the ending position of the event relative to the starting point of the road edge line can be determined, so as to represent the area composed of the starting position and the ending position of the event.

[0290] Method 2: Represent the position information of the event through a coordinate system along the reference line established by the reference point and / or the reference line.

[0291] Scenario 2-1: Represent the position information of the event through a coordinate system along the reference line established by the reference line. At this time, the position reference method includes multiple types of reference lines.

[0292] Among them, the geographical coordinates of the reference line can be obtained according to the type of the reference line (road, lane group, lane) corresponding to the event and the type ID corresponding to the reference line (such as road ID, lane group ID, lane ID).

[0293] A possible implementation method is to establish a coordinate system along the reference line through multiple types of reference lines.

[0294] For example, taking the x-axis of the coordinate system along the reference line as the lane center line and the y-axis of the coordinate system along the reference line as the vehicle stop line as an example.

[0295] The position of a certain position point in a map is expressed based on a reference point and a reference line along a reference line coordinate system. In this coordinate system, the origin is the projection point of the reference point onto the reference line, and the coordinate axes are a straight line, curve, or broken line extending from the origin along the reference line. Specifically, the position coordinates of a certain position point along the reference line coordinate system are (dx, dy), where dy is the distance from the position point to the projection point of the position point on the coordinate axis (which can be positive or negative), and dx is the path length from the origin along the coordinate axis to the projection point (which can be positive or negative). Usually, a certain point-like map element is selected as the reference point, or the intersection point of two line-like map elements is selected as the reference point; a certain line-like map element is selected as the reference point.

[0296] For example, as Figure 5a shown, the type of the reference line is the road edge line, and the type of the reference point is the starting point on the road center line (reference point A in the figure). At this time, in the reference line coordinate system, the coordinate axis x is the reference line, that is, the road edge line, the origin is reference point A, and the coordinate axis y is the perpendicular line from the reference point to the reference line. At this time, the first event is located on the left side of the road center line, and the center point of the first event can be expressed as (dx, dy) in the reference line coordinate system. Among them, dx is the distance between the projection point HE of the center point E of the first event on the road edge line and the projection point HAL of the origin A on the road edge line. That is, the distance of the road between HE and HAL. dy is the relative distance between point E and the perpendicular foot HEA between the road center point A and the road center line, that is, the distance between E and HEA. HEA is the vertical projection point of E onto the road center line. It should be noted that the positive and negative signs of dx or dy can be set as needed. For example, the positive and negative signs of dx or dy can be determined according to the road traffic direction. For example, when the point E of the first event is in front of the reference point along the road traffic direction, dx is positive; when the point E of the first event is behind the reference point along the road traffic direction, dx is negative; when the point E of the first event is on the left side of the reference point along the road traffic direction, dy is positive, and dy is negative on the right side. Of course, it can also be determined according to other methods, which are not limited here.

[0297] Another possible representation method, as Figure 5b shown, the type of the reference line is the road edge line L, and the type of the reference point A is the starting point A on the road center line. The reference coordinates of the point E of the first event can be expressed as (dx _e , dy _e ), that is, the position information of the point E of the first event can be expressed as (dx _e , dy _e ). Among them, dy _e is the relative distance of E relative to the road edge line L, that is, the distance between E and HE. Among them, HE is the vertical projection point of the event point E onto the reference line L. dx _eis the relative distance between E and the perpendicular line formed by the perpendicular foot HA of the road center point A and the road edge line L, that is, the distance between HE and HA. HA is the perpendicular projection point of the reference point A on the reference line L. Considering that dx_e can be positive or negative, dx _e can also be the distance from HAL along the reference line L to HE as dx _e .

[0298] In another possible implementation, the types of reference lines can include longitudinal reference lines and transverse reference lines. The longitudinal reference line is used to determine the longitudinal distance between an event and the longitudinal reference line. The transverse reference line is used to determine the transverse distance between an event and the transverse reference line. As Figure 5c shown, taking the road edge line L1 as the longitudinal reference line and the lane center line L2 as the transverse reference line as an example.

[0299] The reference coordinates of the point F in the event can be expressed as (dx_f, dy_f), that is, the position information of the point E in the first event can be expressed as (dx_f, dy_f). Among them, dy_f is the relative distance between the point F and the transverse reference line (lane center line L2), that is, the distance between F and HF. Among them, HF is the perpendicular projection point of the event point F on the transverse reference line (lane center line L2). dx_f is the relative distance between F and the perpendicular line formed by the perpendicular foot HA of the road center point A and the longitudinal reference line (road edge line L1), that is, the distance between HF1 and HA. HA is the perpendicular projection point of the reference point A on the reference line L. It should be noted that the positive and negative signs of dx_f or dy_f can be set as needed. For example, the positive and negative signs of dx_f or dy_f can be determined according to the road traffic direction. For example, dx_f is positive in front of the relative reference point and negative behind along the road traffic direction, and dy_f is negative on the left side and positive on the right side of the reference line along the road traffic direction. Of course, it can also be determined according to other methods, which are not limited here.

[0300] In another possible implementation, the reference line can be determined through the reference point. At this time, the position reference method can include: the type of reference point and the type of reference line.

[0301] Among them, the coordinates of the reference point can be obtained from the map according to the type of reference line corresponding to the event (road, lane group, lane) and the type ID corresponding to the reference point (for example, road ID, lane group ID, lane ID). Therefore, the coordinates of the reference line determined by the reference point can be determined based on the coordinates of the reference point.

[0302] For example, taking the x-axis of the reference line coordinate system as the center line of the lane and the origin of the reference line coordinate system as the starting point of the center line of the lane. At this time, the y-axis of the reference line coordinate system can be determined by the reference point (the starting point of the center line of the lane). For example, the y-axis of the reference line coordinate system is the perpendicular line of the center line of the lane passing through the origin. At this time, according to the coordinates of the starting point of the center line of the lane and the coordinates of the center line of the lane, the coordinates of the perpendicular line of the center line of the lane passing through the starting point of the center line of the lane can be determined, that is, the y-axis of the reference line coordinate system.

[0303] For example, the position information of an event can be the longitudinal distance dx and the lateral distance dy determined according to the reference line coordinate system, and the origin of the reference line coordinate system can be the reference point.

[0304] As Figure 5d shown, the reference coordinates of point C in the event can be expressed as (dx_c, dy_c), where dx_c is the longitudinal distance of point C along the reference line, and the lateral distance of event C along the reference line is the perpendicular distance dy_c from the event to the reference line. Since event C is located on the reference line, therefore, dy_c is 0.

[0305] The reference coordinates of point B in the event can be expressed as (dx_b, dy_b), where the lateral distance of point A along the reference line is the perpendicular distance dy_b from event B to the reference line. Correspondingly, according to the position of the foot of the perpendicular HB from event B to the reference line, the lateral distance dx_b of point B of the event along the reference line can be determined.

[0306] Scenario 2-2, the position information of an event is represented by a reference line coordinate system established by at least one type of reference point and at least one type of reference line.

[0307] For example, the reference point can be the origin of the reference line coordinate system. The reference point and the reference line can jointly determine the coordinate axes of the reference line coordinate system. Thus, the position information of the event can be the longitudinal distance dx and the lateral distance dy of the event determined according to the respective coordinate axes of the reference line coordinate system.

[0308] In Scenario 2-2, the type of the reference line can be a longitudinal reference line, a transverse reference line, or the longitudinal reference line and the transverse reference line are not distinguished. For example, when the reference line is a longitudinal reference line, the longitudinal distance dx of the event can be determined according to the reference line. The lateral distance dy of the event is determined according to the reference line and the reference point. For another example, when the reference line is a transverse reference line, the transverse distance dy of the event can be determined according to the reference line. The longitudinal distance dx of the event is determined according to the reference line and the reference point.

[0309] For example, taking the reference point as the starting point of the lane line and the reference line as the center line of the lane, the origin of the coordinate system along the reference line can be the reference point, and the coordinate axes of the coordinate system along the reference line can be determined based on the center line of the lane and the starting point of the lane line. As Figure 5e shown, considering that the point E of the first event is located in Lane 1, therefore, the reference point can be the starting point A on the Lane 1 line, and the reference line can be the center line L of Lane 1. At this time, the x-axis of the coordinate axis along the reference line can be the center line L of Lane 1. The y-axis of the coordinate axis along the reference line can be the perpendicular line of the center line L of Lane 1 passing through the starting point A on the Lane 1 line.

[0310] The reference coordinates of the point E of the first event can be expressed as (dx _e , dy _e ), where dy _e is the relative distance of E relative to the center line L of Lane 1, that is, the distance between E and HE. Among them, HE is the vertical projection point of the event point E on the center line L of Lane 1. dx _e is the relative distance between the starting point A of the center line of Lane 1 and the center line L of Lane 1 relative to E, that is, dx_e is the distance between HE and HA. Considering that dx_e can be positive or negative, dx _e can also be the distance from HA along the center line L of Lane 1 to HE. HA can be the vertical projection point of the reference point on the reference line.

[0311] Scenario 3, the event determines the position information through the type of the reference point at the road level or lane level and / or the type of the reference line at the road level or lane level.

[0312] A possible way is to consider that the event includes at least one piece of position information. Therefore, the boundary position information of the first event can be determined according to the at least one piece of position information; according to the boundary position information of the first event, the position reference information corresponding to the boundary position information can be determined; according to the position reference information corresponding to the boundary position information, the first position information corresponding to the boundary position information can be determined.

[0313] In some embodiments, the boundary position information of the first event may include the position information of at least one point. In other embodiments, the boundary position information of the first event may include the position information of at least one line segment.

[0314] Next, taking the position information of at least one point as an example, the first position information corresponding to the boundary position information of the first event will be described.

[0315] Scenario 3-1, the event determines the position information through the type of the reference point at the road level and / or the type of the reference line at the road level.

[0316] In a possible way, the type of the reference point and / or the type of the reference line corresponding to the position information of the points in the event are the type of the road-level reference point and / or the type of the road-level reference line. For the specific implementation methods, reference can be made to Method 1 and Method 2, and the implementation methods of the type of the road-level reference point and / or the type of the road-level reference line in Scenario 2-1 and Scenario 2-2, which will not be elaborated here.

[0317] Considering that the position information of multiple points included in the boundary position information of the first event can be on multiple different lanes of the same road, at this time, according to the accuracy of the event expression, the reference line and / or reference point adopted by the multiple points of the event in position expression can be determined. At this time, the position information of multiple points in the event can adopt the same reference point and / or reference line.

[0318] For example, as Figure 6a shown, the range where the first event is located is a triangle. When describing the position of the first event, it can be represented by the 3 vertices corresponding to the range of the first event. That is, it includes 3 points, E1, E2, and E3. Among them, E1 is located in the first lane, and E2 and E3 are located in the second lane. When the position information of E1, E2, and E3 in the event is determined by the road-level reference point and / or the road-level reference line, the reference point corresponding to each of E1, E2, and E3 can be the road center point A on the lane start line, and the reference point corresponding to each of E1, E2, and E3 can be the road edge line L1.

[0319] The position information of E1 can be expressed as (dx_e1, dy_e1), where dy_e1 is the relative distance of E1 relative to the road edge line L1, that is, the distance between E1 and HE1. dx1 is the relative distance of E1 relative to the perpendicular line formed by the road center point A and the foot HA of the perpendicular of the road edge line L1, that is, the distance between HE1 and HA.

[0320] The position information of E2 can be expressed as (dx_e2, dy_e2), where dy_e2 is the relative distance of E2 relative to the road edge line L1, that is, the distance between E2 and HE2. dx_e2 is the relative distance of E2 relative to the perpendicular line formed by the road center point A and the foot HA of the perpendicular of the road edge line L1, that is, the distance between HE2 and HA.

[0321] The position information of E3 can be expressed as (dx_e3, dy_e3), where dy_e3 is the relative distance of E3 relative to the road edge line L1, that is, the distance between E3 and HE3. dx_e3 is the relative distance of E3 relative to the perpendicular line formed by the road center point A and the foot HA of the perpendicular of the road edge line L1, that is, the distance between HE3 and HA.

[0322] Scenario 3-2, the event determines the location information through the type of lane-level reference points and / or the type of lane-level reference lines.

[0323] At this time, the location information of multiple points in the event can adopt the reference points and / or reference lines corresponding to their respective lanes. For example, as Figure 6b shown, when the location information of E1, E2, and E3 in the event is determined by the lane-level reference points and / or lane-level reference lines, the reference point corresponding to E1 can be the center point A1 of the 1st lane on the lane starting line, and the reference line corresponding to E1 can be the edge line L-1 of the 1st lane. The reference points corresponding to E2 and E3 can be the center point A2 of the 2nd lane on the lane starting line, and the reference lines corresponding to E2 and E3 can be the edge line L-2 of the 2nd lane.

[0324] The location information of E1 can be expressed as (dx_e1, dy_e1), where dy_e1 is the relative distance of E1 from the edge line L-1 of the 1st lane, that is, the distance between E1 and HE1. dx_e1 is the relative distance of E1 from the perpendicular line formed by the foot of the perpendicular HA1 between the center point A1 of the 1st lane and the edge line L-1 of the 1st lane, that is, the distance between HE1 and HA1.

[0325] The location information of E2 can be expressed as (dx_e2, dy_e2), where dy_e2 is the relative distance of E2 from the edge line L-2 of the 2nd lane, that is, the distance between E2 and HE2. dx2 is the relative distance of E2 from the perpendicular line formed by the foot of the perpendicular HA2 between the center point A2 of the 2nd lane and the edge line L-2 of the 2nd lane, that is, the distance between HE2 and HA2.

[0326] The location information of E3 can be expressed as (dx_e3, dy_e3), where dy_e3 is the relative distance of E3 from the edge line L-2 of the 2nd lane, that is, the distance between E3 and HE3. dx_e3 is the relative distance of E3 from the perpendicular line formed by the foot of the perpendicular HA2 between the center point A2 of the 2nd lane and the edge line L-2 of the 2nd lane, that is, the distance between HE3 and HA2.

[0327] Scenario 3-3, the event determines the location information through the type of lane-level reference points and / or the type of road-level reference lines.

[0328] Consider a possible scenario. Within the event range, the number of lanes where different points are located may change. At this time, selecting the reference road-level reference lines for each point may increase the complexity of the expression of different points. At this time, the location information of multiple points in the event can adopt the reference points and / or road-level reference lines corresponding to their respective lanes. For example, as Figure 6cAs shown, when the position information of events E1, E2, and E3 is determined by lane-level reference points and / or road-level reference lines, the reference point corresponding to E1 can be the center point A1 of the first lane on the lane starting line. The reference points corresponding to E2 and E3 can be the center point A2 of the second lane on the lane starting line. The reference line corresponding to E1 can be the road edge line L1, and the reference lines corresponding to E2 and E3 can be the road edge line L2.

[0329] The position information of E1 can be expressed as (dx_e1, dy_e1), where dy_e1 is the relative distance of E1 from the road edge line L1, that is, the distance between E1 and HE1. dx_e1 is the relative distance of E1 from the perpendicular line formed by the foot of the perpendicular HA1 between the center point A1 of the first lane and the road edge line L, that is, the distance between HE1 and HA1.

[0330] The position information of E2 can be expressed as (dx_e2, dy_e2), where dy_e2 is the relative distance of E2 from the road edge line L2, that is, the distance between E2 and HE2. dx2 is the relative distance of E2 from the perpendicular line formed by the foot of the perpendicular HA2 between the center point A2 of the second lane and the road edge line L2, that is, the distance between HE2 and HA2.

[0331] The position information of E3 can be expressed as (dx_e3, dy_e3), where dy_e3 is the relative distance of E3 from the road edge line L2, that is, the distance between E3 and HE3. dx_e3 is the relative distance of E3 from the perpendicular line formed by the foot of the perpendicular HA2 between the center point A2 of the second lane and the road edge line L2, that is, the distance between HE3 and HA2.

[0332] Scenario 3-4, the position information of the event is determined by the type of road-level reference point and / or the type of lane-level reference line.

[0333] A possible way is that the position information of multiple points in the event can adopt the reference points and / or reference lines corresponding to their respective lanes. For example, as Figure 6d shown, when the position information of events E1, E2, and E3 is determined by road-level reference points and / or lane-level reference lines, the reference points corresponding to E1, E2, and E3 can be the road edge points A0 on the lane starting line. The reference line corresponding to E1 can be the first lane edge line L-1. The reference lines corresponding to E2 and E3 can be the second lane edge line L-2.

[0334] The position information of E1 can be expressed as (dx_e1, dy_e1), where dy_e1 is the relative distance of E1 from the edge line L-1 of the first lane, i.e., the distance between E1 and HE1. dx1 is the relative distance of E1 from the perpendicular line formed by the midpoint A1 of the first lane and the foot HA1 of the perpendicular from the edge line L-1 of the first lane, i.e., the distance between HE1 and HA1.

[0335] The position information of E2 can be expressed as (dx_e2, dy_e2), where dy_e2 is the relative distance of E2 from the edge line L-2 of the second lane, i.e., the distance between E2 and HE2. dx2 is the relative distance of E2 from the perpendicular line formed by the road edge point HE2 and the foot HA2 of the perpendicular from the edge line L-2 of the second lane, i.e., the distance between HE2 and HA2.

[0336] The position information of E3 can be expressed as (dx_e3, dy_e3), where dy_e3 is the relative distance of E3 from the edge line L-2 of the second lane, i.e., the distance between E3 and HE3. dx_e3 is the relative distance of E3 from the perpendicular line formed by the road edge point HE3 and the foot HA2 of the perpendicular from the edge line L-2 of the second lane, i.e., the distance between HE3 and HA2.

[0337] It should be noted that in the above methods 1 to 2, when determining the reference point and / or reference line of an event, it is also possible to consider that the reference point is a lane-level reference point or a road-level reference point, and the reference line is a lane-level reference line or a road-level reference line. When the reference point and the reference line are used simultaneously, or when multiple reference points or reference lines are used, it is possible to consider setting the priority of the lane-level reference point or road-level reference point for the reference point, and setting the priority of the lane-level reference line or road-level reference line for the reference line.

[0338] For example, the reference points or reference lines for the selection of the location information of an event are both at the lane level, or the reference points or reference lines for the selection of the location information of an event are both at the road level. At this time, the data of the location reference information of the event can be simplified, that is, the type IDs corresponding to the reference points and reference lines can be shared. Taking the case where both the reference points and reference lines are at the road level as an example, the coordinates of the reference points can be obtained through the road ID corresponding to the reference points, and the coordinates of the reference lines can be obtained through the road ID corresponding to the reference lines. In a possible implementation, the reference points and reference lines can obtain the coordinates of the reference points and the coordinates of the reference lines based on the same road ID. Through this method, the method of obtaining the coordinates of the reference points and the reference lines can be simplified, and the data overhead of the location reference information in the event can also be simplified. That is, in the data structure of the location reference information of the event, the type IDs corresponding to the reference points and reference lines can be shared. It should be noted that the type ID in this application can also be an element ID, and this application does not make a limitation. Taking the scenario where the parameter information corresponding to the point of the event includes a reference point and the reference line is optional, the data structure of the point E of the event can be as shown in Table 4.

[0339] Table 4

[0340]

[0341] In a possible scenario, the type ID of the reference line can be the same as the type ID of the reference line. At this time, in the location information of the point of the event, the field of the type ID of the reference line may not be included. For example, in the location information of the point E of the event, the type ID of the reference line and the type ID of the reference line are both the type ID of the road edge line. Another example is that in the location information of the point E of the event, the type ID of the reference line is the type ID of the center line of the first lane.

[0342] In another possible scenario, when the longitudinal reference line and the transverse reference line are not distinguished, the location information of the point of the event may include a field of the original ID of the reference line, that is, the fields of the type ID of the longitudinal reference line and the type ID of the transverse reference line in Table 4 can be one field.

[0343] In another scenario, considering the scenario where the reference point is on the reference line, such as the starting point of the road center line is the reference point and the road center line is the reference line. At this time, in the data structure of the point of the event, a field can be used to represent the type ID. For example, the type ID field of the reference line is used, and the type ID of the reference line is default to the reference line corresponding to the type ID of the reference line.

[0344] Consider another scenario. In the expression of the position information of each point of an event, the types of road-level reference lines and / or the types of road-level reference points can be shared. For example, in the position information of points E and F of an event, the type ID of the reference line is the type ID of the road edge line. When using respective lane reference lines and / or respective lane reference points in the expression of the position information of an event, the lane-level reference points or lane-level reference lines may not be shared, or may be partially shared. For example, in the position information of points E and F of an event, the type ID of the reference line is the type ID of the starting point of the road center line. In the data structure of the position information of the points of an event, the sharing situation between reference lines or the sharing situation between reference points can be described through corresponding fields. For example, a field can be added to the position information of each point to indicate the points of the shared reference points or reference lines, or alternatively, a field can be added to the reference points or reference lines to indicate the points of the event being shared, or a field can be added to the event to indicate the points of the event being shared and the shared reference points or reference lines. Of course, the sharing method of reference points and reference lines can also be indicated in other ways, which are not limited here. For example, points E and F of an event can share reference points and reference lines. In this case, the data structures of points E and F of the event can be as shown in Table 5.

[0345] Table 5

[0346]

[0347] Similarly, the boundary position information of the first event can include the position information of at least one line segment. The following takes the position information of at least one line segment as an example to illustrate the first position information corresponding to the boundary position information of the first event.

[0348] In the scenario where the parameter information corresponding to the line segment of an event includes reference points and the reference line is optional, the data structure of the line segment of the event can be as shown in Table 6.

[0349] Table 6

[0350]

[0351] It should be noted that in Table 6, the line segment of the event is represented based on the starting line and the ending line, and can also be represented as a line segment composed of the starting point and the ending point of the event. In this case, the data structure of the line segment of the event can be as shown in Table 7.

[0352] Table 7

[0353]

[0354] Scenario 4, when the geometric topology involved in the first event is relatively complex, the first event can be divided into multiple sub-regions, and a sub-event can correspond to each sub-region. Each sub-event can be expressed in the form of its own position reference information. Alternatively, the first event can be divided into multiple sub-regions, and each sub-region can be expressed in the form of its own position reference information.

[0355] For example, taking the traffic flow event in the target road section as the first event, considering that there are other events such as accidents or road repairs in the target road section, which affect the traffic flow event in the current road section, such as Figure 7a As shown, taking the accident event in the target road section as an example, the scope of the accident event involves 3 lanes, including Lane 1 and Lane 2. The accident event includes 4 points to describe the location information of the accident event. For example, the accident event includes: Point A1, Point B, Point C, and Point D. Among them, Point A1 is located in Lane 1, and Point B, Point C, and Point D are located in Lane 2.

[0356] Correspondingly, the traffic flow event can be divided into 5 sub-regions, including Sub-region 1, Sub-region 2, Sub-region 3, Sub-region 4, and Sub-region 5, corresponding to Sub-event 1, Sub-event 2, Sub-event 3, Sub-event 4, and Sub-event 5 respectively.

[0357] Among them, the lane corresponding to Sub-region 1 is Lane 1. The starting point position of Sub-region 1 is the starting point position of the road section corresponding to the traffic flow event, and the ending point position of Sub-region 1 is determined according to the position of the accident event in Lane 1 (for example, Point A1).

[0358] The lane corresponding to Sub-region 2 is Lane 1. The ending point position of Sub-region 2 is the ending point position of the road section corresponding to the traffic flow event, and the starting point position of Sub-region 2 is determined according to the position of the accident event in Lane 1 (for example, Point A1).

[0359] The lane corresponding to Sub-region 3 is Lane 2. The starting point position of Sub-region 3 is the starting point position of the road section corresponding to the traffic flow event, and the ending point position of Sub-region 3 is determined according to the positions of the accident event in Lane 2 (for example, Point B and Point C).

[0360] The lane corresponding to Sub-region 4 is Lane 2. The ending point position of Sub-region 2 is the ending point position of the road section corresponding to the traffic flow event, and the starting point position of Sub-region 4 is determined according to the positions of the accident event in Lane 2 (for example, Point C and Point D).

[0361] The lane corresponding to Sub-region 5 is Lane 3. Considering that the accident event has no impact on the traffic flow in Lane 3, the starting point position of Sub-region 5 can be the starting point position of the road section corresponding to the traffic flow event, and the ending point position of Sub-region 5 is the ending point position of the road section corresponding to the traffic flow event.

[0362] In a possible implementation, in the expression of the position information of each sub-region in a traffic flow event, the lane-level reference points and / or reference lines corresponding to each sub-region can be used respectively. In a possible example, along the reference line coordinates, the reference point can be the starting point of the center line of each lane, and the reference line can be the center line of each lane. Correspondingly, the position information corresponding to each point in an accident event can also use the lane-level reference points and / or reference lines. That is, the accident event and the traffic flow event share the reference points and / or reference lines.

[0363] For example, as Figure 7b shown, reference point 1 can be the starting point of the section corresponding to the traffic flow event, reference point 2 can be the ending point of the section corresponding to the traffic flow event, and the reference lines can include: the center line of lane 1, the center line of lane 2, and the center line of lane 3.

[0364] At this time, the position information of sub-region 1 can be expressed as (lane 1 ID, reference point 1 ID, dx1_1, dx1_2). Among them, dx1_1 represents the position information of the starting point of sub-region 1 relative to reference point 1 (here it is 0), and dx1_2 represents the position information of the ending point of sub-region 1 relative to reference point 1, and this position can be determined according to the position of the accident event in lane 1 (for example, point A1).

[0365] The position information of sub-region 2 can be expressed as (lane 1 ID, reference point 2 ID, dx2_1, dx2_2).

[0366] Among them, dx2_1 represents the position information of the starting point of sub-region 2 relative to reference point 2, and this position is determined according to the position of the accident event in lane 1 (for example, point A1) relative to reference point 2. dx2_2 represents the position information of the ending point of sub-region 2 relative to reference point 2 (here it is 0).

[0367] The position information of sub-region 3 can be expressed as (lane 2 ID, reference point 1 ID, dx3_1, dx3_2).

[0368] Among them, dx3_1 represents the position information of the starting point of sub-region 3 relative to reference point 1 (here it is 0), and dx3_2 represents the position information of the ending point of sub-region 3 relative to reference point 1, and this position is determined according to the position of the accident event in lane 2 (for example, points B and C) relative to reference point 1.

[0369] The position information of sub-region 4 can be expressed as (lane 2 ID, reference point 2 ID, dx4_1, dx4_2).

[0370] Among them, dx4_1 represents the position information of the starting point of sub-region 4 relative to reference point 2, which is determined based on the position of the accident event in Lane 2 (for example, points C and D) relative to reference point 2. dx4_2 represents the position information of the ending point of sub-region 4 relative to reference point 2 (which is 0 here).

[0371] The position information of sub-region 5 can be expressed as (Lane 3 ID, reference point 1 ID, reference point 2 ID, dx5_1, dx5_2).

[0372] Among them, dx5_1 represents the position information of the starting point of sub-region 5 relative to reference point 1 (which is 0 here), and dx5_2 represents the position information of the ending point of sub-region 5 relative to reference point 2 (which is 0 here).

[0373] Scenario 5, when the event changes, for example, the first event can be expressed in a way that adopts respective position reference information based on different moments or different periods.

[0374] For example, taking the first event as the accident event, in time stage 1, a point where a traffic accident occurs is obtained, and the accident scope involved in the accident is not obtained. At this time, the position information of the event can be represented by the point of the event.

[0375] The position reference information selected for the position information of the event can be the type of reference point and / or the type of reference line at the road level, or the type of reference point and / or the type of reference line at the lane level.

[0376] Taking the type of reference point and / or the type of reference line at the road level as an example, the reference line coordinates can be selected, the reference point is the starting point of the road center line, and the reference line can be the road center line.

[0377] As Figure 8a shown, the position information of the accident event in time stage 1 can be expressed as (road ID, reference point ID, dx1_1, dy1_1). Among them, dx1_1 represents the position information of point 1 of the accident event relative to the starting line of the road where the reference point is located in time stage 1, and dy1_1 represents the position information of point 1 of the accident event relative to the road center line in time stage 1. It should be noted that when the reference point can be determined according to the road ID, the reference point ID can be not carried.

[0378] As Figure 8bAs shown in the figure, in time stage 2, the range where a traffic accident occurs is obtained. This range can form a quadrilateral area. At this time, the location information of the accident event can be determined through the 4 vertices (A, B, C, and D) of the quadrilateral area. Taking the reference point and / or reference line at the lane level as an example, the reference line coordinates can be selected, the reference point is the starting point of the center line of each lane, and the reference line can be the center line of each lane.

[0379] The location information of point A of the accident event in time stage 2 can be expressed as (the ID of lane 1, the ID of reference point 1, dx2_A, dy2_A). Among them, dx2_A represents the location information of point A of the accident event relative to the starting line of lane 1 where reference point 1 is located in time stage 2, and dy2_A represents the location information of point B of the accident event relative to the center line of lane 1 in time stage 2. The representation methods of points B, C, and D can refer to the representation method of point A and will not be elaborated here. It should be noted that when reference point 1 can be determined according to the ID of lane 1, the ID of reference point 1 can be not carried.

[0380] Another possible implementation method is that when the accuracy requirement for the location information of the accident event is not high, for example, when the vehicle is navigating and regards the congested road as an impassable road, the vehicle may not determine the range of the accident event, as long as it determines the road where the accident event is located. At this time, it can be represented by a point in the range of this traffic accident, for example, represented by the center point of this traffic accident.

[0381] Taking the center point of the accident event as point 2 as an example, the location information of point 2 of the accident in time stage 2 can be expressed as (road ID, ID of reference point 2, dx2_2, dx2_2). Among them, dx2_2 represents the location information of point 2 of the accident event relative to the starting line of the road where reference point 2 is located in time stage 2, and dy2_2 represents the location information of point 2 of the accident event relative to the center line of the road in time stage 2. It should be noted that when reference point 2 can be determined according to the ID of road 2, the ID of reference point 2 can be not carried.

[0382] Scenario 6, different events can share the same data structure. When determining the location information of an event, the location reference information of each event can be determined according to specific requirements, and the location information of the event can be determined according to the location reference information. The following takes the first event and the second event as examples for illustration.

[0383] As Figure 9 shown, a map generation method of the present application can be executed based on the Figure 1b shown map generation device 120, including:

[0384] Step 901: Generate a map.

[0385] The map includes: the third location information of the second event and event correlation indication information, where the event correlation indication information is used to indicate the location reference method indicated by the third location information based on the location reference information.

[0386] Among them, a possible scenario is that the first event is not related to the second event, and the first event and the second event share the same location reference method. At this time, the location reference method shared by the first event and the second event can also be indicated by the event correlation indication information. Specifically, an appropriate field can be added to the data structure to carry the event correlation indication information, or it can be combined with other fields in the data structure to carry the event correlation indication information, which is not limited here.

[0387] A possible implementation method is that the map generation device can determine the second event based on the information of the second event. For example, the information of the second event can be sent by the acquisition device to the map generation device. Thus, the map generation device determines the second event according to the information of the second event reported by the acquisition device. The method by which the acquisition device acquires the information of the second event and sends it to the map generation device can refer to the method by which the acquisition device acquires the location reference method indicated by the location reference information of the first event and sends it to the map generation device in step 201, which will not be elaborated here.

[0388] Another possible scenario is that the second event is related to the first event, that is, the second event can be determined according to the location reference method indicated by the location reference information of the first event. The following takes Scenario 6-1 and Scenario 6-2 as examples.

[0389] In Scenario 6-1, considering the need for map use, the location information of different events can be represented at the road level or lane level. Taking the first location information of the first event as the location information at the road level as an example, for example, when the vehicle has not started driving yet, but uses the map to view the road conditions and screen the navigation path, the vehicle or user may only care about the congestion situation at the road level.

[0390] For another example, during the process when the user or vehicle has started driving, when the map use device obtains through the map generation device that there is congestion ahead on the road and chooses to pass through this congested road, the user may need to obtain the location information of the event at the lane level more, so as to better avoid the congested location and improve the vehicle passing experience.

[0391] Therefore, in a possible implementation, based on the user's selection, after the map generation device obtains information about different events, the map generation device can determine, according to the user's selection, whether the location reference information corresponding to different events is road-level location reference information or lane-level location reference information. Thus, the location information of different events is determined and sent to the map using device, and the corresponding map using device can display the location information of different events.

[0392] In another possible implementation, after the map generation device obtains information about different events, it can determine that the location reference information corresponding to different events is both road-level location reference information and lane-level location reference information. The map generation device generates the location information of events under the road-level location reference information and the location information of different events under the lane-level location reference information. And stores the location information of different events under the road-level location reference information and the location information of different events under the lane-level location reference information in the map.

[0393] Correspondingly, the map using device can, based on the user's selection, determine whether the location reference information corresponding to different events is road-level location reference information or lane-level location reference information. For example, when determining to use road-level location reference information to represent the location information of the first event or the second event, it can call the location information of the first event or the second event under the road-level location reference information from the map.

[0394] For another example, in a possible scenario, the accuracy of the information about the first event or the second event currently obtained by the map generation device can only represent the road-level location information of the first event or the second event. At this time, the map generation device can determine the location information of the first event or the second event based on the road-level location reference information. After the map generation device obtains more information about the first event or the second event, it can determine the lane-level information of the first event or the second event. For example, it can determine the lane-level range where the first event or the second event is located. At this time, the map generation device can determine the location information of the first event or the second event based on the road-level location reference information and / or the lane-level location reference information.

[0395] Scenario 6-2, when there is an association relationship between events. For example, taking the second event as a traffic flow event in the target road section, considering that there is a first event such as an accident or road maintenance in the target road section, which affects the traffic flow event in the current road section, the expression mode of the location information of the traffic flow event can depend on the expression mode of the location information of the accident event. For example, when the accident event is expressed as a single-point location expression, the expression of the traffic flow event can be at the road level. Another example is that when the accident event is expressed as a multi-point location expression, the expression of the traffic flow event can be at the lane level with multiple traffic flow sub-areas. By the more precise range of the accident event expression, a more detailed traffic flow can be represented, making the congestion information displayed by the location information of the traffic flow event and the accident event more accurate. Of course, it can also be that according to the needs of the user or vehicle, the map generation device or map usage device selects the corresponding expression mode of the location information. For example, when the accident event is expressed as a multi-point location expression, the expression of the traffic flow event can be at the road level or at the lane level with multiple traffic flow sub-areas.

[0396] Step 902: Send the map to the map usage device.

[0397] The map includes: the third location information of the second event and the event association indication information, and the event association indication information is used to indicate the location reference mode indicated by the third location information based on the location reference information.

[0398] Taking Scenario 6-1 as an example, taking the second event as a traffic flow event in the target road section and the first event as an accident event in the target road section. According to the needs of map usage in different scenarios and the accuracy requirements of the location information of each event, the expression modes of the location information of the traffic flow event and the accident event can be different or the same.

[0399] For example, the expression modes of the location information of both the traffic flow event and the accident event are at the road level. At this time, the location reference information selected by the traffic flow event and the accident event can be shared. The location information of the accident event can refer to Time Phase 1 in Scenario 5, which will not be elaborated here. Correspondingly, the location information of the traffic flow event can be expressed as (road ID, reference point ID, dx_1, dx_2). Among them, the reference point can be the reference point corresponding to the road ID. For example, the reference point can be the center point on the stop line. dx_1 represents the location information of the starting point of the traffic flow event relative to the reference point, and dx_2 represents the location information of the ending point of the traffic flow event relative to the reference point.

[0400] For another example, the expression of the location information of traffic flow events and accident events is at the road level. At this time, the location reference information selected for traffic flow events and accident events can also be set separately. Combining with time stage 1 in scenario 5, the accident event can select the coordinate along the reference line, with the reference point being the starting point of the road center line, and the reference line can be the road center line. The location information of the accident event can be expressed as (road ID, reference point ID, dx1_1, dy1_1). Among them, dx1_1 represents the location information of point 1 of the accident event relative to the starting line of the road where the reference point is located, and dy1_1 represents the location information of point 1 of the accident event relative to the road center line.

[0401] The traffic flow event can select the coordinate along the reference line, with the reference points being the starting point and the ending point of the target road section.

[0402] The location information of the traffic flow event can be expressed as (road ID, ID of reference point 1, ID of reference point 2, dx_1, dx_1). Among them, reference point 1 can be the starting point of the target road section, reference point 2 can be the ending point of the target road section, dx_1 represents the location information of the starting point of the traffic flow event relative to reference point 1, and dx_2 represents the location information of the ending point of the event relative to reference point 2.

[0403] Taking scenario 6-2 as an example, when there is an association relationship between events. For example, taking the second event as a traffic flow event in the target road section, considering that there is a first event such as an accident or road maintenance in the target road section, which affects the traffic flow event in the current road section, the expression of the location information of the traffic flow event can be dependent on the expression of the location information of the first event. For example, when the accident event is expressed as the location expression of a single point, the expression of the traffic flow event can be at the road level.

[0404] For another example, when the accident event is expressed as the location expression of multiple points, the expression of the traffic flow event can be the expression of multiple traffic flow sub-regions at the lane level. At this time, taking the traffic flow event as the second event and the accident event as the first event as an example, the second event can include N sub-events, and the N sub-events of the second event can be determined according to the first location information expressed by the first event under the location reference information.

[0405] A possible implementation method, for each sub-event of the N sub-events of the second event: determine the first location information related to the sub-event in the first event according to the relationship between the first event and the sub-event; determine the third location information expressed by the sub-event under the location reference information according to the first location information related to the sub-event in the first event.

[0406] Through a more precise range of accident event expressions, more detailed traffic flow can be represented, enabling the location information of traffic flow events and accident events to display congestion information more accurately. Of course, it can also be that according to the needs of users or vehicles, the map generation device or map usage device selects the corresponding expression method of location information. For example, when the expression of an accident event is a multi-point location expression, the expression of a traffic flow event can be a road-level expression method or an expression method of multiple traffic flow sub-regions at the lane level.

[0407] Combined Figure 7b As shown, taking the existence of a first event (accident event) in the target section as an example, the range of the accident event involves 3 lanes, including the 1st lane and the 2nd lane. The accident event includes 4 points to describe the location information of the accident event. For example, the accident event includes: point A, point B, point C, and point D. Among them, point A is located in the 1st lane, and points B, C, and D are located in the 2nd lane.

[0408] The expression method of the location information of the accident event can refer to the expression method in Scenario 5 at time stage 2, or it can also be the expression method in Scenario 6-1 or Scenario 6-2, which will not be elaborated here.

[0409] Correspondingly, the expression method of the location information of the second event (traffic flow event) can be determined based on the location information of the accident event. It can be a road-level expression method of location information. For example, the location information of the traffic flow can be determined based on the location information of the center point of the accident event. Another example is that the expression method of the location information of the traffic flow can be determined based on the location information of the accident event. It can be a lane-level expression method of location information. For example, the location information of the traffic flow can be determined based on the location information of the 4 points of the accident event. The specific method can refer to the expression method of the first event in Scenario 4, which will not be elaborated here.

[0410] As Figure 10a shown, this application provides a map usage method, which can be executed based on the Figure 1b shown map usage device 130, including:

[0411] Step 1001: The map usage device receives a map.

[0412] The map includes: the third location information of the second event and event correlation indication information, and the event correlation indication information is used to indicate the location reference method indicated by the third location information based on the location reference information.

[0413] A possible implementation method is that the map usage device can obtain an acquisition request message for sending the second event to the map generation device. Correspondingly, the map usage device receives the response message of the second event from the map generation device.

[0414] For the specific acquisition request message for sending the second event, reference can be made to the implementation manner of sending the acquisition request message for the first event to the map generation device, which will not be elaborated here. It should be noted that when the first event and the second event are related, the acquisition request message for the first event and the acquisition request message for the second event can be the same message or different messages, which is not limited here.

[0415] In a possible implementation manner, the response message of the second event includes: the third position information of the second event represented under the position reference information of the first event.

[0416] In another possible implementation manner, the response message of the second event includes: the third position information of each of the N sub-events of the second event represented under the position reference information, where N is a positive integer greater than 1.

[0417] For the specific implementation manner, reference can be made to Scenario 6-1 and Scenario 6-2, which will not be elaborated here.

[0418] Step 1002: The map usage device performs a map update operation according to the map, or displays the position information or makes an assisted driving decision.

[0419] In a possible implementation manner, the map usage device can update the map according to the third position information of the second event represented under the position reference information of the second event.

[0420] Optionally, the map usage device uses the updated map to perform corresponding map functions. For example, the map usage device can display the first event in combination with the first position information of the first event represented under the position reference information of the first event to guide the vehicle's navigation. As Figure 10b shown, the first position information of the first event can be displayed at this time. It can also be that when the distance between the vehicle and the first event is greater than or equal to the first threshold, the first position information of the first event is displayed and a congestion ahead is prompted.

[0421] For another example, the map usage device uses the updated map to display the second event according to the third position information of the second event represented under the position reference information of the second event, and guides the vehicle's navigation according to the second event.

[0422] For another example, the map usage device can display the first event while displaying the second event in combination with the first position information of the first event represented under the position reference information of the first event, and guide the vehicle's navigation according to the first event and the second event.

[0423] Combined with Figure 7b the example shown, as Figure 10cAs shown, the first event can be a traffic accident event, and the second event can be a traffic flow event. It can be determined that in the second event, there are 5 sub-events. Among them, sub-event 1 corresponds to sub-region 1 with the first congestion level, sub-event 2 corresponds to sub-region 2 with the second congestion level, sub-event 3 corresponds to sub-region 3 with the third congestion level, sub-event 4 corresponds to sub-region 4 with the fourth congestion level, and sub-event 5 corresponds to sub-region 5 with the fifth congestion level. Among them, the first congestion level and the third congestion level are close, the second congestion level and the fourth congestion level are the highest, and the fifth congestion level is the lowest. The map usage device can display the congestion levels corresponding to each sub-event in the corresponding area by color and update the navigation information according to each sub-event. For example, when the vehicle is in lane 1, it can prompt that there is congestion ahead in lane 1 and suggest that the vehicle change lanes to lane 3 when it is at a first preset distance from sub-event 1. When the vehicle is in lane 2, it can prompt that there is congestion ahead in lane 2 and suggest that the vehicle change lanes to lane 3 when it is at a second preset distance from sub-event 3. The first preset distance and the second preset distance can be determined based on the congestion level of the sub-event or based on the lane-changing difficulty of the vehicle, and are not limited here. When the vehicle is in lane 3, it can remind that there is congestion in lane 1 and lane 2, and suggest that the vehicle slow down or switch to other roads, etc., which helps to improve the driving safety of the vehicle and reduce road congestion.

[0424] Another possible scenario is as Figure 10d shown. The map usage device can also display the first event and the second event according to the first position information of the first event and the third position information of the second event represented under the position reference information of the first event, and guide the navigation of the vehicle according to the first event and the second event. For example, when the vehicle is in lane 1, it can prompt that there is congestion ahead in lane 1 and suggest that the vehicle change lanes to lane 3 when the vehicle is at a distance less than or equal to a third preset distance from sub-region 1 of the second event. When the vehicle is in lane 2, it can prompt that there is congestion ahead in lane 2 and suggest that the vehicle change lanes to lane 3 when the vehicle is at a distance less than or equal to a fourth preset distance from sub-region 3 of the second event. When the vehicle is in lane 3, it can prompt that there is congestion ahead when the vehicle is at a distance less than or equal to a fifth preset distance from sub-region 5 of the second event, and remind the vehicle to pay attention to avoiding vehicles that may change lanes.

[0425] Of course, it can also be determined according to the distance between the vehicle and the lane where the first event is located. Refer to Figure 3d , and details will not be elaborated here.

[0426] The third preset distance, the fourth preset distance, and the fifth preset distance can be determined based on the area and position of a sub-region of the second event, or can be determined according to the area of the first event occupying the corresponding lane. For example, when the scope involved in the first event is larger, larger third, fourth, and fifth preset distances can be set. The third preset distance, the fourth preset distance, and the fifth preset distance can also be determined using the type of the first event or the type of the second event. For example, when the first event is an accident, a longer distance can be set compared to when the first event is an event of rainwater accumulation, to prevent the vehicle from changing lanes in advance at a position farther from the accident. It can also be determined based on the lane-changing difficulty of the vehicle, which is not limited here.

[0427] Scenario 7, when the event changes, or the way of expressing the position information of other events associated with the event is different from the way of expressing this event. At this time, based on different reference methods between the position information of the events, a transformation between the reference methods can be performed. The following takes Scenarios 7-1 to 7-2 as examples for illustration.

[0428] Scenario 7-1, the transformation of the reference method of the position information of the event between rectangular coordinates and coordinates along a reference line.

[0429] A possible example is that when the position information of the event is transformed from rectangular coordinates to coordinates along a reference line, after obtaining the position information of the reference line and the reference point in rectangular coordinates in the static map, the position information of the event relative to the position information of the reference line and the reference point can be determined, that is, the position information of the event is transformed into the position information of the event represented under the coordinates along the reference line 1.

[0430] Another possible example is that when the position information of the event is transformed from coordinates along a reference line to rectangular coordinates, the position information of the event relative to the rectangular coordinates can be determined by obtaining the position information of the reference line and the reference point in rectangular coordinates in the static map, and the position information of the event represented under the coordinates along the reference line 1 (that is, the position information of the event relative to the position information of the reference line and the reference point).

[0431] Scenario 7-2, the transformation of the reference method of the position information of the event between coordinates along a reference line 1 and coordinates along a reference line 2.

[0432] For example, the reference method of the position information determined by the event at time 1 corresponds to the coordinates along the reference line 1. The reference method of the event at time 2 corresponds to the coordinates along the reference line 2.

[0433] In a possible implementation, when converting the position information from coordinate 1 along the reference line to coordinate 2 along the reference line, the rectangular coordinate can be used as an intermediate coordinate. That is, first convert the position information of the event at coordinate 1 along the reference line to the position information of the event in the rectangular coordinate, and then convert the position information of the event in the rectangular coordinate to the position information of the event at coordinate 2 along the reference line. Thus, the conversion of the position information of the event from coordinate 1 along the reference line to coordinate 2 along the reference line is completed.

[0434] The way of expressing the position selection position reference information of an event can achieve compatibility and generality in four dimensions: between events, in space, in time, and in accuracy. It supports the compatibility and generality of data structures in the above various different application modes, is compatible with reference position methods for a variety of dynamic events, is compatible with a variety of different geometric expression methods, and dynamically selects and combines position reference information. For example, position reference information such as the type of reference coordinate system, the type of reference line, and the type of reference point. Thus, the generality and flexibility of the dynamic information data structure are improved, the requirements of the time-varying characteristics of a single dynamic event for the reference position method are compatible, and based on the different position expression accuracy requirements of dynamic information, the position information expressed by different dynamic events under the corresponding position reference information is realized, and the compatibility of different accuracies is achieved. Moreover, the switching between high-precision requirements and low-precision requirements can also be realized.

[0435] It should be noted that the names of the above various information are only examples. With the evolution of communication technologies, any of the above information may change its name. However, no matter how its name changes, as long as its meaning is the same as the meaning of the above information in this application, it shall fall within the protection scope of this application.

[0436] The above mainly introduces the solution provided by this application from the perspective of the interaction between various network elements. It can be understood that in order to implement the above functions, each of the above network elements includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed in this article, the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described function for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0437] According to the foregoing method, Figure 11 Exemplarily shows a schematic structural diagram of a map generation device provided by an embodiment of this application, as Figure 11As shown, the device can be a map server, a collection device, a vehicle, or a chip or circuit, such as a chip or circuit that can be disposed in a map server, a collection device, or a vehicle. Exemplarily, it can be a map server, a collection device, or a vehicle as described in any one of the present application.

[0438] As Figure 11 As shown, the map generation device may include a processor 1102, a memory 1104, and a transceiver 1103, and may further include a bus system. Among them, the processor 1102, the memory 1104, and the transceiver 1103 may be connected through the bus system.

[0439] It should be understood that the above-mentioned processor 1102 may be a chip. For example, the processor 1102 may be a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processing circuit (DSP), a micro controller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0440] In the implementation process, each step of the above method can be completed by the integrated logic circuit in the hardware of the processor 1102 or the instructions in the form of software. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by the hardware processor, or executed and completed by the combination of the hardware and software modules in the processor 1102. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 1104, and the processor 1102 reads the information in the memory 1104 and combines its hardware to complete the steps of the above method.

[0441] It should be noted that the processor 1102 in the embodiments of the present application may be an integrated circuit chip with signal processing capabilities. In the implementation process, the steps of the above method embodiments may be completed by the integrated logic circuit in the hardware of the processor or instructions in the form of software. The above-mentioned processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application may be directly embodied as being executed by the hardware decoding processor, or executed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method.

[0442] It can be understood that the memory 1104 in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memories of the systems and methods described herein are intended to include, but are not limited to, these and any other suitable types of memories.

[0443] The map generation device may include a processor 1102, a transceiver 1103, and a memory 1104. The memory 1104 is used to store instructions, and the processor 1102 is used to execute the instructions stored in the memory 1104 to implement the related solutions of the mapping device in any one or any combination of the methods shown in the present application as above, or execute the method executed by the map generation device in the foregoing embodiments.

[0444] In some embodiments, the transceiver 1103 may send a map. The processor 1102 may generate a map, which includes: location information of a first event and location reference information of the first event. The location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference manner based on which the location information is obtained.

[0445] According to the foregoing method, Figure 12 An exemplary structural schematic diagram of a map usage device provided by the embodiments of the present application is shown as Figure 12As shown, the device can be a map server, a collection device, a vehicle, or a chip or circuit, such as a chip or circuit that can be disposed in a map server, a collection device, or a vehicle. Exemplarily, it can be a map server, a collection device, or a vehicle as described in any one of the present applications.

[0446] As Figure 12 shown, the map usage device can include a processor 1202, a memory 1204, and a transceiver 1203, and can further include a bus system. Among them, the processor 1202, the memory 1204, and the transceiver 1203 can be connected through the bus system.

[0447] It should be understood that the above-mentioned processor 1202 can be a chip. For example, the processor 1202 can be a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system on chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processing circuit (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0448] In the implementation process, each step of the above method can be completed by the integrated logic circuit in the hardware of the processor 1202 or the instructions in the form of software. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by the hardware processor, or can be executed and completed by the combination of the hardware and software modules in the processor 1202. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 1204, and the processor 1202 reads the information in the memory 1204 and combines its hardware to complete the steps of the above method.

[0449] It should be noted that the processor 1202 in the embodiments of the present application may be an integrated circuit chip with signal processing capabilities. In the implementation process, the steps of the above method embodiments may be completed by the integrated logic circuit in the hardware of the processor or instructions in software form. The above-mentioned processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application may be directly embodied as being executed by the hardware decoding processor, or executed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method.

[0450] It can be understood that the memory 1204 in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memories of the systems and methods described herein are intended to include, but are not limited to, these and any other suitable types of memories.

[0451] The map using device may include a processor 1202, a transceiver 1203, and a memory 1204. The memory 1204 is used to store instructions, and the processor 1202 is used to execute the instructions stored in the memory 1204 to implement the relevant solutions of the mapping device in any one or any combination of the methods shown in the present application above, or to execute the method performed by the map generation device in the above embodiments.

[0452] In some embodiments, the transceiver 1203 may receive a map. The map includes: location information of a first event and location reference information of the first event. The location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference method based on which the location information is obtained. The processor 1202 may perform a map update operation according to the map, or display the location information, or assist in driving decision-making.

[0453] Based on the above embodiments and the same concept, Figure 13 Exemplarily shows a schematic structural diagram of another map generation device provided by the embodiments of the present application, asFigure 13 As shown, the map generation device may be a mapping device, for example, it may be a mapping device as described in any one of the present applications, or it may be a chip or a circuit, such as a chip or a circuit that can be set in the mapping device. The map generation device may implement the steps performed by the mapping device in any one or any combination of the corresponding methods shown in the present application above, or execute the method performed by the mapping device in any one of the embodiments shown in Embodiments 1 to 3 above. As Figure 13 As shown, the map generation device may include a generation module 1302 and a transmission module 1303.

[0454] The generation module 1302 can generate a map, and the map includes: the position information of the first event and the position reference information of the first event. The position information is used to indicate the position where the first event occurs, and the position reference information is used to indicate the position reference method based on which the position information is obtained;

[0455] The transmission module 1303 can transmit the map.

[0456] In a possible implementation, the map further includes: the position information includes first position information and second position information, and the position reference information includes first position reference information and second position reference information. Among them, the first position reference information is used to indicate the first position reference method based on which the first position information is obtained, the second position reference information is used to indicate the second position reference method based on which the second position information is obtained, the second position information is different from the first position information, and the second position reference method is different from the first position reference method.

[0457] In a possible implementation, the position reference method includes at least one of the type of reference coordinate system, the type of reference point, and the type of reference line.

[0458] In a possible implementation, the reference line includes: a horizontal reference line and a vertical reference line.

[0459] In a possible implementation, the type of reference coordinate system includes: at least one of an ENU rectangular coordinate system and a coordinate system along the reference line.

[0460] In a possible implementation, the type of reference point includes at least one of the following multiple types: the starting point of the road center line; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane center line; and the starting point of the lane edge line.

[0461] In a possible implementation, the type of reference line includes at least one of the following multiple types: the center line of the road; the edge line of the road; the center line of the lane; and the edge line of the lane.

[0462] A possible implementation manner, the map further includes: third location information of a second event and event correlation indication information, where the event correlation indication information is used to indicate the location reference manner based on which the third location information is indicated by the location reference information.

[0463] It should be understood that the division of the units of the above map generation device is only a division of logical functions. In actual implementation, all or part of them can be integrated into one physical entity, or physically separated. For the concepts, explanations, detailed descriptions, and other steps related to the technical solutions provided in the embodiments of the present application involved in this map generation device, please refer to the descriptions of these contents in the foregoing method or other embodiments, and will not be elaborated here.

[0464] Based on the above embodiments and the same concept, Figure 14 An exemplary structural schematic diagram of another map usage device provided by the embodiments of the present application is shown, as Figure 14 shown. This map usage device can be a mapping device, and exemplarily can be a mapping device as described in any one of the present application, or can be a chip or a circuit, such as a chip or a circuit that can be arranged in a mapping device. This map usage device can implement the steps performed by the mapping device in any one or any combination of the corresponding methods shown in the present application as above, or execute the methods performed by the mapping device in any one of the embodiments shown in Embodiment 1 to Embodiment 3 above. As Figure 14 shown, this map usage device can include a receiving module 1402, a map update module 1403, a display module 1404, and an assisted driving decision-making module 1405.

[0465] The receiving module 1402 is configured to receive a map; the map includes: location information of a first event and location reference information of the first event, where the location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference manner based on which the location information is based;

[0466] The map update module 1403 is configured to perform a map update operation according to the map;

[0467] Alternatively, the display module 1404 is configured to display the location information according to the map;

[0468] Alternatively, the assisted driving decision-making module 1405 is configured to make an assisted driving decision according to the map.

[0469] A possible implementation, the map further includes: the location information includes first location information and second location information, and the location reference information includes first location reference information and second location reference information, where the first location reference information is used to indicate a first location reference method based on which the first location information is determined, the second location reference information is used to indicate a second location reference method based on which the second location information is determined, the second location information is different from the first location information, and the second location reference method is different from the first location reference method.

[0470] A possible implementation, the location reference method includes at least one of a type of reference coordinate system, a type of reference point, and a type of reference line.

[0471] A possible implementation, the type of reference coordinate system includes at least one of an ENU rectangular coordinate system and a coordinate system along a reference line.

[0472] A possible implementation, the type of reference point includes at least one of the following multiple types: a starting point of a road center line; a starting point of a road edge line; a midpoint of a starting line of a lane group; a starting point of a lane center line; and a starting point of a lane edge line.

[0473] A possible implementation, the type of reference line includes at least one of the following multiple types: a center line of a road; an edge line of a road; a center line of a lane; and an edge line of a lane.

[0474] A possible implementation, the map further includes: third location information of a second event and event correlation indication information, where the event correlation indication information is used to indicate that the third location information is based on the location reference method indicated by the location reference information.

[0475] A possible implementation, the display module 1404 is further configured to, in response to a request message, change the display of the first location information to the display of the second location information; where the display of the first location information is to display the first location information based on the first location reference method indicated by the first location reference information, and the display of the second location information is to display the second location information based on the second location reference method indicated by the second location reference information.

[0476] In some embodiments, the request message may be generated after a user operates on the map displayed on the display interface, or may be initiated by a vehicle to a map generation device before making a driving decision. Correspondingly, after the map generation device determines the location information of the first event and the location reference information of the first event, it may send the location information of the first event and the location reference information of the first event to the map using device.

[0477] A possible implementation manner, the display module 1404 is further configured to change the display of the first position information to the display of the second position information when the distance between the first event and the vehicle meets a preset condition.

[0478] Wherein, the display of the first position information is to display the first position information based on the first position reference manner indicated by the first position reference information, and the display of the second position information is to display the second position information based on the second position reference manner indicated by the second position reference information.

[0479] A possible implementation manner, the first event is on the planned driving path of the vehicle.

[0480] A possible implementation manner, the assisted driving decision-making module 1405 is configured to change the assisted driving decision based on the first position information to the assisted driving decision based on the second position information when the distance between the first event and the vehicle meets a preset condition.

[0481] A possible implementation manner, the first event is on the planned driving path of the vehicle.

[0482] A possible implementation manner, the display module 1404 is further configured to select the first position information for display from the first position information and the second position information according to the attribute, occurrence time or position of the first event, and the display is based on the first position reference manner indicated by the first position reference information.

[0483] A possible implementation manner, the display module 1404 is further configured to select the first position information for display from the first position information and the second position information according to the permission of the device for display or the permission of the user using the device, and the display is based on the first position reference manner indicated by the first position reference information.

[0484] A possible implementation manner, after the map update module performs a map update operation, the display module 1404 is further configured to determine that the accuracy of the position information is higher than the accuracy based on which the position of the first event is currently displayed according to the position reference information; display the position of the first event based on the position reference manner indicated by the position reference information.

[0485] It should be understood that the division of the units of the above map usage device is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. For the concepts, explanations, detailed descriptions, and other steps related to the technical solutions provided in the embodiments of this application in the map usage device, please refer to the descriptions of these contents in the foregoing methods or other embodiments, and will not be elaborated here.

[0486] This application also provides a map, including the location information of a first event and the location reference information of the first event. The location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference method based on which the location information is determined.

[0487] Of course, the map can be any possible implementation manner of the map provided in the embodiments of this application.

[0488] This application also provides a computer program product, which includes computer program code. When the computer program code runs on a computer, it causes the computer to execute the method of any one of the embodiments shown in this application.

[0489] This application also provides a computer program product, which includes computer program code. When the computer program code runs on a computer, it causes the computer to execute the map of any one of the embodiments shown in this application.

[0490] This application also provides a computer-readable storage medium, which stores the map of any one of the embodiments shown in this application.

[0491] This application also provides a vehicle, which uses the map according to any one of the possible methods in the map usage method in the above embodiments.

[0492] This application also provides a system, which includes the aforementioned map generation device and map usage device. Among them, the map generation device can be a map server, a map collection device, or a vehicle, or a component in the corresponding device, such as a chip. The map usage device can be a vehicle, a map server, or a map collection device, or a component in the corresponding device, such as a chip. After the map generation device generates a map according to the map generation method described in any one of the above embodiments, it sends the map to the map usage device. The map usage device performs map update operations according to the map, or displays the location information or makes auxiliary driving decisions according to the map usage method described in any one of the above embodiments.

[0493] This application provides a chip, which may include a processor and an interface. The processor is configured to read instructions through the interface to execute any possible map generation method or any possible map usage method in any of the above embodiments.

[0494] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a high-definition digital video disc (DVD)), or a semiconductor medium (such as a solid state drive (SSD)), etc.

[0495] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these modifications and variations.

Claims

1. A method for generating a map, characterized in that, comprising: Receiving the positioning information of the first event sent by the acquisition device, where the positioning information is used to indicate the location where the first event occurs; Generating a map according to the positioning information of the first event, where the map includes: the location information of the first event, the location reference information of the first event, the third location information of the second event, and the event correlation indication information. The location information is used to indicate the location represented by the first event under the location reference information, the location reference information is used to indicate the location reference method based on which the location information is based, and the event correlation indication information is used to indicate the location reference method indicated by the third location information based on the location reference information; Sending the map.

2. The method according to claim 1, characterized in that, the map further includes: The location information includes first location information and second location information, and the location reference information includes first location reference information and second location reference information. Wherein, the first location reference information is used to indicate the first location reference method based on which the first location information is based, the second location reference information is used to indicate the second location reference method based on which the second location information is based, the second location information is different from the first location information, and the second location reference method is different from the first location reference method.

3. The method according to claim 1, characterized in that, the location reference method includes at least one of the type of reference coordinate system, the type of reference point, and the type of reference line.

4. The method according to claim 3, characterized in that, the type of reference coordinate system includes at least one of: ENU rectangular coordinate system and coordinate system along the reference line.

5. The method according to claim 3 or 4, characterized in that, the type of reference point includes at least one of the following multiple types: The starting point of the road center line; The starting point of the road edge line; The midpoint of the starting line of the lane group; The starting point of the lane center line; and The starting point of the lane edge line.

6. The method according to claim 3 or 4, characterized in that, the type of reference line includes at least one of the following multiple types: The center line of the road; The edge line of the road; The center line of the lane; and The edge line of the lane.

7. A method for using a map, characterized in that, comprising: Receiving a map; The map is generated according to the positioning information of the first event sent by the acquisition device, where the positioning information of the first event is used to indicate the location where the first event occurs. The map includes: the location information of the first event, the location reference information of the first event, the third location information of the second event, and the event correlation indication information. The location information is used to indicate the location represented by the first event under the location reference information, the location reference information is used to indicate the location reference method based on which the location information is based, and the event correlation indication information is used to indicate the location reference method indicated by the third location information based on the location reference information; According to the map, performing a map update operation, or displaying the location information, or assisting in driving decision-making.

8. The method according to claim 7, characterized in that, the map further includes: the position information includes first position information and second position information, and the position reference information includes first position reference information and second position reference information, wherein the first position reference information is used to indicate a first position reference manner based on which the first position information is determined, the second position reference information is used to indicate a second position reference manner based on which the second position information is determined, the second position information is different from the first position information, and the second position reference manner is different from the first position reference manner.

9. The method according to claim 8, characterized in that, the position reference manner includes at least one of the type of reference coordinate system, the type of reference point, and the type of reference line.

10. The method according to claim 9, characterized in that, the type of reference coordinate system includes at least one of: ENU rectangular coordinate system and coordinate system along the reference line.

11. The method according to claim 9 or 10, characterized in that, the type of reference point includes at least one of the following multiple types: the starting point of the center line of the road; the starting point of the edge line of the road; the midpoint of the starting line of the lane group; the starting point of the center line of the lane; and the starting point of the edge line of the lane.

12. The method according to claim 9 or 10, characterized in that, the type of reference line includes at least one of the following multiple types: the center line of the road; the edge line of the road; the center line of the lane; and the edge line of the lane.

13. The method according to any one of claims 8 - 10, characterized in that, the displaying of the position information includes: in response to a request message, changing the display of the first position information to the display of the second position information; wherein, the display of the first position information is to display the first position information based on the first position reference manner indicated by the first position reference information, and the display of the second position information is to display the second position information based on the second position reference manner indicated by the second position reference information.

14. The method according to any one of claims 8 - 10, characterized in that, the displaying of the position information according to the map includes: when the distance between the first event and the vehicle meets a preset condition, changing the display of the first position information to the display of the second position information; wherein, the display of the first position information is to display the first position information based on the first position reference manner indicated by the first position reference information, and the display of the second position information is to display the second position information based on the second position reference manner indicated by the second position reference information.

15. The method according to claim 14, characterized in that, the first event is on the planned driving path of the vehicle.

16. The method according to any one of claims 8 - 10, characterized in that, the assisting in driving decision-making according to the map includes: When the distance between the first event and the vehicle meets a preset condition, the auxiliary driving decision based on the first position information is changed to the auxiliary driving decision based on the second position information.

17. The method according to claim 16, wherein, the first event is on the planned driving path of the vehicle.

18. The method according to any one of claims 8 - 10, wherein, the displaying of the position information includes: selecting the first position information from the first position information and the second position information for display according to the attribute, occurrence time or position of the first event, and the display is based on the first position reference manner indicated by the first position reference information.

19. The method according to any one of claims 8 - 10, wherein, the displaying of the position information includes: selecting the first position information from the first position information and the second position information for display according to the permission of the device for display or the permission of the user using the device, and the display is based on the first position reference manner indicated by the first position reference information.

20. The method according to any one of claims 7 - 10, wherein, after the map update operation is performed, the method further includes: determining that the accuracy of the position information is higher than the accuracy based on which the position of the first event is currently displayed according to the position reference information; displaying the position of the first event based on the first position reference manner indicated by the position reference information.

21. A map generation device, wherein, it includes a processor and a memory, the memory stores a computer program, and the processor runs the computer program to implement the method according to any one of claims 1 to 6 above.

22. A map using device, wherein, it includes a processor and a memory, the memory stores a computer program, and the processor runs the computer program to implement the method according to any one of claims 7 to 20 above.

23. A map generation device, wherein, it includes a generation module, configured to receive the positioning information of the first event sent by the acquisition device, where the positioning information is used to indicate the position where the first event occurs; generating a map according to the positioning information of the first event, the map including: the position information of the first event, the position reference information of the first event, the third position information of the second event, and the event correlation indication information, where the position information is used to indicate the position represented by the first event under the position reference information, the position reference information is used to indicate the position reference manner based on which the position information is obtained, and the event correlation indication information is used to indicate that the third position information is based on the position reference manner indicated by the position reference information; a sending module, configured to send the map.

24. A map using device, wherein, it includes a receiving module, configured to receive a map; The map is generated based on the positioning information of the first event sent by the acquisition device. The positioning information of the first event is used to indicate the location where the first event occurs. The map includes: the location information of the first event, the location reference information of the first event, the third location information of the second event, and the event correlation indication information. The location information is used to indicate the location represented by the first event under the location reference information. The location reference information is used to indicate the location reference method based on which the location information is obtained. The event correlation indication information is used to indicate the location reference method indicated by the location reference information based on which the third location information is obtained; A map update module, configured to perform a map update operation according to the map; Alternatively, a display module, configured to display the location information according to the map; Or an assisted driving decision module, configured to assist in driving decisions according to the map.

25. A vehicle, characterized in that, it includes the map usage device as described in claim 23 or 24.

26. A system, characterized in that, it includes a map generation device and a map usage device. The map generation device is configured to execute the method according to any one of claims 1 to 6, and the map usage device is configured to execute the method according to any one of claims 7 to 20.

27. A map, characterized in that, it includes the location information of the first event, the location reference information of the first event, the third location information of the second event, and the event correlation indication information. The location information is used to indicate the location represented by the first event under the location reference information. The location reference information is used to indicate the location reference method based on which the location information is obtained. The event correlation indication information is used to indicate the location reference method indicated by the location reference information based on which the third location information is obtained; The map is generated based on the positioning information of the first event sent by the acquisition device. The positioning information of the first event is used to indicate the location where the first event occurs.

28. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, which when run, implements the method according to any one of claims 1 to 6 above, or implements the method according to any one of claims 7 to 20 above.

29. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores the map as described in claim 27.

30. A computer program product, characterized in that, the computer program product includes a computer program, which when run, implements the method according to any one of claims 1 to 6 above, or implements the method according to any one of claims 7 to 20 above.

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