Territory and attribute based vehicle end map updating method and device

Abstract

The application provides a kind of based on attribute and attribute vehicle end map updating method and equipment.The method comprises: determining that vehicle is in stationary state or driving state;If the vehicle is in stationary state, vehicle end map updating is carried out to the vehicle in stationary state;If the vehicle is in driving state, vehicle end map updating is carried out to the vehicle in driving state.The application provides corresponding vehicle end map updating rule according to the driving preference and regional characteristics of autonomous vehicle, effectively deals with the situation that the storage capacity and computing capacity of autonomous vehicle end are insufficient, reduces the time and storage cost caused by the nondiscriminatory update of autonomous vehicle, meets the autonomous update of map guided by vehicle end demand, realizes the intelligentization of map updating.

Description

Technical Field

[0001] This invention relates to the field of vehicle autonomous driving map technology, and in particular to a vehicle-side map update method and device based on location and attributes. Background Technology

[0002] Maps are fundamental to autonomous driving, playing a crucial role in autonomous driving planning and decision-making, beyond-line-of-sight perception, and assisted localization, serving as a basic digital platform. Autonomous driving demands extremely high map accuracy and freshness. Map data is vast and complex, and given the constraints of vehicle computing and storage capabilities, achieving seamless map data updates for all vehicles is difficult and wasteful of resources. Autonomous vehicles' map data requirements are strongly characterized by location (region) and attributes (vehicle information). Location refers to the road or area where the vehicle is currently positioned, such as the current road, frequently used areas, and other roads connected to the current road. Attributes refer to properties related to the vehicle and its passengers that influence vehicle decisions, such as vehicle type (truck, car), vehicle status, and passenger preferences. Currently, there is no map update mechanism specifically designed for these characteristics. Reducing the map update content for autonomous vehicles based on these "location and attribute" characteristics effectively improves update transmission efficiency and enables vehicle-centric autonomous updates. Therefore, developing a vehicle-side map update method and device based on location and attributes can effectively overcome the shortcomings of the aforementioned related technologies, and has become a technical problem that the industry urgently needs to solve. Summary of the Invention

[0003] To address the aforementioned problems in the existing technology, embodiments of the present invention provide a method and device for updating vehicle-side maps based on location and attributes.

[0004] In a first aspect, embodiments of the present invention provide a vehicle-side map update method based on location and attributes, comprising: determining whether a vehicle is in a stationary state or a moving state; if the vehicle is in a stationary state, updating the vehicle-side map for the stationary vehicle; and if the vehicle is in a moving state, updating the vehicle-side map for the moving vehicle.

[0005] Based on the above method embodiments, the vehicle-side map update method based on location and attributes provided in this embodiment of the invention, wherein if the vehicle is stationary, the vehicle-side map is updated for the stationary vehicle, including: Step 1.1: Obtain the vehicle's current location, active area, and current driving task, and calculate the circumscribed rectangle based on the active area and driving trajectory; Step 1.2: Calculate the map segment block number of the area based on the coordinates of the circumscribed rectangle; Step 1.3: The vehicle requests the cloud to update the static data of the relevant block map, and uploads the block number and the vehicle-side map version number; Step 1.4: After receiving the request, the cloud determines whether the corresponding block map has content updates; Step 1.5: The vehicle receives the data and completes the vehicle-side map update based on the returned content.

[0006] Based on the above method embodiments, the vehicle-side map update method based on location and attributes provided in this embodiment of the invention includes the following steps: after receiving a request, the cloud determines whether there is a content update for the corresponding block map, including: if there is a content update, the vehicle-side transmits relevant data; if there is no content update, relevant parameters are returned.

[0007] Based on the above method embodiments, the vehicle-side map update method based on location and attributes provided in this embodiment of the invention, wherein if the vehicle is in motion, the vehicle-side map is updated, including: Step 2.1: Obtain the real-time location of the vehicle, generate a rectangle centered on the vehicle based on the real-time location, and obtain the boundary coordinates of the rectangle; Step 2.2: Extract semantic content from the vehicle sensor and camera data obtained in Step 2.1, and initially generate the vehicle's surrounding situation; Step 2.3: Generate a request content list based on attributes based on the obtained vehicle status and user data; Step 2.4: Upload the results calculated in Steps 2.1 and 2.3 to the cloud, and request dynamic information in the relevant area; Step 2.5: The cloud receives the request, and organizes and transmits dynamic data according to the area range and the request content list uploaded by the vehicle; Step 2.6: The vehicle receives the data transmitted from the cloud, and merges and deduplicates the cloud data and the vehicle-side perception data; Step 2.7: Complete the fusion update of the vehicle-side dynamic data to facilitate subsequent planning.

[0008] Based on the above method embodiments, the vehicle-side map update method based on location and attributes provided in this embodiment of the invention includes generating a rectangle centered on the vehicle according to the real-time location of the vehicle, which has side lengths of 50 meters and 500 meters respectively.

[0009] Secondly, embodiments of the present invention provide a vehicle-side map update device based on location and attributes, comprising: a first main module for determining whether a vehicle is stationary or in motion; a second main module for updating the vehicle-side map for stationary vehicles if the vehicle is stationary; and a third main module for updating the vehicle-side map for in motion vehicles if the vehicle is in motion.

[0010] Thirdly, embodiments of the present invention provide an electronic device, comprising:

[0011] At least one processor; and

[0012] At least one memory communicatively connected to the processor, wherein:

[0013] The memory stores program instructions that can be executed by the processor. The processor can call the program instructions to execute the vehicle-side map update method based on location and attributes provided by any of the various implementations of the first aspect.

[0014] Fourthly, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions that cause a computer to execute a vehicle-side map update method based on location and attributes provided by any of the various implementations of the first aspect.

[0015] The vehicle-side map update method and device based on location and attributes provided in this invention provide corresponding vehicle-side map update rules in a personalized manner according to the driving preferences and regional characteristics of autonomous vehicles. This effectively addresses the insufficient storage and computing power of autonomous vehicles, reduces the time and storage costs caused by indiscriminate updates by autonomous vehicles, meets the needs of vehicle-side autonomous map updates, and realizes intelligent map updates. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart of a vehicle-side map update method based on location and attributes provided in an embodiment of the present invention.

[0018] Figure 2 A schematic diagram of the vehicle-side map update device based on location and attributes provided in an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the static map update technology process before vehicle driving provided in an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of the technical process for updating map data while the vehicle is in motion, provided in an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram illustrating map data updates during vehicle movement, provided in an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In addition, the technical features of the various embodiments or individual embodiments provided by the present invention can be arbitrarily combined with each other to form feasible technical solutions. Such combinations are not constrained by the order of steps and / or structural composition patterns, but must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0024] This invention provides a method for updating vehicle-side maps based on location and attributes. See [link to relevant documentation]. Figure 1 The method includes: determining whether the vehicle is stationary or in motion; if the vehicle is stationary, updating the vehicle-side map for stationary vehicles; if the vehicle is in motion, updating the vehicle-side map for in motion vehicles.

[0025] Based on the above method embodiments, as an optional embodiment, the vehicle-side map update method based on location and attributes provided in this embodiment of the invention, wherein if the vehicle is in a stationary state, the vehicle-side map is updated for the stationary vehicle, including: Step 1.1: Obtain the vehicle's current location, active area, and current driving task, and calculate the circumscribed rectangle based on the active area and driving trajectory; Step 1.2: Calculate the map segment block number where the area is located based on the coordinates of the circumscribed rectangle; Step 1.3: The vehicle requests the cloud to update the static data of the relevant block map, and uploads the block number and the vehicle-side map version number; Step 1.4: After receiving the request, the cloud determines whether the corresponding block map has content updates; Step 1.5: The vehicle receives the data and completes the vehicle-side map update based on the returned content.

[0026] Based on the above method embodiments, as an optional embodiment, the vehicle-side map update method based on location and attributes provided in this embodiment of the invention includes the following steps: after the cloud receives the request, it determines whether there is a content update for the corresponding block map, including: if there is a content update, the vehicle-side transmits relevant data; if there is no content update, relevant parameters are returned.

[0027] Based on the above method embodiments, as an optional embodiment, the vehicle-side map update method based on location and attributes provided in this embodiment of the invention, wherein if the vehicle is in a driving state, the vehicle-side map is updated, including: Step 2.1: Obtain the real-time location of the vehicle, generate a rectangle centered on the vehicle based on the real-time location of the vehicle, and obtain the boundary coordinates of the rectangle; Step 2.2: Extract semantic content from the vehicle sensor and camera data obtained in Step 2.1, and initially generate the vehicle's surrounding situation; Step 2.3: Generate a request content list based on attributes based on the obtained vehicle status and user data; Step 2.4: Upload the results calculated in Steps 2.1 and 2.3 to the cloud, and request dynamic information in the relevant area; Step 2.5: The cloud receives the request, and performs dynamic data organization and transmission according to the area range and the request content list uploaded by the vehicle; Step 2.6: The vehicle receives the data transmitted from the cloud, and merges and deduplicates the cloud data and the vehicle-side perception data; Step 2.7: Complete the fusion update of the vehicle-side dynamic data to facilitate subsequent planning.

[0028] Based on the above method embodiments, as an optional embodiment, the vehicle-side map update method based on location and attributes provided in this embodiment of the invention includes generating a rectangle centered on the vehicle based on the real-time location of the vehicle, which includes generating a rectangle centered on the vehicle with side lengths of 50 meters and 500 meters respectively.

[0029] The vehicle-side map update method based on location and attributes provided in this invention provides corresponding personalized vehicle-side map update rules according to the driving preferences and regional characteristics of autonomous vehicles. This effectively addresses the insufficient storage and computing power of autonomous vehicles, reduces the time and storage costs caused by indiscriminate updates by autonomous vehicles, meets the needs of vehicle-side autonomous map updates, and realizes intelligent map updates.

[0030] In another embodiment, Figure 4 The technical process of updating static maps before vehicles travel is demonstrated, and this update emphasizes the update method based on the principle of territoriality.

[0031] In step 1, the active area refers to the area where the vehicle frequently travels. For example, even if the vehicle is located in area A, it may frequently be active in area B. In this case, the active area should include both A and B. The current driving task is the area along the path from the current location to the target location. The minimum bounding rectangle is calculated to ensure that both the active area and the driving task are within the update range. If the vehicle has never been to area a, the map data for area a will not be updated for a long time; it will only be updated when a driving task passes through area a.

[0032] In step 2, the zone / block number refers to the zone / block storage number adopted during map design. Map storage and updates are performed on a block-by-block basis, which differs from administrative divisions. Therefore, the smallest bounding rectangle is calculated, and the updated block number is determined based on the rectangle's boundary and the block boundary. During map updates, only the content of the block containing the area needs to be updated.

[0033] In step 3, the map version number refers to the version number of the map when the vehicle updates. Different blocks of the cloud map will be updated as the vehicle collects information. Each update of each block will have a corresponding version number. Therefore, the version number of the vehicle data is compared with the version number of the block in the cloud to determine whether an update has been made.

[0034] After the vehicle completes the map update for the corresponding area in step 5, the version number needs to be updated to the latest version.

[0035] Figure 5 The technical process of updating map data while vehicles are in motion was demonstrated. This update targets dynamic data while vehicles are in motion and emphasizes the principle of "location plus attributes".

[0036] Step 1 acquires the vehicle's real-time location and the current road conditions, generating rectangular areas centered on the vehicle with a radius of 50m and 500m. The 50m area is easily accessible to onboard sensors and cameras, and is also the area of ​​greatest interest to the vehicle during driving, requiring the acquisition of the most dynamic information. This dynamic information includes information on surrounding pedestrians, traffic lights, and the status of surrounding vehicles. The 500m area represents information at a meso-scale for the vehicle, and dynamic information acquisition relies on cloud transmission.

[0037] In step 2, the preliminary generation of the vehicle's surrounding situation refers to the initial results after the vehicle-side processing of sensor and camera data. The dynamic information in step 1 corresponds to the 50m area, which is the information before and after the current road or road intersection. Subsequently, in step 6, it will be merged and deduplicated with the 50m area data transmitted from the cloud to obtain complete real-time road information and vehicle dynamic information within 50m.

[0038] In step 3, vehicle status refers to vehicle type, speed, and body coefficient, while user data refers to passenger and driver preferences, such as preferences for speed and steering. Based on these requirements, a personalized request list is determined.

[0039] In step 5, dynamic data is strongly correlated with roads. The cloud uses the current road and the 50m and 500m outer rectangular query area uploaded in step 4 to query the roads and real-time information (traffic lights, real-time congestion information) and vehicle dynamic information on the roads. Then, the queried data is filtered and screened according to the request content list, and reorganized according to the data format. In step 6, it is fused with the vehicle-side perception data.

[0040] Figure 6 This is a diagram illustrating map data updates during vehicle movement. It shows how a vehicle locates its current road while driving and requests dynamic data updates from the cloud based on its real-time location and vehicle status information. The cloud then transmits the data to the vehicle based on the requested list.

[0041] The implementation of the various embodiments of the present invention is based on programmed processing by a device with processor functionality. Therefore, in practical engineering, the technical solutions and functions of the various embodiments of the present invention can be encapsulated into various modules. Based on this reality, and building upon the above embodiments, the embodiments of the present invention provide a vehicle-side map update device based on location and attributes, which is used to execute the vehicle-side map update method based on location and attributes in the above method embodiments. See also... Figure 2 The device includes: a first main module for determining whether the vehicle is stationary or in motion; a second main module for updating the vehicle-side map if the vehicle is stationary; and a third main module for updating the vehicle-side map if the vehicle is in motion.

[0042] The vehicle-side map update device based on location and attributes provided in this embodiment of the invention adopts... Figure 2Several modules within the system provide personalized map update rules for autonomous vehicles based on their driving preferences and regional characteristics. This effectively addresses the insufficient storage and computing power of autonomous vehicles, reduces the time and storage costs associated with indiscriminate updates by autonomous vehicles, meets the needs of autonomous map updates driven by vehicle requirements, and achieves intelligent map updates.

[0043] It should be noted that the apparatus in the device embodiments provided by the present invention can be used not only to implement the methods in the above method embodiments, but also to implement the methods in other method embodiments provided by the present invention. The difference lies only in the setting of corresponding functional modules. Its principle is basically the same as that of the above device embodiments provided by the present invention. As long as those skilled in the art, based on the above device embodiments and referring to the specific technical solutions in other method embodiments, obtain corresponding technical means and technical solutions composed of these technical means by combining technical features, and improve the apparatus in the above device embodiments while ensuring the practicality of the technical solutions, they can obtain corresponding device-type embodiments for implementing the methods in other method-type embodiments. For example:

[0044] Based on the above-described device embodiments, as an optional embodiment, the vehicle-side map update device based on location and attributes provided in this embodiment of the invention further includes: a first submodule, used to implement the vehicle-side map update for stationary vehicles if the vehicle is stationary, including: Step 1.1: Obtaining the vehicle's current location, active area, and current driving task, and calculating the circumscribed rectangle based on the active area and driving trajectory; Step 1.2: Calculating the map segment block number of the area based on the coordinates of the circumscribed rectangle; Step 1.3: The vehicle requests the cloud to update the static data of the relevant block map, and uploads the block number and the vehicle-side map version number; Step 1.4: After receiving the request, the cloud determines whether the corresponding block map has content updates; Step 1.5: The vehicle receives the data and completes the vehicle-side map update based on the returned content.

[0045] Based on the above device embodiments, as an optional embodiment, the vehicle-side map update device based on location and attributes provided in this embodiment of the invention further includes: a second submodule, used to determine whether the corresponding block map has content updates after the cloud receives the request, including: if there are content updates, the vehicle-side transmits relevant data; if there are no content updates, relevant parameters are returned.

[0046] Based on the above-described device embodiments, as an optional embodiment, the vehicle-side map update device based on location and attributes provided in this embodiment of the invention further includes: a third submodule, used to implement the vehicle-side map update for vehicles in a driving state if the vehicle is in motion, including: Step 2.1: Obtain the real-time location of the vehicle, generate a rectangle centered on the vehicle based on the real-time location of the vehicle, and obtain the boundary coordinates of the rectangle; Step 2.2: Extract semantic content from the vehicle sensor and camera data obtained in Step 2.1, and initially generate the vehicle's surrounding situation; Step 2.3: Generate a request content list based on attributes based on the obtained vehicle status and user data; Step 2.4: Upload the results calculated in Steps 2.1 and 2.3 to the cloud, and request dynamic information in the relevant area; Step 2.5: The cloud receives the request, and performs dynamic data organization and transmission based on the area range and the request content list uploaded by the vehicle; Step 2.6: The vehicle receives the data transmitted from the cloud, and merges and deduplicates the cloud data and the vehicle-side perception data; Step 2.7: Complete the fusion update of the vehicle-side dynamic data to facilitate subsequent planning.

[0047] Based on the above device embodiments, as an optional embodiment, the vehicle-side map update device based on location and attributes provided in this embodiment of the invention further includes: a fourth sub-module, used to implement the generation of a rectangle centered on the vehicle based on the real-time location of the vehicle, including: generating a rectangle centered on the vehicle with side lengths of 50 meters and 500 meters respectively.

[0048] The method in this embodiment of the invention is implemented using an electronic device; therefore, it is necessary to introduce the relevant electronic device. For this purpose, this embodiment of the invention provides an electronic device, such as... Figure 3 As shown, the electronic device includes at least one processor, a communications interface, at least one memory, and a communications bus, wherein the at least one processor, the communications interface, and the at least one memory communicate with each other via the communications bus. The at least one processor can invoke logical instructions stored in the at least one memory to execute all or part of the steps of the methods provided in the foregoing method embodiments.

[0049] Furthermore, when the logical instructions in at least one of the aforementioned memories can be implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various method embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0050] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0051] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0052] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. Based on this understanding, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, or sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0053] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle-side map update method based on location and attributes, characterized in that, include: Determine whether the vehicle is stationary or in motion; If the vehicle is stationary, update the vehicle-side map for the stationary vehicle. If the vehicle is in motion, the vehicle-side map will be updated, including: Step 2.1: Obtain the real-time location of the vehicle, generate a rectangle centered on the vehicle based on the real-time location, and obtain the coordinates of the rectangle's boundaries; Step 2.2: Extract semantic content from the vehicle sensor and camera data obtained in Step 2.1 to initially generate the vehicle's surrounding situation; Step 2.3: Generate an attribute-based request content list based on the acquired vehicle status and user data; Step 2.4: Upload the results calculated in Steps 2.1 and 2.3 to the cloud and request dynamic information for the relevant area; Step 2.5: The cloud receives the request and dynamically organizes and transmits the data based on the regional scope and the list of request content uploaded by the vehicle. Step 2.6: The vehicle receives data transmitted from the cloud and merges and deduplicates the cloud data and the vehicle-side perception data; Step 2.7: Complete the fusion and update of vehicle-side dynamic data to facilitate subsequent planning.

2. The vehicle-side map update method based on location and attributes according to claim 1, characterized in that, If the vehicle is stationary, the vehicle-side map is updated, including: Step 1.1: Obtain the vehicle's current location, active area, and current driving task, and calculate the circumscribed rectangle based on the active area and driving trajectory; Step 1.2: Calculate the map segment block number of the area based on the coordinates of the circumscribed rectangle; Step 1.3: The vehicle requests the cloud to update the static data of the relevant block map, and uploads the block number and the vehicle-side map version number; Step 1.4: After receiving the request, the cloud determines whether the corresponding block map has been updated; Step 1.5: The vehicle receives the data and completes the vehicle-side map update based on the returned content.

3. The vehicle-side map update method based on location and attributes according to claim 2, characterized in that, After receiving the request, the cloud determines whether there are any updates to the corresponding block map, including: if there are updates, the vehicle transmits relevant data; if there are no updates, relevant parameters are returned.

4. The vehicle-side map update method based on location and attributes according to claim 1, characterized in that, The step of generating a rectangle centered on the vehicle based on its real-time location includes: generating a rectangle centered on the vehicle with side lengths of 50 meters and 500 meters respectively.

5. A vehicle-side map update device based on location and attributes, characterized in that, include: The first main module is used to determine whether the vehicle is stationary or in motion. The second main module is used to update the vehicle-side map for stationary vehicles. The third main module is used to update the vehicle-side map for vehicles that are in motion, including: Step 2.1: Obtain the real-time location of the vehicle, generate a rectangle centered on the vehicle based on the real-time location, and obtain the coordinates of the rectangle's boundaries; Step 2.2: Extract semantic content from the vehicle sensor and camera data obtained in Step 2.1 to initially generate the vehicle's surrounding situation; Step 2.3: Generate an attribute-based request content list based on the acquired vehicle status and user data; Step 2.4: Upload the results calculated in Steps 2.1 and 2.3 to the cloud and request dynamic information for the relevant area; Step 2.5: The cloud receives the request and dynamically organizes and transmits the data based on the regional scope and the list of request content uploaded by the vehicle. Step 2.6: The vehicle receives data transmitted from the cloud and merges and deduplicates the cloud data and the vehicle-side perception data; Step 2.7: Complete the fusion and update of vehicle-side dynamic data to facilitate subsequent planning.

6. An electronic device, characterized in that, include: At least one processor, at least one memory, and a communication interface; wherein, The processor, memory, and communication interface communicate with each other; The memory stores program instructions that can be executed by the processor, which invokes the program instructions to perform the method described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer instructions that cause the computer to perform the method described in any one of claims 1 to 4.

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