Automatic cruise mapping information publishing method, receiving and processing method, device and vehicle

Abstract

The present application provides a method for publishing automatic cruise mapping information, a receiving and processing method, a device and a vehicle. The method for publishing automatic cruise mapping information is applied to road-side equipment, including: obtaining automatic cruise mapping information of at least one vehicle, storing the automatic cruise mapping information; sending the stored automatic cruise mapping information to vehicles in the road section. The method for receiving and processing automatic cruise mapping information is applied to vehicle-side equipment, including: receiving at least one automatic cruise mapping information sent by the road-side equipment; performing path verification on each automatic cruise mapping information; when it is determined that the automatic cruise mapping information passes the path verification, controlling the vehicle to pass through the road section according to the automatic cruise mapping information. The method for publishing automatic cruise mapping information, the receiving and processing method, the device and the vehicle provided in the present application are simple and convenient, can improve the resource utilization rate of automatic cruise mapping information, realize the specialization of resources, save mapping storage space, and have a wider range of application scenarios.

Description

Technical Field

[0001] The present application relates to the field of cruise driving technology, and in particular to an automatic cruise mapping information publishing method, receiving and processing method, device and vehicle. Background Art

[0002] With the development of the vehicle industry, vehicles are increasingly involved in our daily life and work. Faced with various scenarios and needs, vehicle intelligent services are an increasingly important vehicle demand. Among them, the end-to-end cruise driving function is an intelligent function service to serve users.

[0003] End-to-end cruise driving functions can help users automatically cruise along memorized routes. Before using this function, users need to use the mapping function to learn and build a route map of the cruise path in advance, that is, automatic cruise mapping information. After mapping, users do not need to perform vehicle control and other operations when using the automatic cruise control function, and can rely on automatic cruise mapping information to automatically control the vehicle. However, currently, in vehicles equipped with end-to-end cruise driving functions, each user needs to learn and build a map on their own. The mapping process is time-consuming and laborious, and the automatic cruise mapping information obtained can only be used by themselves, which causes a waste of resources. Therefore, how to improve the resource utilization of automatic cruise mapping information is an urgent problem to be solved. Summary of the invention

[0004] In view of this, the purpose of the present application is to propose an automatic cruise mapping information publishing method, receiving and processing method, device and vehicle to solve the technical problem of low resource utilization of automatic cruise mapping information.

[0005] In a first aspect of the present application, a method for publishing automatic cruise mapping information is provided, which is applied to a road-side device. The method comprises: obtaining automatic cruise mapping information of at least one vehicle and storing the automatic cruise mapping information; and sending the stored automatic cruise mapping information to vehicles within a road section where the road-side device is located.

[0006] Furthermore, the storing of the automatic cruise mapping information includes: filtering the automatic cruise mapping information according to a starting lane position, an exit direction, and a driving distance in the automatic cruise mapping information.

[0007] Furthermore, the automatic cruise mapping information is screened according to the starting lane position, exit direction and driving distance in the automatic cruise mapping information, and the automatic cruise mapping information is stored, including: extracting the starting lane position of the vehicle entering the road section, the exit direction of leaving the road section and the driving distance through the road section in the automatic cruise mapping information; when there is no stored automatic cruise mapping information with the same starting lane position and exit direction in the road end device, the automatic cruise mapping information is stored; when there is stored automatic cruise mapping information with the same starting lane position and exit direction in the road end device, the driving distance is compared with the driving distance in the stored automatic cruise mapping information, and when the driving distance is shorter, the automatic cruise mapping information is stored, and the stored automatic cruise mapping information is deleted.

[0008] In a second aspect of the present application, a method for receiving and processing automatic cruise mapping information is provided, which is applied to a vehicle-side device. The method includes: receiving at least one automatic cruise mapping information sent by a road-side device; performing a path check on each of the automatic cruise mapping information; when it is determined that the automatic cruise mapping information passes the path check, controlling the vehicle to pass through the road section where the vehicle-side device is located according to the automatic cruise mapping information.

[0009] Further, the performing path verification on each of the automatic cruise mapping information includes: performing a position verification on the starting lane position in each of the automatic cruise mapping information, and performing a direction verification on the exit direction in each of the automatic cruise mapping information; the determining that the automatic cruise mapping information passes the path verification includes: when it is determined that the starting lane position passes the position verification, and when it is determined that the exit direction passes the direction verification, then determining that the automatic cruise mapping information passes the path verification.

[0010] Further, the determining that the automatic cruise mapping information passes the path verification also includes: when there are multiple pieces of the automatic cruise mapping information that pass the position verification and the direction verification, all the driving distances in the multiple pieces of the automatic cruise mapping information are compared, and it is determined that the automatic cruise mapping information corresponding to the shortest driving distance passes the path verification.

[0011] Further, the determining that the starting lane position passes the position verification includes: obtaining the current lane position of the vehicle entering the road section; when the current lane position is the same as the starting lane position, determining that the starting lane position passes the position verification; the determining that the exit direction passes the direction verification includes: obtaining the target driving direction of the vehicle to leave the road section; when the target driving direction is the same as the exit direction, determining that the exit direction passes the direction verification.

[0012] In a third aspect of the present application, an automatic cruise mapping information publishing device is provided, comprising: a storage module, configured to obtain automatic cruise mapping information of at least one vehicle and store the automatic cruise mapping information; a sending module, configured to send the stored automatic cruise mapping information to vehicles within the road section where the road end device is located.

[0013] In a fourth aspect of the present application, an automatic cruise mapping information receiving and processing device is provided, comprising: a receiving module, configured to receive at least one automatic cruise mapping information sent by a road-side device; a verification module, configured to perform path verification on each of the automatic cruise mapping information; and a control module, configured to control a vehicle to pass through the road section where the vehicle-side device is located according to the automatic cruise mapping information when it is determined that the automatic cruise mapping information passes the path verification.

[0014] In a fifth aspect of the present application, a vehicle is provided, comprising: a controller, wherein the controller is used to execute the automatic cruise mapping information receiving and processing method as described in the second aspect above.

[0015] In a sixth aspect of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the automatic cruise mapping information publishing method as described in the first aspect above or the automatic cruise mapping information receiving and processing method as described in the second aspect above is implemented.

[0016] In a seventh aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the automatic cruise mapping information publishing method as described in the first aspect above or the automatic cruise mapping information receiving and processing method as described in the second aspect above.

[0017] From the above, it can be seen that the present application provides a method for publishing automatic cruise mapping information, a method for receiving and processing, a device and a vehicle. The road-side device receives and stores the automatic cruise mapping information of at least one vehicle, providing a basis for sending the automatic cruise mapping information to other vehicles; the road-side device sends the stored automatic cruise mapping information to the vehicles in the road section where it is located, and when other vehicles enter the road section, the automatic cruise mapping information can be obtained in time for processing and utilization, so that different users can share the automatic cruise mapping information of one user, thereby improving resource utilization; the vehicle-side device receives the automatic cruise mapping information sent by the road-side device, and can process and utilize the automatic cruise mapping information without the need to learn and build maps by itself, and does not require additional sensor data collection work. The invention saves time and effort, improves the utilization rate of the existing automatic cruise mapping information, and saves the storage space of self-learning mapping at the same time; the vehicle-side device performs path verification on each automatic cruise mapping information, and when the automatic cruise mapping information passes the path verification, the vehicle is controlled to pass through the road section according to the automatic cruise mapping information, and the vehicle-side device receives multiple automatic cruise mapping information, retains the automatic cruise mapping information required by the user through the path verification, and can control the vehicle to pass through the road section according to the automatic cruise mapping information, so as to realize automatic control and improve the safety factor and user experience; the automatic cruise mapping information publishing method, receiving and processing method, device and vehicle are simple and convenient, can improve the resource utilization rate of the automatic cruise mapping information, realize the specialization of resources, save the mapping storage space, and have a wider range of application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a flow chart of a method for publishing automatic cruise mapping information in an embodiment of the present application;

[0020] Figure 2 It is a flowchart of a method for receiving and processing automatic cruise mapping information in an embodiment of the present application;

[0021] Figure 3 This is a schematic diagram of the principle of vehicle automatic cruise mapping in an embodiment of the present application;

[0022] Figure 4 This is a schematic diagram of the principle of automatic vehicle control in the embodiment of the present application;

[0023] Figure 5This is a structural schematic diagram of an automatic cruise mapping information publishing device in an embodiment of the present application;

[0024] Figure 6 This is a structural schematic diagram of an automatic cruise mapping information receiving and processing device in an embodiment of the present application;

[0025] Figure 7 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application.

[0026] Figure numerals: 1. Sensor module; 2. IMU system; 3. Cruise mapping module; 4. T-BOX; 5. Road-side equipment; 6. Intelligent driving perception system; 7. Vehicle high-precision positioning module; 8. Vehicle navigation system; 9. Intelligent driving regulation and control system; 10. Vehicle steering system; 11. Vehicle braking system; 12. Vehicle power system. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0028] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be understood by people with ordinary skills in the field to which the present application belongs. "Include" or "comprising" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0029] With the development of the vehicle industry, vehicles are increasingly involved in our daily life and work. Faced with various scenarios and needs, vehicle intelligent services are an increasingly important vehicle demand. Among them, the end-to-end cruise driving function is an intelligent function service to serve users.

[0030] An intelligent driving system refers to a vehicle that assists the driver in operating the vehicle by installing advanced sensors, controllers, actuators, communication modules and other equipment. Currently, more and more vehicles equipped with intelligent driving systems are entering the consumer market, and the number of models equipped with intelligent driving systems is also increasing. At the same time, in the face of more and more driving scenarios and the improvement of their own sensor capabilities, cruise-type end-to-end driving functions are also beginning to be available to end customers.

[0031] The end-to-end cruise driving function can help users automatically cruise along the memorized route. Before using this function, users need to use the map building function to learn and build a route map of the cruise path in advance, that is, the automatic cruise map building information. After the map is built, users do not need to perform vehicle control operations when using the automatic cruise control function, but for safety reasons, users are required to monitor the operating status of the system and brake the vehicle to take over the vehicle when necessary.

[0032] The mapping function is to memorize the driving trajectory, which requires path learning first. Through specific operations, the system enters the driving route learning mode. When mapping the path, the driver drives the vehicle from the starting point to the destination. The system will collect visual data to build a regional map and complete the corresponding route operation storage to complete the mapping. The automatic cruise control function is that the driver drives the vehicle to the vicinity of the starting point, turns on the cruise-type end-to-end driving function, and after matching the path, helps the user to automatically cruise and control the vehicle according to the memorized route.

[0033] The end-to-end driving function of cruise control is different from the vehicle control function based on high-precision maps. This function requires users to learn the path of their own vehicle for the driving route, avoiding the defects of low coverage and limited locations of high-precision maps. However, at present, in vehicles equipped with end-to-end driving functions of cruise control, each user needs to learn and build maps by himself. The mapping process is time-consuming and labor-intensive, and the automatic cruise mapping information obtained can only be used by oneself, which causes a waste of resources. Therefore, how to improve the resource utilization of automatic cruise mapping information is an urgent problem to be solved.

[0034] Below, through specific embodiments and combined Figures 1 to 7 To describe the technical solution of this application in detail.

[0035] Some embodiments of the present application provide an automatic cruise mapping information publishing method, which is applied to a roadside device 5, such as Figure 1 As shown, the method comprises the following steps:

[0036] S11. Obtain automatic cruise mapping information of at least one vehicle, and store the automatic cruise mapping information.

[0037] The road-side device 5 is, for example, a V2X (vehicle to everything, vehicle-to-vehicle wireless communication technology) vehicle-road cooperative road-side device, which is not specifically limited; the automatic cruise mapping information includes the vehicle's own driving information and the vehicle's surrounding environment information, the vehicle's own driving information includes, for example, the vehicle's driving position, driving distance and driving trajectory, etc. The vehicle's driving position includes, for example, the starting point and the end point, etc., and the driving trajectory includes, for example, the driving direction and slope, etc.; the vehicle's surrounding environment information includes, for example, surrounding lane information and obstacle information, etc., and the obstacle information includes, for example, obstacle type, relative distance and obstacle size, etc.

[0038] The principle of vehicle automatic cruise mapping is as follows Figure 3 As shown, the vehicle surrounding environment information is obtained in real time through the sensor module 1, the vehicle's own driving information is obtained in real time through the IMU (inertial motion unit) system 2, and the complete automatic cruise mapping information is obtained through the cruise mapping module 3. It is sent out through the vehicle's T-BOX4 (Telematics BOX, vehicle network communication terminal) relying on V2X technology. When the vehicle passes through the road section where the road-side device 5 is located, the road-side device 5 can receive the automatic cruise mapping information.

[0039] In addition, the automatic cruise mapping information is complete information from the vehicle learning start point to the vehicle learning end point, that is, the automatic cruise mapping information that the road-side device 5 can receive is only the automatic cruise mapping information where the vehicle learning end point is located near the road section.

[0040] The road-side device 5 receives and stores the automatic cruise mapping information of at least one vehicle, thereby providing a basis for sending the automatic cruise mapping information to other vehicles.

[0041] S12: Sending the stored automatic cruise mapping information to vehicles within the road section where the road end device is located.

[0042] The road-end device 5 sends the stored automatic cruise mapping information to the vehicles in the road section where it is located. For example, the automatic cruise mapping information is broadcast to a circular range with the center of the road section as the origin and a radius of 50m. There is no specific limitation. When a vehicle enters the road section, the automatic cruise mapping information can be obtained in time for processing and utilization. In this way, different users can share the automatic cruise mapping information of one user, and vehicles that have not built a map can use the completed automatic cruise mapping information for utilization, thereby improving resource utilization.

[0043] The method for publishing automatic cruise mapping information is simple and convenient, can improve the resource utilization rate of automatic cruise mapping information, realize resource specialization, save mapping storage space, and has a wider range of application scenarios.

[0044] In some embodiments, the storing of the automatic cruise mapping information includes: filtering the automatic cruise mapping information according to the starting lane position, exit direction and driving distance in the automatic cruise mapping information.

[0045] By filtering the received automatic cruise mapping information and storing the filtered automatic cruise mapping information, it is possible to avoid storing a large amount of information in the road-side device 5, saving storage space. At the same time, the filtered automatic cruise mapping information is small in size, which can increase the information transmission rate when sending it to other vehicles, so that other vehicles can process the information in a timely manner.

[0046] By filtering according to the starting lane position, exit direction and driving distance in the automatic cruise mapping information, typical automatic cruise mapping information can be retained and prepared for sending and use.

[0047] In some embodiments, the filtering of the automatic cruise mapping information according to the starting lane position, the exit direction and the driving distance in the automatic cruise mapping information and storing the automatic cruise mapping information includes:

[0048] S111, extracting the starting lane position of the vehicle entering the road section, the exit direction of the vehicle leaving the road section, and the driving distance through the road section from the automatic cruise mapping information.

[0049] The starting lane position of the vehicle entering the road section, the exit direction of the vehicle leaving the road section, and the driving distance through the road section are extracted from the automatic cruise mapping information to provide a basis for screening.

[0050] S112: When there is no stored automatic cruise mapping information having the same starting lane position and exit direction as the starting lane position and exit direction in the road end device 5, the automatic cruise mapping information is stored.

[0051] If the road-side device 5 stores automatic cruise mapping information for all vehicles entering the road section, the information will be massive. In order to reasonably use the storage space, the road-side device 5 can only retain typical automatic cruise mapping information, which is also convenient for the vehicle-side device to quickly receive and process it.

[0052] A road section usually contains multiple lanes, such as a straight lane, a left-turn lane, and a right-turn lane. A vehicle may initially enter the road section from the left-turn lane, and finally turn right to leave the road section after changing lanes, that is, the exit direction is a right-turn direction. Therefore, by determining a set of starting lane positions and exit directions, a typical vehicle driving path can be determined.

[0053] When there is no stored automatic cruise mapping information with the same starting lane position and exit direction in the road end device 5, the automatic cruise mapping information is stored and is ready to be sent for use.

[0054] S113. When there is stored automatic cruise mapping information with the same starting lane position and exit direction in the road end device 5, the driving distance is compared with the driving distance in the stored automatic cruise mapping information. When the driving distance is shorter, the automatic cruise mapping information is stored and the stored automatic cruise mapping information is deleted.

[0055] When there is stored automatic cruise mapping information with the same starting lane position and exit direction in the road-side device 5, in order to avoid excessive storage, some automatic cruise mapping information needs to be discarded.

[0056] The driving distance of the unstored automatic cruise mapping information and the driving distance in the stored automatic cruise mapping information can be compared, because some users may change lanes multiple times even if they start from the same starting lane position and drive out in the same direction, resulting in a long driving distance, which is not the best driving route. The road-side device 5 can retain the automatic cruise mapping information with a shorter driving distance for transmission and use.

[0057] When the driving distance of the unstored automatic cruise mapping information is short, the automatic cruise mapping information is retained and the stored automatic cruise mapping information is deleted to reduce the occupied space.

[0058] When the driving distance of the stored automatic cruise mapping information is short, the unstored automatic cruise mapping information is discarded.

[0059] When the two driving distances are the same, only the auto-cruise mapping information received later is retained, that is, the newly received auto-cruise mapping information, and the auto-cruise mapping information received earlier is deleted. This is because the auto-cruise mapping information with the latest reception time has higher information value, and the vehicle surrounding information it contains is closer to the current actual environment, and has a better guiding effect on the vehicle.

[0060] Some embodiments of the present application provide a method for receiving and processing automatic cruise mapping information, which is applied to a vehicle-side device, such as Figure 2 As shown, the method comprises the following steps:

[0061] S21, receiving at least one piece of automatic cruise mapping information sent by the road end device 5.

[0062] The vehicle-side equipment includes, for example, T-BOX4, intelligent driving regulation and control system 9, etc., without specific limitation.

[0063] When the vehicle enters the road section where the road-side device 5 is located, the vehicle-side device receives the automatic cruise mapping information sent by the road-side device 5, and can process and utilize the automatic cruise mapping information without the need to learn and build maps by itself. No additional sensor data collection work is required, which saves time and effort, improves the utilization rate of the existing automatic cruise mapping information, and saves storage space for the vehicle's self-learning and mapping.

[0064] S22: Perform path verification on each of the automatic cruise mapping information.

[0065] S23: When it is determined that the automatic cruise mapping information passes the path verification, the vehicle is controlled to pass through the road section where the vehicle-side device is located according to the automatic cruise mapping information.

[0066] The road section where the vehicle-side device is located is the road section where the aforementioned road-side device 5 is located. The vehicle-side device performs path verification on each automatic cruise mapping information. When the automatic cruise mapping information passes the path verification, the vehicle is controlled to pass through the road section according to the automatic cruise mapping information. The vehicle-side device will receive multiple automatic cruise mapping information, retain the automatic cruise mapping information required by the user through path verification, and control the vehicle to pass through the road section according to the automatic cruise mapping information, thereby realizing automatic control and improving the safety factor and user experience.

[0067] The principle of automatic vehicle control Figure 4 As shown, T-BOX4 receives the automatic cruise mapping information sent by the road-side equipment 5, the intelligent driving perception system 6 and the vehicle high-precision positioning module 7 can obtain information such as the current position of the vehicle, assist in screening or assist in controlling the vehicle, and the vehicle navigation system 8 can obtain the navigation path selected by the user, assist in screening the automatic cruise mapping information and transmit it to the intelligent driving regulation and control system 9. The intelligent driving regulation and control system 9 controls the vehicle steering through the vehicle steering system 10 according to the automatic cruise mapping information, controls the vehicle start and stop through the vehicle braking system 11, and controls the vehicle speed through the vehicle power system 12.

[0068] Because the automatic cruise mapping information received by the road-end device 5 is only the automatic cruise mapping information of the vehicle learning end point located near the road section, the automatic cruise mapping information can only assist vehicles entering the road section to pass through the road section. After passing the road section, the vehicle will enter the next road section and then obtain the automatic cruise mapping information of the road-end device 5 of the next road section to control the vehicle.

[0069] After the user sets the navigation path, the navigation path includes multiple continuous road sections. The initial lane position and exit direction of each road section are determined. When the vehicle travels through the corresponding road sections in sequence, the corresponding automatic cruise mapping information can be obtained to control the vehicle to pass through the corresponding road section, thereby realizing the vehicle automatic cruise control of the overall navigation path.

[0070] The automatic cruise mapping information receiving and processing method is simple and convenient, can improve the resource utilization rate of automatic cruise mapping information, realize resource specialization, save mapping storage space, have a wider range of application scenarios, realize the upgrade of vehicle intelligent driving functions, improve the resource utilization rate of vehicle sensors, and improve the hardware configuration utilization rate of intelligent driving.

[0071] In some embodiments, the performing path verification on each of the automatic cruise mapping information includes:

[0072] S221: Perform position verification on the starting lane position in each of the automatic cruise mapping information, and perform direction verification on the exit direction in each of the automatic cruise mapping information.

[0073] The determining that the automatic cruise mapping information passes the path verification includes:

[0074] S231: When it is determined that the starting lane position passes the position verification, and when it is determined that the exit direction passes the direction verification, it is determined that the automatic cruise mapping information passes the path verification.

[0075] The vehicle-side device receives multiple pieces of automatic cruise mapping information, and path verification is required to determine the automatic cruise mapping information that meets the user's needs. For example, a road section usually includes multiple lanes, and position verification is required to retain the automatic cruise mapping information with the same starting lane position as the user's required. After the user sets the navigation path, the exit direction of the corresponding road section is fixed, and the automatic cruise mapping information with the same exit direction as the user's required exit direction needs to be retained and verified, and the information that fails the path verification will be discarded.

[0076] In some embodiments, the determining that the automatic cruise mapping information passes the path verification further includes:

[0077] S232: When there are multiple pieces of the automatic cruise mapping information that pass the position check and the direction check, compare all the driving distances in the multiple pieces of the automatic cruise mapping information, and determine that the automatic cruise mapping information corresponding to the shortest driving distance passes the path check.

[0078] During the path verification process, there may be multiple automatic cruise mapping information with the same starting lane position and exit direction as the user's required. The user can manually select an automatic cruise mapping information for vehicle control, or compare all the driving distances of the automatic cruise mapping information and retain the automatic cruise mapping information with the shortest driving distance to pass the path verification, so as to improve the user experience.

[0079] In some embodiments, the determining that the starting lane position passes position verification includes:

[0080] S2211. Obtain the current lane position of the vehicle entering the road section.

[0081] The current lane position of the vehicle entering the road section can be obtained through the intelligent driving perception system 6 and / or the vehicle high-precision positioning module 7, providing a basis for position verification.

[0082] S2212: When the current lane position is the same as the starting lane position, it is determined that the starting lane position passes the position verification.

[0083] When the current lane position is the same as the starting lane position of the automatic cruise mapping information, the automatic cruise mapping information is the automatic cruise mapping information required by the user.

[0084] In some embodiments, the determining that the exit direction passes the direction verification includes:

[0085] S2223. Obtain the target driving direction in which the vehicle is about to leave the road section.

[0086] After the user sets the navigation route, the vehicle-side device can obtain the target driving direction of the road section that the vehicle is about to leave through the vehicle navigation system 8, providing a basis for direction verification.

[0087] S2224: When the target driving direction is the same as the exiting direction, it is determined that the exiting direction passes the direction verification.

[0088] When the target driving direction is the same as the exit direction of the automatic cruise mapping information, the automatic cruise mapping information is the automatic cruise mapping information required by the user.

[0089] In some embodiments, if the user has not set a navigation route, when the vehicle enters a road section and the vehicle-side device receives automatic cruise mapping information, the user can manually select the automatic cruise mapping information that meets the requirements to control the vehicle, without specific limitation.

[0090] In some embodiments of the present application, an automatic cruise mapping information publishing device is provided, referring to Figure 5 , including: a storage module 51, configured to obtain automatic cruise mapping information of at least one vehicle and store the automatic cruise mapping information; a sending module 52, configured to send the stored automatic cruise mapping information to the vehicles in the road section where the road end device is located.

[0091] In some embodiments, the storage module 51 is further configured to filter the automatic cruise mapping information according to the starting lane position, exit direction and driving distance in the automatic cruise mapping information.

[0092] In some embodiments, the storage module 51 is also configured to extract the starting lane position of the vehicle entering the road section, the exit direction of leaving the road section and the driving distance through the road section in the automatic cruise mapping information; when there is no stored automatic cruise mapping information with the same starting lane position and exit direction in the road terminal device 5, the automatic cruise mapping information is stored; when there is stored automatic cruise mapping information with the same starting lane position and exit direction in the road terminal device 5, the driving distance is compared with the driving distance in the stored automatic cruise mapping information, and when the driving distance is shorter, the automatic cruise mapping information is stored and the stored automatic cruise mapping information is deleted.

[0093] The device of the above embodiment is used to implement the corresponding automatic cruise mapping information publishing method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0094] In some embodiments of the present application, a device for receiving and processing automatic cruise mapping information is provided, referring to Figure 6 , including: a receiving module 61, configured to receive at least one automatic cruise mapping information sent by a road-side device 5; a verification module 62, configured to perform path verification on each of the automatic cruise mapping information; and a control module 63, configured to control the vehicle to pass through the road section where the vehicle-side device is located according to the automatic cruise mapping information when it is determined that the automatic cruise mapping information passes the path verification.

[0095] In some embodiments, the verification module 62 is further configured to perform a position verification on the starting lane position in each of the automatic cruise mapping information, and to perform a direction verification on the exit direction in each of the automatic cruise mapping information; when it is determined that the starting lane position passes the position verification, and it is determined that the exit direction passes the direction verification, it is determined that the automatic cruise mapping information passes the path verification.

[0096] In some embodiments, the verification module 62 is further configured to compare all driving distances in the multiple automatic cruise mapping information when there are multiple automatic cruise mapping information that pass the position verification and the direction verification, and then determine that the automatic cruise mapping information corresponding to the shortest driving distance passes the path verification.

[0097] In some embodiments, the verification module 62 includes a position verification unit and a direction verification unit. The position verification unit is configured to obtain the current lane position of the vehicle entering the road section. When the current lane position is the same as the starting lane position, it is determined that the starting lane position has passed the position verification; the direction verification unit is configured to obtain the target driving direction of the vehicle about to leave the road section. When the target driving direction is the same as the exit direction, it is determined that the exit direction has passed the direction verification.

[0098] The device of the above embodiment is used to implement the corresponding automatic cruise mapping information receiving and processing method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0099] In some embodiments of the present application, a vehicle is provided, including: a controller, wherein the controller is used to execute the automatic cruise mapping information receiving and processing method as described in any of the above embodiments.

[0100] The vehicle can improve the resource utilization of automatic cruise mapping information, realize resource specialization, save mapping storage space, and have a wider range of application scenarios.

[0101] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the automatic cruise mapping information publishing method or the automatic cruise mapping information receiving and processing method described in any of the above embodiments is implemented.

[0102] Figure 7 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040 and a bus 1050. It is characterized in that the processor 1010, the memory 1020, the input / output interface 1030 and the communication interface 1040 realize communication connection with each other inside the device through the bus 1050.

[0103] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0104] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0105] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured as a component in the device (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. It is characterized in that the input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0106] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0107] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0108] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0109] The electronic device of the above embodiment is used to implement the corresponding automatic cruise mapping information publishing method or automatic cruise mapping information receiving and processing method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0110] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the automatic cruise mapping information publishing method or the automatic cruise mapping information receiving and processing method as described in any of the above embodiments.

[0111] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0112] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the automatic cruise mapping information publishing method or the automatic cruise mapping information receiving and processing method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0113] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0114] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the device can be shown in the form of a block diagram, so as to avoid making the embodiments of the present application difficult to understand, and this also takes into account the following fact, that is, the details of the implementation method of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details to describe the exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0115] Although the present application has been described in conjunction with specific embodiments thereof, many alternatives, modifications and variations of these embodiments will be apparent to those skilled in the art in light of the foregoing description.

[0116] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. A method for publishing automatic cruise mapping information, characterized in that: Applied to roadside equipment, the method comprises: Acquire automatic cruise mapping information of at least one vehicle; filter the automatic cruise mapping information according to the starting lane position, exit direction and driving distance in the automatic cruise mapping information, and store the automatic cruise mapping information, including: extracting the starting lane position of the vehicle entering the road section where the road terminal device is located, the exit direction of leaving the road section and the driving distance through the road section in the automatic cruise mapping information; when there is no stored automatic cruise mapping information with the same starting lane position and exit direction in the road terminal device, store the automatic cruise mapping information; when there is stored automatic cruise mapping information with the same starting lane position and exit direction in the road terminal device, compare the driving distance with the driving distance in the stored automatic cruise mapping information, and when the driving distance is shorter, store the automatic cruise mapping information and delete the stored automatic cruise mapping information; The stored automatic cruise mapping information is sent to vehicles within the road section where the road end device is located.

2. A method for receiving and processing automatic cruise mapping information, characterized in that: Applied to a vehicle-side device, the method comprises: Receiving at least one piece of automatic cruise mapping information sent by a roadside device; Performing a path check on each of the automatic cruise mapping information includes: performing a position check on the starting lane position in each of the automatic cruise mapping information, and performing a direction check on the exit direction in each of the automatic cruise mapping information; when it is determined that the starting lane position passes the position check, and when it is determined that the exit direction passes the direction check, then the automatic cruise mapping information is determined to have passed the path check; when there are multiple automatic cruise mapping information that pass the position check and the direction check, all the driving distances in the multiple automatic cruise mapping information are compared, and then it is determined that the automatic cruise mapping information corresponding to the shortest driving distance passes the path check; the determination that the starting lane position passes the position check includes: obtaining the current lane position of the vehicle entering the road section; when the current lane position is the same as the starting lane position, then it is determined that the starting lane position passes the position check; the determination that the exit direction passes the direction check includes: obtaining the target driving direction of the vehicle to leave the road section; when the target driving direction is the same as the exit direction, then it is determined that the exit direction passes the direction check; When it is determined that the automatic cruise mapping information passes the path verification, the vehicle is controlled to pass through the road section where the vehicle-side device is located according to the automatic cruise mapping information.

3. An automatic cruise mapping information publishing device, characterized in that: Applied to roadside equipment, including: A storage module is configured to obtain automatic cruise mapping information of at least one vehicle for the road-end device; filter the automatic cruise mapping information according to the starting lane position, exit direction and driving distance in the automatic cruise mapping information, and store the automatic cruise mapping information, including: extracting the starting lane position of the vehicle entering the road section where the road-end device is located, the exit direction of leaving the road section and the driving distance through the road section in the automatic cruise mapping information; when there is no stored automatic cruise mapping information with the same starting lane position and exit direction in the road-end device, the automatic cruise mapping information is stored; when there is stored automatic cruise mapping information with the same starting lane position and exit direction in the road-end device, the driving distance is compared with the driving distance in the stored automatic cruise mapping information, and when the driving distance is shorter, the automatic cruise mapping information is stored, and the stored automatic cruise mapping information is deleted; The sending module is configured to send the stored automatic cruise mapping information to the vehicles in the road section by the road end equipment.

4. An automatic cruise mapping information receiving and processing device, characterized in that: Applied to vehicle-side equipment, including: A receiving module, configured to receive, by the vehicle-side device, at least one piece of automatic cruise mapping information sent by the road-side device; The verification module is configured to perform path verification on each of the automatic cruise mapping information by the vehicle-side device, including: performing position verification on the starting lane position in each of the automatic cruise mapping information, and performing direction verification on the exit direction in each of the automatic cruise mapping information; when it is determined that the starting lane position passes the position verification, and it is determined that the exit direction passes the direction verification, then the automatic cruise mapping information is determined to pass the path verification; when there are multiple automatic cruise mapping information that pass the position verification and the direction verification, all the driving distances in the multiple automatic cruise mapping information are compared, and then it is determined that the automatic cruise mapping information corresponding to the shortest driving distance passes the path verification; the determination that the starting lane position passes the position verification includes: obtaining the current lane position of the vehicle entering the road section; when the current lane position is the same as the starting lane position, then it is determined that the starting lane position passes the position verification; the determination that the exit direction passes the direction verification includes: obtaining the target driving direction of the vehicle to leave the road section; when the target driving direction is the same as the exit direction, then it is determined that the exit direction passes the direction verification; The control module is configured to control the vehicle to pass through the road section where the vehicle-side device is located according to the automatic cruise mapping information when the vehicle-side device determines that the automatic cruise mapping information passes the path verification.

5. A vehicle, characterized in that: include: A controller, wherein the controller is used to execute the automatic cruise mapping information receiving and processing method as described in claim 2.

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