A map construction method and device, a vehicle, and a storage medium

Abstract

Embodiments of the present application provide a map construction method, device, vehicle and storage medium. The map construction method comprises: acquiring a map data packet sent by a roadside unit, the map data packet comprising node information of a current node and at least one adjacent node; determining a connection relationship between a road segment from the adjacent node to the current node and a road segment from the current node to the adjacent node according to attributes of the current node and the adjacent node in the map data packet; and constructing a map according to coordinates of the current node and the adjacent node, the road segment from the adjacent node to the current node, the road segment from the current node to the adjacent node and the connection relationship. In the map construction method of the present application, the connection relationship between road segments is determined according to attributes in node information of a current node and an adjacent node, so that a vehicle-mounted unit can efficiently and accurately construct a map.

Description

Technical Field

[0001] This application belongs to the field of vehicle networking technology and relates to a map building method, device, vehicle, and storage medium. Background Technology

[0002] With advancements in communication and artificial intelligence technologies, vehicle-to-everything (V2X) technologies are constantly evolving and increasingly being applied in areas such as assisted driving and autonomous driving. Vehicle-to-infrastructure (V2I) communication is a crucial component of V2X technology, referring to communication between the on-board unit (OBU) and roadside units (RSUs), including the RSU sending map data packets and other data information to the OBU. The OBU receives the map data packets from the RSU and uses them to construct a map. Currently, OBUs typically construct maps based on the received map data packets from the RSU according to the communication protocols and methods specified in the "Application Layer and Application Data Interaction Standard for Cooperative Intelligent Transportation Systems." However, because the completeness of the fields in the current map data interaction standard cannot meet the needs of the vehicle for constructing a global map, this method of map construction consumes a significant amount of the OBU's computing power, making it inefficient and prone to errors. Summary of the Invention

[0003] In view of this, this application provides a map building method, in which the vehicle-mounted unit can efficiently and accurately build a map using map data packets sent by the roadside unit.

[0004] To achieve the above objectives, this application adopts the following technical solution:

[0005] According to a first aspect of the embodiments of this application, a map construction method is provided, comprising: acquiring a map data packet sent by a roadside unit, the map data packet including node information of a current node and at least one neighboring node, the node information of the current node including the coordinates and attributes of the current node and at least one road segment from the neighboring node to the current node, the node information of the neighboring node including the coordinates and attributes of the neighboring node and the road segment from the current node to the neighboring node; determining the connection relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the attributes of the current node and the neighboring node in the map data packet; and constructing a map based on the coordinates of the current node and the neighboring node, the road segment from the neighboring node to the current node, the road segment from the current node to the neighboring node, and the connection relationship.

[0006] In one optional embodiment, the attribute of the current node is an inbound attribute, and the attribute of the neighboring node is a outbound attribute; determining the connection relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the attributes of the current node and the neighboring node in the map data packet includes: determining the upstream and downstream relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the inbound attribute of the current node and the outbound attribute of the neighboring node.

[0007] In one optional embodiment, the attributes of the current node are default information, and the attributes of the neighboring nodes are the location information of the neighboring nodes; determining the connection relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the attributes of the current node and the neighboring node in the map data packet includes: determining the upstream and downstream relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the default information of the current node and the location information of the neighboring node; and determining the directional relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the location information of the neighboring node.

[0008] In one optional embodiment, the azimuth information of the neighboring node is a heading angle of 0-240 degrees, wherein the heading angle of 0-240 degrees represents 0-360 degrees with a resolution of 1.5 degrees.

[0009] In one alternative embodiment, the orientation relationship includes one of the following: left turn, left turn, left front turn, straight ahead, right front turn, right turn, right turn, and U-turn.

[0010] According to a second aspect of the embodiments of this application, a map building apparatus is provided, comprising: a data acquisition module, configured to acquire a map data packet sent by a roadside unit, the map data packet including node information of a current node and at least one neighboring node, the node information of the current node including the coordinates and attributes of the current node and at least one road segment from the neighboring node to the current node, the node information of the neighboring node including the coordinates and attributes of the neighboring node and the road segment from the current node to the neighboring node; a relationship determination module, configured to determine the connection relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the attributes of the current node and the neighboring node in the map data packet; and a map building module, configured to build a map based on the coordinates of the current node and the neighboring node, the road segment from the neighboring node to the current node, the road segment from the current node to the neighboring node, and the connection relationship.

[0011] In one optional embodiment, the attribute of the current node is an inbound attribute, and the attribute of the neighboring node is a outbound attribute; the relationship determination module is further configured to determine the upstream and downstream relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the inbound attribute of the current node and the outbound attribute of the neighboring node.

[0012] In an optional embodiment, the attributes of the current node are default information, and the attributes of the neighboring nodes are the location information of the neighboring nodes; the relationship determination module is further configured to determine the upstream and downstream relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the default information of the current node and the location information of the neighboring node; and to determine the directional relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the location information of the neighboring node.

[0013] In one optional embodiment, the azimuth information of the neighboring node is a heading angle of 0-240 degrees, wherein the heading angle of 0-240 degrees represents 0-360 degrees with a resolution of 1.5 degrees.

[0014] In one alternative embodiment, the orientation relationship includes one of the following: left turn, left turn, left front turn, straight ahead, right front turn, right turn, right turn, and U-turn.

[0015] According to a third aspect of the embodiments of this application, a vehicle is provided, characterized in that the vehicle includes the map building apparatus described in the second aspect of the embodiments of this application.

[0016] According to a fourth aspect of the present application, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to perform the map construction method in the first aspect of the present application.

[0017] In the map construction method provided in this application, the vehicle-mounted unit can determine the connection relationship between road segments based on the attributes in the node information of the current node and the neighboring nodes, and then construct a map based on the coordinates of the current node and the neighboring nodes, the road segments from the neighboring nodes to the current node, the road segments from the current node to the neighboring nodes, and the connection relationship. Therefore, the vehicle-mounted unit can construct maps efficiently and accurately. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 This is a schematic diagram of the vehicle-road cooperative system in this application;

[0020] Figure 2 A schematic diagram of the main structure of the map data package provided in the embodiments of this application;

[0021] Figure 3 This is a schematic diagram of nodes and road segments provided in the embodiments of this application;

[0022] Figure 4 This is a schematic diagram of the map construction method provided in the embodiments of this application;

[0023] Figure 5 This is a schematic diagram of the map construction method provided in the embodiments of this application;

[0024] Figure 6 This is a schematic diagram of the map building device provided in an embodiment of this application. Detailed Implementation

[0025] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0026] It should be understood that the steps described in the method embodiments of this application may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this application is not limited in this respect.

[0027] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The terms "one embodiment" mean "at least one embodiment"; "another embodiment" means "at least one additional embodiment"; and "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., mentioned in this application are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0028] It should be noted that the terms "one" and "multiple" used in this application are illustrative rather than restrictive. Those skilled in the art should understand that, unless explicitly stated otherwise in the context, they should be interpreted as "one or more". The names of messages or information exchanged between multiple devices in the embodiments of this application are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0029] According to a first aspect of the embodiments of this application, a map construction method is provided.

[0030] like Figure 1 As shown, in a vehicle-road cooperative system, roadside units (RSUs) are installed on both sides of the road, and on-board units (OBUs) are installed in vehicles. The RSUs and OBUs can communicate via a radio communication system. The communication data typically includes five basic message bodies: basic vehicle safety messages, broadcast by the OBUs to inform surrounding vehicles of their real-time status; map messages, broadcast by the RSUs to transmit local area map information to vehicles; traffic event and traffic sign information, also broadcast by the RSUs; roadside safety messages, where the RSUs broadcast basic safety status information of traffic participants to surrounding vehicles; and traffic light messages, containing the current status information of one or more traffic lights at intersections, combined with map messages to provide vehicles with real-time information on the traffic lights ahead.

[0031] like Figure 2As shown, in one embodiment, the map information includes a timestamp, information number, and node information. Nodes include the node corresponding to the roadside unit that sent the map information, referred to as the current node, and neighboring nodes connected to the current node, referred to as neighboring nodes. A node can be an intersection or a point on a road segment. The node information includes the node's name, node identifier, coordinates, and road segment information. A map message typically includes node information for a current node and at least one neighboring node. The current node's node information includes the current node's coordinates and at least one road segment from the neighboring node to the current node; the neighboring node's information includes the neighboring node's coordinates and the road segment from the current node to the neighboring node.

[0032] refer to Figure 3 In a map, nodes and road segments are represented. A map contains nodes A, B, C, and D, where A is the current node, and B, C, and D are neighboring nodes. The current node information includes the coordinates of node A, and the road segment from B to A (referred to as road segment BA, hereinafter the same), road segment CA, and road segment DA. The node information of node B includes the coordinates of node B and road segment AB. The node information of node C includes the coordinates of node C and road segment AC. The node information of node D includes the coordinates of node D and road segment AD.

[0033] After receiving the map information, the onboard unit can determine the connection relationships between road segments by traversing all node information: road segments BA, CA, and DA are upstream road segments from neighboring nodes to the current node A, and road segments AB, AC, and AD are downstream road segments from the current node A to neighboring nodes. Then, a map is constructed based on the coordinates of the current node and neighboring nodes, each road segment, and the connection relationships between road segments.

[0034] like Figure 4 As shown, in one embodiment, the map building method includes:

[0035] S101 acquires a map data packet sent by the roadside unit. The map data packet includes node information of the current node and at least one neighboring node. The node information of the current node includes the coordinates and attributes of the current node and at least one road segment from the neighboring node to the current node. The node information of the neighboring node includes the coordinates and attributes of the neighboring node and the road segment from the current node to the neighboring node.

[0036] S102 determines the connection relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the attributes of the current node and the neighboring node in the map data packet;

[0037] S103 constructs a map based on the coordinates of the current node and the neighboring nodes, the road segments from the neighboring nodes to the current node, the road segments from the current node to the neighboring nodes, and the connection relationships.

[0038] Specifically, node attributes can be represented using the `heading` field. In the map message structure, the `heading` field can be added at the same level as the road segment coordinate field. (Continuing with...) Figure 3 Taking nodes and road segments as examples, the map information sent by the roadside unit includes the coordinates of node A, road segments BA, CA, and DA, as well as the attributes of node A; similarly, the node message of node B includes the coordinates of node B, road segments AB, and the attributes of node B; the node information of node C includes the coordinates of node C, road segments AC, and the attributes of node C; the node information of node D includes the coordinates of node D, road segments AD, and the attributes of node D.

[0039] The on-board unit can determine the connection relationships between road segments BA, CA, DA, AB, AC, and AD based on the attributes of nodes A, B, C, and D: Based on the attributes of node A, road segments BA, CA, and DA are determined to be upstream road segments from neighboring nodes to the current node A; then, based on the attributes of B, C, and D, road segments AB, AC, and AD are determined to be downstream road segments from the current node A to neighboring nodes. Finally, a map is constructed based on the coordinates of nodes A, B, C, and D, road segments BA, CA, DA, AB, AC, and AD, and the connection relationships between the road segments.

[0040] In this embodiment, upon receiving node information from node A, the on-board unit can determine road segments BA, CA, and DA as upstream road segments from neighboring nodes to the current node A based on node A's attributes; upon receiving node information from node B, it can determine road segment AB as a downstream road segment based on node B's attributes; upon receiving node information from node C, it can determine road segment AC as a downstream road segment based on node C's attributes; and upon receiving node information from node D, it can determine road segment AD as a downstream road segment based on node D's attributes. This map construction method does not require traversing all node information to determine the connection relationships of road segments and begin map construction. Moreover, if the information of a neighboring node or road segment is incorrect, it will not affect the overall validity of the information, and the maps of other nodes and road segments can be accurately constructed. Therefore, map construction is more efficient and accurate.

[0041] In one optional embodiment, the attribute of the current node is an inbound attribute, and the attribute of the neighboring node is a outbound attribute; determining the connection relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the attributes of the current node and the neighboring node in the map data packet includes: determining the upstream and downstream relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the inbound attribute of the current node and the outbound attribute of the neighboring node.

[0042] Specifically, node A has an "entry" attribute, while nodes B, C, and D have "departure" attributes. The on-board unit can determine road segments BA, CA, and DA as upstream road segments from neighboring nodes to the current node A based on node A's "entry" attribute, and then determine road segments AB, AC, and AD as downstream road segments from the current node A to neighboring nodes based on node B, C, and D's "departure" attributes. In this embodiment, determining the connection relationships between road segments is simple, easy, and less prone to errors.

[0043] like Figure 5 As shown, in an optional embodiment, the attributes of the current node are default information, and the attributes of the neighboring nodes are the location information of the neighboring nodes; determining the connection relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the attributes of the current node and the neighboring nodes in the map data packet includes:

[0044] S2031 determines the upstream and downstream relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the default information of the current node and the orientation information of the neighboring node;

[0045] S2032 determines the directional relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the directional information of the neighboring node.

[0046] Specifically, "default information" can be set to represent entering, and "location information" to represent leaving. The on-board unit can determine the road segment of a node as the upstream segment from neighboring nodes based on the node's default information, and determine the road segment of a node as the downstream segment from the current node based on the node's location information. Furthermore, it can determine the location relationship between the road segments from the current node to neighboring nodes and the current node itself based on the node's location information.

[0047] Still with Figure 3Taking nodes and road segments as an example, if the attribute information of node A is default, then based on the default information, road segments BA, CA, and DA are determined to be upstream road segments from neighboring nodes to the current node A. Then, based on the orientation information of nodes B, C, and D, road segments AB, AC, and AD are determined to be downstream road segments from the current node A to neighboring nodes. Furthermore, based on the orientation information of nodes B, C, and D, the orientation relationship between upstream road segments BA, CA, and DA and downstream road segments AB, AC, and AD is determined. For example, the orientation relationship between upstream road segment CA and downstream road segment AD is an angle of 270° or a left turn.

[0048] In this embodiment, not only are the upstream and downstream connections between road segments determined, but also the directional relationships between upstream and downstream road segments, thus enabling more accurate map construction.

[0049] In one optional embodiment, the azimuth information of the neighboring node is a heading angle of 0-240°, where the heading angle of 0-240° represents 0-360° with a resolution of 1.5°. In this embodiment, the heading angle of 0-240° represents the direction (0-360°) of the road segment from the current node to the neighboring node. This direction can follow the definition of vehicle heading angle, defined as the angle between the road segment and true north. For example, if the angle between road segment AB and true north is 135°, the azimuth information of the corresponding node B is 90°.

[0050] Still with Figure 3 Taking nodes and road segments as examples, the map messages sent by the roadside unit include:

[0051] Node information for node A: coordinates of node A, attributes of node A (default information), road segments BA, CA, and DA;

[0052] Node information of node B: coordinates of node B, attribute 90 of node B (heading angle of node B: the angle between road segment AB and due north is 135°), road segment AB;

[0053] Node information of node C: coordinates of node C, attribute 180 of node C (heading angle of node B: the angle between road segment AC and due north is 270°), road segment AC;

[0054] Node information of node D: coordinates of node D, attribute 0 of node D (heading angle of node B: the angle between road segment AD and due north is 0°), road segment AD.

[0055] After receiving the map information, the vehicle unit determines road segments BA, CA, and DA as upstream road segments from neighboring nodes to the current node A based on the default attribute of node A. Then, based on the attribute 90 of node B, the attribute 180 of node C, and the attribute 0 of node D, it determines road segments AB, AC, and AD as downstream road segments from the current node A to neighboring nodes. Furthermore, based on the attribute 90 of node B, the direction of road segment AB is determined to be 135°; based on the attribute 180 of node C, the direction of road segment AC is determined to be 270°; and based on the attribute 0 of node D, the direction of road segment AD is determined to be 0°.

[0056] Furthermore, the direction information of the corresponding upstream road segment can be determined based on the direction information of the downstream road segment, and then the azimuth relationship between the upstream road segment and a certain downstream road segment can be determined based on the direction information of this upstream road segment. For example, if the directions of upstream road segment CA and downstream road segment AC are opposite, and the direction of downstream road segment AC is 270°, the direction of upstream road segment CA can be determined to be 90°, and the azimuth relationship between upstream road segment CA and downstream road segment AC can be determined to be an angle of 360°. Combining the direction of downstream road segment AD being 0°, the azimuth relationship between upstream road segment CA and downstream road segment AD can be determined to be an angle of 270°; combining the direction of downstream road segment AB being 135°, the azimuth relationship from upstream road segment CA to downstream road segment AB can be determined to be an angle of 45°. Similarly, the azimuth relationships between other upstream and downstream road segments can be determined.

[0057] In this embodiment, the vehicle-mounted unit can further determine the directional relationship between upstream and downstream road segments based on the attributes of nodes in the map information sent by the roadside unit, thereby constructing a more accurate map.

[0058] In one alternative embodiment, the orientation relationship includes one of the following: left turn, left turn, left front turn, straight ahead, right front turn, right turn, right turn, and U-turn.

[0059] Specifically, if the angle between the upstream and downstream road segments is 45°+ / -22.5°, the orientation is a right turn; if the angle is 90°+ / -22.5°, the orientation is a right turn; if the angle is 135°+ / -22.5°, the orientation is a right turn; if the angle is 180°+ / -22.5°, the orientation is a U-turn; if the angle is 225°+ / -22.5°, the orientation is a left turn; if the angle is 270°+ / -22.5°, the orientation is a left turn; if the angle is 315°+ / -22.5°, the orientation is a left turn; and if the angle is 0°+ / -22.5°, the orientation is straight.

[0060] For example: based on the 360° angle between upstream road segment CA and downstream road segment AC, the directional relationship between upstream road segment CA and downstream road segment AC is determined to be a U-turn; based on the 90° angle between upstream road segment CA and downstream road segment AD, the directional relationship between upstream road segment CA and downstream road segment AD is determined to be a left turn; based on the 225° angle between upstream road segment CA and downstream road segment AB, the directional relationship between upstream road segment CA and downstream road segment AB is determined to be a right forward turn.

[0061] In this embodiment, the on-board unit can further determine the directional relationship between the upstream and downstream road segments, such as left turn, left front turn, etc., and construct a map more accurately accordingly, thereby further assisting the driving of the vehicle.

[0062] In one optional embodiment, the vehicle unit can acquire multiple map information sent by the side unit, construct multiple maps based on the multiple map information, and combine the multiple maps into a vehicle map.

[0063] For example, the vehicle-mounted unit receives first map information from the roadside unit, which includes four nodes: A, B, C, and D. Based on the first map information, it constructs a first map including the four nodes, related road segments, and the connection relationships between the road segments, as described in the aforementioned embodiments.

[0064] The vehicle-mounted unit receives second map information from the roadside unit, including:

[0065] Node information of node B: coordinates of node B, attributes of node B (default information), road segments AB, EB, FB, GB and HB;

[0066] Node information of node A: coordinates of node A, attribute 210 of node A (heading angle of node A: the angle between true north and the line connecting node A and node B is 315°), road segment BA;

[0067] Node information of node E: coordinates of node E, attribute 180 of node E (heading angle of node E: the angle between true north and the line connecting node E and node B is 270°), road segment BE;

[0068] Node information of node F: coordinates of node F, attribute 150 of node A (heading angle of node F: the angle between true north and the line connecting node F and node B is 225°), road segment BF;

[0069] Node information of node G: coordinates of node G, attribute 90 of node G (heading angle of node E: the angle between true north and the line connecting node G and node B is 135°), road segment BG;

[0070] Node information of node H: coordinates of node H, attribute 60 of node H (heading angle of node H: the angle between due north and the line connecting node H and node B is 90°), road segment BH.

[0071] The on-board unit determines node B as the current node, nodes A, E, F, G, and H as neighboring nodes, road segments AB, EB, FB, GB, and HB as upstream road segments, and road segments BA, BE, BF, BG, and BH as downstream road segments based on the orientation information of the neighboring nodes. It further determines the orientation of road segment BA as 315°, road segment BE as 270°, road segment BF as 225°, road segment BG as 135°, and road segment BH as 90° based on the orientation information of the neighboring nodes. It then further determines the orientational relationship between upstream and downstream road segments; for example, the angle between upstream road segment AB and downstream road segment BF is 90°, or a right turn; the angle between upstream road segment AB and downstream road segment BH is 315°, or a left-forward turn.

[0072] The on-board unit constructs a second map based on the coordinates of nodes A, E, F, G, and H, upstream road segments AB, EB, FB, GB, and HB, downstream road segments BA, BE, BF, BG, and BH, and the connection relationships between the upstream and downstream road segments. The first and second maps are then combined to form a vehicle-mounted map. This step can be achieved by combining the shared nodes and road segments of the first and second maps, as well as the connection relationships between the road segments.

[0073] It is worth noting that in this embodiment, only two maps were constructed based on two map information and these two maps were combined into an in-vehicle map. However, in practice, the number of map messages received and the number of maps constructed are not limited to two.

[0074] like Figure 6 As shown, according to a second aspect of the embodiments of this application, a map building apparatus is provided, comprising:

[0075] The data acquisition module 101 is used to acquire map data packets sent by the roadside unit. The map data packets include node information of the current node and at least one neighboring node. The node information of the current node includes the coordinates and attributes of the current node and at least one road segment from the neighboring node to the current node. The node information of the neighboring node includes the coordinates and attributes of the neighboring node and the road segment from the current node to the neighboring node.

[0076] The relationship determination module 102 is used to determine the connection relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the attributes of the current node and the neighboring node in the map data packet; and

[0077] The map building module 103 is used to build a map based on the coordinates of the current node and the neighboring nodes, the road segments from the neighboring nodes to the current node, the road segments from the current node to the neighboring nodes, and the connection relationships.

[0078] Node attributes can be represented using the `heading` field. In the map message structure, the `heading` field can be added at the same level as the road segment coordinate field. (Continuing with...) Figure 3 Taking nodes and road segments as examples, the data acquisition module 101 acquires the map information sent by the roadside unit. In addition to the coordinates of node A and road segments BA, CA, and DA, the node information of node A also includes the attributes of node A. Similarly, the node information of node B includes the coordinates of node B and road segments AB, as well as the attributes of node B. The node information of node C includes the coordinates of node C and road segments AC, as well as the attributes of node C. The node information of node D includes the coordinates of node D and road segments AD, as well as the attributes of node D.

[0079] The relationship determination module 102 can determine the connection relationship between road segments BA, CA, DA, AB, AC and AD based on the attributes of nodes A, B, C and D: based on the attributes of node A, road segments BA, CA and DA are determined to be upstream road segments from neighboring nodes to the current node A, and based on the attributes of B, C and D, road segments AB, AC and AD are determined to be downstream road segments from the current node A to neighboring nodes.

[0080] Then, the map building module 103 builds a map based on the coordinates of nodes A, B, C and D, road segments BA, CA, DA, AB, AC and AD, and the connection relationships between road segments.

[0081] In this embodiment, upon receiving node information from node A, the relationship determination module 102 can determine road segments BA, CA, and DA as upstream road segments from neighboring nodes to the current node A based on node A's attributes; upon receiving node information from node B, it can determine road segment AB as a downstream road segment based on node B's attributes; upon receiving node information from node C, it can determine road segment AC as a downstream road segment based on node C's attributes; and upon receiving node information from node D, it can determine road segment AD as a downstream road segment based on node D's attributes. This map construction method does not require traversing all node information to determine the connection relationships of road segments and begin map construction. Moreover, if the information of a neighboring node or road segment is incorrect, it will not affect the overall validity of the information, and the maps of other nodes and road segments can be accurately constructed. Therefore, map construction is more efficient and accurate.

[0082] In an optional embodiment, the attribute of the current node is an inbound attribute, and the attribute of the neighboring node is a outbound attribute; the relationship determination module 102 is further configured to determine the upstream and downstream relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the inbound attribute of the current node and the outbound attribute of the neighboring node.

[0083] Specifically, node A has an "inbound" attribute, while nodes B, C, and D have "outbound" attributes. The relationship determination module 102 can determine road segments BA, CA, and DA as upstream road segments from neighboring nodes to the current node A based on the "inbound" attribute of node A, and then determine road segments AB, AC, and AD as downstream road segments from the current node A to neighboring nodes based on the "outbound" attributes of nodes B, C, and D. In this embodiment, determining the connection relationships between road segments is simple, easy, and less prone to errors.

[0084] In an optional embodiment, the attributes of the current node are default information, and the attributes of the neighboring nodes are the location information of the neighboring nodes; the relationship determination module 102 is further configured to: determine the upstream and downstream relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the default information of the current node and the location information of the neighboring node; and determine the directional relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the location information of the neighboring node.

[0085] Specifically, "default information" can be set to represent entering, and "location information" to represent leaving. The relationship determination module 102 can determine the road segment of a node as the upstream road segment from neighboring nodes based on the node's default information, and determine the road segment of a node as the downstream road segment from the current node based on the node's location information. Furthermore, it determines the road segment from the current node to neighboring nodes and the location relationship of the current node based on the node's location information.

[0086] Still with Figure 3 Taking nodes and road segments as an example, if the attribute information of node A is default, then based on the default information, road segments BA, CA, and DA are determined to be upstream road segments from neighboring nodes to the current node A. Then, based on the orientation information of nodes B, C, and D, road segments AB, AC, and AD are determined to be downstream road segments from the current node A to neighboring nodes. Furthermore, based on the orientation information of nodes B, C, and D, the orientation relationship between upstream road segments BA, CA, and DA and downstream road segments AB, AC, and AD is determined. For example, the orientation relationship between upstream road segment CA and downstream road segment AD is an angle of 270° or a left turn.

[0087] In this embodiment, the map building device not only determines the upstream and downstream connections between road segments, but also the directional relationship between upstream and downstream road segments, thus enabling more accurate map building.

[0088] In one optional embodiment, the azimuth information of the neighboring node is a heading angle of 0-240°, where the heading angle of 0-240° represents 0-360° with a resolution of 1.5°. In this embodiment, the heading angle of 0-240° represents the direction (0-360°) of the road segment from the current node to the neighboring node. This direction can follow the definition of vehicle heading angle, defined as the angle between the road segment and true north. For example, if the angle between road segment AB and true north is 135°, the azimuth information of the corresponding node B is 90°.

[0089] Still with Figure 3 Taking nodes and road segments as examples, the map messages sent by the roadside unit include:

[0090] Node information for node A: coordinates of node A, attributes of node A (default information), road segments BA, CA, and DA;

[0091] Node information of node B: coordinates of node B, attribute 90 of node B (heading angle of node B: the angle between road segment AB and due north is 135°), road segment AB;

[0092] Node information of node C: coordinates of node C, attribute 180 of node C (heading angle of node B: the angle between road segment AC and due north is 270°), road segment AC;

[0093] Node information of node D: coordinates of node D, attribute 0 of node D (heading angle of node B: the angle between road segment AD and due north is 0°), road segment AD.

[0094] After receiving the map information, the data acquisition module 101 determines road segments BA, CA, and DA as upstream road segments from neighboring nodes to the current node A based on the default attribute of node A. Then, based on the attribute 90 of node B, the attribute 180 of node C, and the attribute 0 of node D, it determines road segments AB, AC, and AD as downstream road segments from the current node A to neighboring nodes. Furthermore, based on the attribute 90 of node B, the direction of road segment AB is determined to be 135°; based on the attribute 180 of node C, the direction of road segment AC is determined to be 270°; and based on the attribute 0 of node D, the direction of road segment AD is determined to be 0°.

[0095] Furthermore, the relationship determination module 102 can determine the direction information of the corresponding upstream road segment based on the direction information of the downstream road segment, and then determine its azimuth relationship with a certain downstream road segment based on the direction information of this upstream road segment. For example, if the directions of upstream road segment CA and downstream road segment AC are opposite, the direction of downstream road segment AC is 270°, so the direction of upstream road segment CA is determined to be 90°, and the azimuth relationship between upstream road segment CA and downstream road segment AC is determined to be an angle of 360°. Combining the direction of downstream road segment AD being 0°, the azimuth relationship between upstream road segment CA and downstream road segment AD is determined to be an angle of 270°; combining the direction of downstream road segment AB being 135°, the azimuth relationship from upstream road segment CA to downstream road segment AB is determined to be an angle of 45°. Similarly, the azimuth relationships between other upstream and downstream road segments can be determined.

[0096] In this embodiment, the map building device can further determine the directional relationship between upstream and downstream road segments based on the attributes of nodes in the map information sent by the roadside unit, thereby building the map more accurately.

[0097] In one alternative embodiment, the orientation relationship includes one of the following: left turn, left turn, left front turn, straight ahead, right front turn, right turn, right turn, and U-turn.

[0098] Specifically, if the angle between the upstream and downstream road segments is 45°+ / -22.5°, the orientation is a right turn; if the angle is 90°+ / -22.5°, the orientation is a right turn; if the angle is 135°+ / -22.5°, the orientation is a right turn; if the angle is 180°+ / -22.5°, the orientation is a U-turn; if the angle is 225°+ / -22.5°, the orientation is a left turn; if the angle is 270°+ / -22.5°, the orientation is a left turn; if the angle is 315°+ / -22.5°, the orientation is a left turn; and if the angle is 0°+ / -22.5°, the orientation is straight.

[0099] For example: based on the 360° angle between upstream road segment CA and downstream road segment AC, the directional relationship between upstream road segment CA and downstream road segment AC is determined to be a U-turn; based on the 90° angle between upstream road segment CA and downstream road segment AD, the directional relationship between upstream road segment CA and downstream road segment AD is determined to be a left turn; based on the 225° angle between upstream road segment CA and downstream road segment AB, the directional relationship between upstream road segment CA and downstream road segment AB is determined to be a right forward turn.

[0100] In this embodiment, the map building device can further determine the directional relationship between the upstream and downstream road segments, such as left turn, left front turn, etc., and build a map more accurately accordingly, thereby providing better assistance for driving the vehicle.

[0101] In one alternative embodiment, the map building device can acquire multiple map information sent by the side unit, build multiple maps based on the multiple map information, and combine the multiple maps into an in-vehicle map.

[0102] For example, the data acquisition module 101 receives first map information from the roadside unit, which includes four nodes: A, B, C, and D; the relationship determination module 102 determines the connection relationship between road segments based on the first map information; and the map construction module 103 constructs a first map including the four nodes, related road segments, and the connection relationship between road segments, as described in the aforementioned embodiments.

[0103] The data acquisition module 101 receives second map information from the roadside unit, including:

[0104] Node information of node B: coordinates of node B, attributes of node B (default information), road segments AB, EB, FB, GB and HB;

[0105] Node information of node A: coordinates of node A, attribute 210 of node A (heading angle of node A: the angle between true north and the line connecting node A and node B is 315°), road segment BA;

[0106] Node information of node E: coordinates of node E, attribute 180 of node E (heading angle of node E: the angle between true north and the line connecting node E and node B is 270°), road segment BE;

[0107] Node information of node F: coordinates of node F, attribute 150 of node A (heading angle of node F: the angle between true north and the line connecting node F and node B is 225°), road segment BF;

[0108] Node information of node G: coordinates of node G, attribute 90 of node G (heading angle of node E: the angle between true north and the line connecting node G and node B is 135°), road segment BG;

[0109] Node information of node H: coordinates of node H, attribute 60 of node H (heading angle of node H: the angle between due north and the line connecting node H and node B is 90°), road segment BH.

[0110] The relationship determination module 102 determines node B as the current node, nodes A, E, F, G, and H as neighboring nodes, road segments AB, EB, FB, GB, and HB as upstream road segments, and road segments BA, BE, BF, BG, and BH as downstream road segments based on the orientation information of the neighboring nodes. It also determines the direction of road segment BA as 315°, road segment BE as 270°, road segment BF as 225°, road segment BG as 135°, and road segment BH as 90° based on the orientation information of the neighboring nodes. Furthermore, it determines the orientation relationship between upstream and downstream road segments, for example: the angle between upstream road segment AB and downstream road segment BF is 90°, or a right turn; the angle between upstream road segment AB and downstream road segment BH is 315°, or a left-forward turn.

[0111] The map building module 103 constructs a second map based on the coordinates of the nodes A, E, F, G and H, the upstream road segments AB, EB, FB, GB and HB, the downstream road segments BA, BE, BF, BG and BH, and the connection relationship between the upstream and downstream road segments, and further combines the first map and the second map into a vehicle-side map.

[0112] According to a third aspect of the embodiments of this application, a vehicle is provided, characterized in that the vehicle includes the map building apparatus described in the second aspect of the present application.

[0113] According to a fourth aspect of the present application, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to perform the map construction method in the first aspect of the present application.

[0114] The above embodiments are merely specific descriptions of feasible implementations of the present invention and should not be construed as limiting the scope of protection of the present invention. All equivalent or modified solutions made based on the technical concept of this application are included within the scope of protection of the present invention, such as the division or recombination of features or steps.

Claims

1. A map construction method, comprising: Acquire map data packets sent by roadside units. The map data packets include node information of the current node and at least one neighboring node. The node information of the current node includes the coordinates and attributes of the current node and at least one road segment from the neighboring node to the current node. The node information of the neighboring node includes the coordinates and attributes of the neighboring node and the road segment from the current node to the neighboring node. The attributes of the current node are either entry attributes or default information, and the attributes of the neighboring nodes are either departure attributes or location information. The connection relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node is determined based on the attributes of the current node and the neighboring node in the map data packet. as well as A map is constructed based on the coordinates of the current node and the neighboring nodes, the road segments from the neighboring nodes to the current node, the road segments from the current node to the neighboring nodes, and the connection relationships. The step of determining the connection relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the attributes of the current node and the neighboring node in the map data packet includes: determining the upstream and downstream relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the default information of the current node and the directional information of the neighboring node; and determining the directional relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the directional information of the neighboring node. The method further includes: acquiring multiple map information sent by the roadside unit, constructing multiple maps based on the multiple map information, and combining the multiple maps into an in-vehicle map. This step is based on the shared nodes and shared road segments of the first map and the second map, as well as the connection relationship of the road segments.

2. The map construction method according to claim 1, characterized in that, The attribute of the current node is the entering attribute, and the attribute of the neighboring nodes is the leaving attribute; Determining the connection relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the attributes of the current node and the neighboring nodes in the map data packet includes: The upstream and downstream relationships between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node are determined based on the entry attribute of the current node and the exit attribute of the neighboring node.

3. The map construction method according to claim 1, characterized in that, The azimuth information of the neighboring nodes is a heading angle of 0-240 degrees, and the heading angle of 0-240 degrees is represented by a resolution of 1.5 degrees for 0-360 degrees.

4. A map building apparatus, comprising: The data acquisition module is used to acquire map data packets sent by the roadside unit. The map data packets include node information of the current node and at least one neighboring node. The node information of the current node includes the coordinates and attributes of the current node and at least one road segment from the neighboring node to the current node. The node information of the neighboring node includes the coordinates and attributes of the neighboring node and the road segment from the current node to the neighboring node. The attributes of the current node are either entry attributes or default information, and the attributes of the neighboring nodes are either departure attributes or location information. The relationship determination module is used to determine the connection relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the attributes of the current node and the neighboring node in the map data packet; as well as The map building module is used to build a map based on the coordinates of the current node and the neighboring nodes, the road segments from the neighboring nodes to the current node, the road segments from the current node to the neighboring nodes, and the connection relationships. The relationship determination module is further configured to determine the upstream and downstream relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the default information of the current node and the orientation information of the neighboring node; The directional relationship between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node is determined based on the directional information of the neighboring nodes. The map building device is also used to acquire multiple map information sent by the side unit, construct multiple maps based on the multiple map information, and combine the multiple maps into an in-vehicle map. This process is specifically based on the common nodes and common road segments of the first map and the second map, as well as the connection relationship of the road segments.

5. The map building apparatus according to claim 4, characterized in that, The attribute of the current node is the entering attribute, and the attribute of the neighboring nodes is the leaving attribute; The relationship determination module is further configured to determine the upstream and downstream relationships between the road segment from the neighboring node to the current node and the road segment from the current node to the neighboring node based on the entry attribute of the current node and the departure attribute of the neighboring node.

6. The map building apparatus according to claim 4, characterized in that, The azimuth information of the neighboring nodes is a heading angle of 0-240 degrees, and the heading angle of 0-240 degrees is represented by a resolution of 1.5 degrees for 0-360 degrees.

7. A vehicle, characterized in that, The vehicle includes the map building apparatus according to any one of claims 4-6.

8. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-3.

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