Method, device, electronic device and storage medium for sending road information

Abstract

The present disclosure provides a method, device, electronic device and storage medium for sending road information, and relates to the field of computer technology, and in particular to the field of intelligent transportation technology. The specific implementation scheme is: based on road information data, determine the variation coefficient of the road information of each first road information point on the target road section; determine the sum of the variation coefficients of the road information of the first road information points, and calculate the segmentation step length based on the sum of the variation coefficients and the predetermined number of segments; divide the target road section into multiple sub-segments according to the segmentation step length; the number of first road information points contained in each sub-segment is negatively correlated with the average variation coefficient of the road information of the first road information points in the sub-segment; select the second road information point from the first road information points contained in each sub-segment, and send the road information of the selected second road information point to the target vehicle. In the case where the ECU processing capacity is very limited, describe the road information changes as accurately as possible.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to the field of intelligent transportation technology. Background Art

[0002] In the scenarios of assisted or autonomous driving, it is usually necessary to send the road information in front of the vehicle to the vehicle. The vehicle's built-in ECU (Electronic Control Unit) can plan driving based on the road information to achieve the purpose of improving economy, safety and comfort. Summary of the invention

[0003] The present disclosure provides a method, device, equipment and storage medium for sending road information.

[0004] According to one aspect of the present disclosure, a method for issuing road information is provided, comprising:

[0005] Based on the road information data, determining a change coefficient of the road information of each first road information point on the target road section;

[0006] Determine the sum of the variation coefficients of the road information of the first road information point, and calculate the segmentation step length based on the sum of the variation coefficients and a predetermined number of segments; the number of segments is determined based on the information processing capability of the target vehicle;

[0007] According to the segmentation step length, the target road section is divided into a plurality of sub-road sections; wherein the number of first road information points contained in each sub-road section is negatively correlated with the average coefficient of variation of the road information of the first road information points in the sub-road section;

[0008] A second road information point is selected from the first road information points included in each sub-road section, and road information of the selected second road information point is sent to the target vehicle.

[0009] According to another aspect of the present disclosure, a device for sending road information is provided, comprising:

[0010] A first determination module, used to determine a variation coefficient of road information of each first road information point on a target road section based on the road information data;

[0011] A second determination module is used to determine the sum of the variation coefficients of the road information of the first road information point, and calculate the segmentation step length based on the sum of the variation coefficients and a predetermined number of segments; the number of segments is determined based on the information processing capability of the target vehicle;

[0012] A division module, used for dividing the target road section into a plurality of sub-road sections according to the segmentation step length; wherein the number of first road information points contained in each sub-road section is negatively correlated with the average coefficient of variation of the road information of the first road information points in the sub-road section;

[0013] The sending module is used to select a second road information point from the first road information points included in each sub-road section, and send the road information of the selected second road information point to the target vehicle.

[0014] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0016] Figure 1 A flowchart of a method for sending road information provided by an embodiment of the present disclosure;

[0017] Figure 2 A schematic diagram of collecting road information data provided by an embodiment of the present disclosure;

[0018] FIG3( a ) is a schematic diagram of a weight function provided in an embodiment of the present disclosure;

[0019] FIG3( b ) is another schematic diagram of a weight function provided in an embodiment of the present disclosure;

[0020] Figure 4 A schematic diagram of dividing a road into sub-segments provided in an embodiment of the present disclosure;

[0021] Figure 5 A block diagram of a device for implementing the method for sending road information according to an embodiment of the present disclosure;

[0022] Figure 6 A block diagram of an electronic device provided for an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0024] In the scenarios of assisted or autonomous driving, it is usually necessary to send the road information in front of the vehicle to the vehicle. The vehicle's built-in ECU (Electronic Control Unit) can plan driving based on the road information to achieve the purpose of improving economy, safety and comfort.

[0025] For example, accelerating before going uphill and decelerating before going downhill can save fuel; decelerating before turning can improve safety.

[0026] The data of the road information points are collected and prepared in advance, usually at fixed intervals. For example, the road information of a road point is collected at intervals of 1 meter.

[0027] In the related art, when sending road information to a vehicle, a road information point is sent at a fixed interval. For example, a road information point is sent at an interval of 1 meter. If the vehicle needs to observe a distance of 3,000 meters ahead, 3,000 road information points need to be sent.

[0028] Without considering the vehicle ECU processing capacity, the greater the density of the road information points provided and the farther the distance, the better the driving planning effect. However, in actual applications, the ECU's processing capacity is often very poor, and it may only be able to store and process 100 road information points. If the road information points are spaced 1 meter apart, the maximum distance to be sensed is 100 meters ahead of the vehicle, which is not enough to assist the vehicle in making driving decisions.

[0029] In order to solve the above technical problems, the present disclosure provides a method, device, electronic device and storage medium for sending road information.

[0030] In one embodiment of the present disclosure, a method for issuing road information is provided, the method comprising:

[0031] Based on the road information data, determining a change coefficient of the road information of each first road information point on the target road section;

[0032] Determine the sum of the variation coefficients of the road information of the first road information point, and calculate the segmentation step length based on the sum of the variation coefficients and a predetermined number of segments; the number of segments is determined based on the information processing capability of the target vehicle;

[0033] According to the segmentation step length, the target road section is divided into a plurality of sub-road sections; wherein the number of first road information points contained in each sub-road section is negatively correlated with the average coefficient of variation of the road information of the first road information points in the sub-road section;

[0034] A second road information point is selected from the first road information points included in each sub-road section, and road information of the selected second road information point is sent to the target vehicle.

[0035] It can be seen that in the embodiment of the present disclosure, the variation coefficient of the road information of each first road information point on the target road section is first determined; the sum of the variation coefficients of the road information of the first road information points is determined, and the segmentation step length is calculated based on the sum of the variation coefficients and the predetermined number of segments; the number of segments is determined based on the information processing capability of the target vehicle; according to the segmentation step length, the target road section is divided into a plurality of sub-sections; wherein the number of first road information points contained in each sub-section is negatively correlated with the average variation coefficient of the road information of the first road information points in the sub-section; second road information points are selected from the first road information points contained in each sub-section, and the road information of the selected second road information points is sent to the target vehicle.

[0036] It can be seen that the cumulative change coefficient of the road information of the first road information point in each sub-segment is the same. The larger the average change coefficient of the road information of the first road information point in the sub-segment, the smaller the number of the first road information points contained in the sub-segment, thereby increasing the density of the issued road information points in the sections with drastic road changes; and reducing the density of the issued road information points in the sections with mild road changes. Ultimately, the amount of data of the issued road information points can be effectively reduced, and a limited number of road information points can be used to describe the degree of change of the road information of a longer section as much as possible.

[0037] In addition, the number of segments is determined according to the information processing capability of the target vehicle. Therefore, the number of road information points issued can be dynamically adjusted according to the processing capability of the vehicle ECU, so as to adapt to different car manufacturers more flexibly.

[0038] See also Figure 1 , Figure 1 A flowchart of a method for sending road information provided by an embodiment of the present disclosure is shown in FIG. Figure 1 As shown, the method may include:

[0039] S101: Determine a variation coefficient of road information of each first road information point on a target road section based on road information data.

[0040] To facilitate understanding, the application scenarios of the embodiments of the present disclosure are briefly introduced below.

[0041] The present disclosure relates to the field of intelligent transportation technology, and can be specifically applied to scenarios of vehicle assisted driving or automatic driving.

[0042] When the vehicle is performing assisted driving or autonomous driving, the vehicle establishes a communication connection with the cloud server. The cloud server stores road information data and can send the road information data to the vehicle at regular intervals. The vehicle's built-in ECU can perform driving planning based on the road information data.

[0043] The method for sending road information provided by the embodiment of the present disclosure can be applied to a cloud server.

[0044] In the disclosed embodiment, the road information data is collected in advance.

[0045] See also Figure 2 , Figure 2 A schematic diagram of collecting road information data provided by an embodiment of the present disclosure, such as Figure 2 As shown, the road information can be collected at intervals of 1 meter, and the collected road information is stored in the form of road information points. The road information of each road information point can be understood as the road attribute of the road at that point, for example, curvature or slope.

[0046] In the embodiment of the present disclosure, the target road section may be a road section located on the driving path ahead of the target vehicle, and the length of the target road section may be the shortest length that satisfies the driving algorithm for making driving decisions, which is not limited in the embodiment of the present disclosure.

[0047] In the embodiment of the present disclosure, the pre-collected road information point is recorded as the first road information point. The change coefficient of the road information of the first road information point represents the change degree of the road attribute at a certain point, such as the change degree of curvature and slope.

[0048] It is easy to understand that the more drastic the road change is, the greater the change coefficient of the road information of the corresponding information point is.

[0049] As an example, let x be the offset distance of the road information point from the vehicle, y be the data value of the road information, calculate a curve f(x)=y to fit the change of the road, and take the derivative of f(x) to get the rate of change of the road information. The absolute value of the rate of change can be used as the coefficient of change.

[0050] S102: Determine the sum of the variation coefficients of the road information of the first road information point, and calculate the segmentation step length based on the sum of the variation coefficients and a predetermined number of segments; the number of segments is determined based on the information processing capability of the target vehicle.

[0051] In this step, the sum of the variation coefficients of the road information of all the first road information points on the target road section may be calculated, and then divided by the predetermined number of sections to obtain the section step length. The section step length is used to section the target road section.

[0052] The number of segments is determined in advance based on the information processing capability of the target vehicle. When the information processing capability of the target vehicle is strong, that is, it can process more road information points, a larger number of segments can be set.

[0053] S103: Divide the target road section into a plurality of sub-road sections according to the segmentation step length; wherein the number of first road information points contained in each sub-road section is negatively correlated with the average variation coefficient of the road information of the first road information points in the sub-road section.

[0054] In this step, the target road section is divided into multiple sub-road sections according to the segmentation step size.

[0055] There are many methods for dividing the sub-segments.

[0056] As an example, the variation coefficients of the road information of each first road information point are calculated and accumulated in sequence, and segmentation is performed whenever the accumulated value is greater than the segmentation step length.

[0057] Therefore, the number of first road information points contained in each sub-road section is negatively correlated with the average variation coefficient of the road information of the first road information points in the sub-road section.

[0058] S104: Selecting second road information points from the first road information points included in each sub-road section, and sending road information of the selected second road information points to the target vehicle.

[0059] After the road is divided into sub-segments, one road information point may be selected from the first road information points included in each sub-segment as the second road information point, and then the road information of the selected second road information point may be sent to the target vehicle.

[0060] As an example, the number of first road information points contained in the target road section is 3000. After segmentation, 1000 sub-road sections are obtained, and each sub-road section contains one or more first road information points. One first road information point is selected from each of the 1000 sub-road sections as the second road information point. Subsequently, the road information of the selected 1000 road information points is sent to the target vehicle.

[0061] It can be seen that in the embodiment of the present disclosure, the variation coefficient of the road information of each first road information point on the target road section is first determined; the sum of the variation coefficients of the road information of the first road information points is determined, and the segmentation step length is calculated based on the sum of the variation coefficients and the predetermined number of segments; the number of segments is determined based on the information processing capability of the target vehicle; according to the segmentation step length, the target road section is divided into a plurality of sub-sections; wherein the number of first road information points contained in each sub-section is negatively correlated with the average variation coefficient of the road information of the first road information points in the sub-section; second road information points are selected from the first road information points contained in each sub-section, and the road information of the selected second road information points is sent to the target vehicle.

[0062] It can be seen that the cumulative change coefficient of the road information of the first road information point in each sub-segment is the same. The larger the average change coefficient of the road information of the first road information point in the sub-segment, the smaller the number of the first road information points contained in the sub-segment, thereby increasing the density of the issued road information points in the sections with drastic road changes; and reducing the density of the issued road information points in the sections with mild road changes. Ultimately, the amount of data of the issued road information points can be effectively reduced, and a limited number of road information points can be used to describe the degree of change of the road information of a longer section as much as possible.

[0063] In addition, the number of segments is determined according to the information processing capability of the target vehicle. Therefore, the number of road information points issued can be dynamically adjusted according to the processing capability of the vehicle ECU, so as to adapt to different car manufacturers more flexibly.

[0064] In one embodiment of the present disclosure, the step of determining the coefficient of change of the road information of each first road information point on the target road section based on the road information data may specifically include: determining the rate of change of the road information of each first road information point on the target road section based on the road information data; and processing the rate of change based on a preset weight function to obtain the coefficient of change.

[0065] Specifically, the variation coefficient represents the degree of variation of the road information, and can be directly determined by the variation rate of the road information. For example, the absolute value of the variation rate of the road information is used as the variation coefficient of the road information.

[0066] In addition, the change rate of the road information may be processed based on a preset weight function to obtain a change coefficient.

[0067] The weight function can be set according to actual needs. Let k be the rate of change of road information, and the weight function w(k) only needs to satisfy that when k>0, w(k) is monotonically increasing; when k=0, w(k)=0; when k<0, w(k) is monotonically decreasing.

[0068] Referring to Figures 3(a) and 3(b), Figure 3(a) is a schematic diagram of a weight function provided in an embodiment of the present disclosure, and Figure 3(b) is another schematic diagram of a weight function provided in an embodiment of the present disclosure, wherein the horizontal axis is the road information change rate, and the vertical axis is the road information change coefficient.

[0069] As shown in Figure 3(a), when the road information change rate increases, the road information change coefficient increases significantly, and the final road information points will be concentrated in places where the road information changes greatly, while in places where the road information changes little, fewer points will be used to describe it.

[0070] As shown in Figure 3(b), when the road information change rate increases, the road information change coefficient increases slowly, and the distribution of the road information points finally determined will be more uniform.

[0071] It can be seen that in the embodiment of the present disclosure, a weight function can be used to process the change rate of the road information to obtain the change parameter of the road information. Thus, the strategy of issuing road information points can be adjusted by selecting the weight function to adapt to various application scenarios.

[0072] In one embodiment of the present disclosure, the step of dividing the target road section into a plurality of sub-road sections according to the segmentation step size may specifically include:

[0073] The first road information points are traversed in sequence according to their positions. When the mth first road information point is traversed, if:

[0074]

[0075] Taking the mth first road information point as the end point of the lth sub-segment and the start point of the l+1th sub-segment;

[0076] Among them, k i is the change coefficient of the road information of the i-th first road information point, step is the segmentation step, and l is the number of the sub-segment;

[0077] The segmented step size satisfies the following formula:

[0078]

[0079] Wherein, N is the number of first road information points on the target road section, and n is the number of sections.

[0080] For details, see Figure 4 , Figure 4 A schematic diagram of dividing a road into sub-segments provided in an embodiment of the present disclosure. Figure 4 As shown in the figure, if the sum of the variation coefficients of the first four first road information points is greater than the segmentation step length × 1, the fourth first road information point is used as the terminating endpoint of the first sub-segment and as the starting endpoint of the second sub-segment; if the sum of the variation coefficients of the first six first road information points is greater than the segmentation step length × 2, the sixth first road information point is used as the terminating endpoint of the second sub-segment and as the starting endpoint of the third sub-segment, and so on.

[0081] It can be seen that in sections with drastic road changes, the density of the issued road information points is increased; in sections with mild road changes, the density of the issued road information points is reduced. Ultimately, the amount of data of the issued road information points can be effectively reduced, and a limited number of road information points can be used to describe the degree of road information change of a longer section as much as possible.

[0082] In one embodiment of the present disclosure, the road information may include one or more of a road slope and a road curvature.

[0083] The method for sending road information provided by the embodiments of the present disclosure can be applied to assisted driving or automatic driving scenarios. When it is necessary to send continuous road information data in front of the vehicle, such as the slope and curvature of the road, the number of road information points sent can be dynamically adjusted according to the computing power of the vehicle's processing unit, so as to more flexibly adapt to different car manufacturers.

[0084] See also Figure 5 , Figure 5 A block diagram of a device for implementing the method for sending road information according to an embodiment of the present disclosure is shown in FIG. Figure 5 As shown, including:

[0085] A first determination module 501 is used to determine a variation coefficient of road information of each first road information point on a target road section based on the road information data;

[0086] A second determination module 502 is used to determine the sum of the variation coefficients of the road information of the first road information point, and calculate the segmentation step length based on the sum of the variation coefficients and a predetermined number of segments; the number of segments is determined based on the information processing capability of the target vehicle;

[0087] A division module 503 is used to divide the target road section into a plurality of sub-road sections according to the segmentation step length; wherein the number of first road information points contained in each sub-road section is negatively correlated with the average variation coefficient of the road information of the first road information points in the sub-road section;

[0088] The sending module 504 is used to select a second road information point from the first road information points included in each sub-road section, and send the road information of the selected second road information point to the target vehicle.

[0089] It can be seen that in the embodiment of the present disclosure, the variation coefficient of the road information of each first road information point on the target road section is first determined; the sum of the variation coefficients of the road information of the first road information points is determined, and the segmentation step length is calculated based on the sum of the variation coefficients and the predetermined number of segments; the number of segments is determined based on the information processing capability of the target vehicle; according to the segmentation step length, the target road section is divided into a plurality of sub-sections; wherein the number of first road information points contained in each sub-section is negatively correlated with the average variation coefficient of the road information of the first road information points in the sub-section; second road information points are selected from the first road information points contained in each sub-section, and the road information of the selected second road information points is sent to the target vehicle.

[0090] It can be seen that the cumulative change coefficient of the road information of the first road information point in each sub-segment is the same. The larger the average change coefficient of the road information of the first road information point in the sub-segment, the smaller the number of the first road information points contained in the sub-segment, thereby increasing the density of the issued road information points in the sections with drastic road changes; and reducing the density of the issued road information points in the sections with mild road changes. Ultimately, the amount of data of the issued road information points can be effectively reduced, and a limited number of road information points can be used to describe the degree of change of the road information of a longer section as much as possible.

[0091] In addition, the number of segments is determined according to the information processing capability of the target vehicle. Therefore, the number of road information points issued can be dynamically adjusted according to the processing capability of the vehicle ECU, so as to adapt to different car manufacturers more flexibly.

[0092] In one embodiment of the present disclosure, the first determining module is specifically configured to:

[0093] Determine, based on the road information data, a change rate of the road information of each first road information point on the target road section;

[0094] The change rate is processed based on a preset weight function to obtain the change coefficient.

[0095] It can be seen that in the embodiment of the present disclosure, a weight function can be used to process the change rate of the road information to obtain the change parameter of the road information. Thus, the strategy of issuing road information points can be adjusted by selecting the weight function to adapt to various application scenarios.

[0096] In one embodiment of the present disclosure, the division module is specifically used for:

[0097] The first road information points are traversed in sequence according to the position sequence of the first road information points. When the mth first road information point is traversed, if:

[0098]

[0099] Taking the mth first road information point as the end point of the lth sub-segment and the start point of the l+1th sub-segment;

[0100] Among them, k i is the change coefficient of the road information of the i-th first road information point, step is the segmentation step, and l is the number of the sub-segment;

[0101] The segmented step size satisfies the following formula:

[0102]

[0103] Wherein, N is the number of first road information points on the target road section, and n is the number of segments.

[0104] It can be seen that in sections with drastic road changes, the density of the issued road information points is increased; in sections with mild road changes, the density of the issued road information points is reduced. Ultimately, the amount of data of the issued road information points can be effectively reduced, and a limited number of road information points can be used to describe the degree of road information change of a longer section as much as possible.

[0105] In one embodiment of the present disclosure, the road information includes one or more of a road slope and a road curvature.

[0106] It can be seen that when it is necessary to send continuous road information data in front of the vehicle, such as the slope and curvature of the road, the number of road information points sent can be dynamically adjusted according to the computing power of the vehicle's processing unit, so as to adapt to different car manufacturers more flexibly.

[0107] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0108] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0109] The present disclosure provides an electronic device, comprising:

[0110] at least one processor; and

[0111] a memory communicatively connected to the at least one processor; wherein,

[0112] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for sending road information.

[0113] The present disclosure provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute a method for sending road information.

[0114] The present disclosure provides a computer program product, including a computer program, wherein the computer program implements a method for sending road information when executed by a processor.

[0115] Figure 6A schematic block diagram of an example electronic device 600 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0116] like Figure 6 As shown, the device 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 602 or a computer program loaded from a storage unit 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the device 600 can also be stored. The computing unit 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0117] A number of components in the device 600 are connected to the I / O interface 605, including: an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0118] The computing unit 601 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 601 performs the various methods and processes described above, such as the method for sending road information. For example, in some embodiments, the method for sending road information may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 600 via the ROM 802 and / or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the method for sending road information described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to execute the method for sending road information in any other appropriate manner (e.g., by means of firmware).

[0119] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0120] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0121] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0122] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0123] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0124] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0125] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0126] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for issuing road information, comprising: Based on the road information data, determining a change coefficient of the road information of each first road information point on the target road section; The change coefficient of the road information of the first road information point represents the degree of change of the road attribute of the road at the first road information point; Determine the sum of the variation coefficients of the road information of the first road information point, and calculate the segmentation step length based on the sum of the variation coefficients and a predetermined number of segments; the number of segments is determined based on the information processing capability of the target vehicle; According to the segmentation step length, the target road section is divided into a plurality of sub-road sections; wherein the number of first road information points contained in each sub-road section is negatively correlated with the average coefficient of change of the road information of the first road information points in the sub-road section; the step of dividing the target road section into a plurality of sub-road sections according to the segmentation step length comprises: calculating the coefficient of change of the road information of each first road information point in turn and accumulating them, and segmenting when the accumulated value obtained is greater than the segmentation step length to obtain a plurality of sub-road sections; A second road information point is selected from the first road information points included in each sub-road section, and road information of the selected second road information point is sent to the target vehicle.

2. The method according to claim 1, wherein: The step of determining the variation coefficient of the road information of each first road information point on the target road section based on the road information data comprises: Determine, based on the road information data, a change rate of the road information of each first road information point on the target road section; The change rate is processed based on a preset weight function to obtain the change coefficient.

3. The method according to claim 1, wherein: The step of dividing the target road section into a plurality of sub-road sections according to the segmentation step size comprises: The first road information points are traversed in sequence according to the position sequence of the first road information points. When the mth first road information point is traversed, if: Taking the mth first road information point as the end point of the lth sub-segment and the start point of the l+1th sub-segment; Among them, k i is the change coefficient of the road information of the i-th first road information point, step is the segmentation step, and l is the number of the sub-segment; The segmented step size satisfies the following formula: Wherein, N is the number of first road information points on the target road section, and n is the number of segments.

4. The method according to any one of claims 1 to 3, wherein: The road information includes one or more of a road slope and a road curvature.

5. A device for sending road information, comprising: A first determination module, used to determine a variation coefficient of road information of each first road information point on a target road section based on the road information data; The change coefficient of the road information of the first road information point represents the degree of change of the road attribute of the road at the first road information point; A second determination module is used to determine the sum of the variation coefficients of the road information of the first road information point, and calculate the segmentation step length based on the sum of the variation coefficients and a predetermined number of segments; the number of segments is determined based on the information processing capability of the target vehicle; A division module, used for dividing the target road section into a plurality of sub-road sections according to the segmentation step length; wherein the number of first road information points contained in each sub-road section is negatively correlated with the average coefficient of variation of the road information of the first road information points in the sub-road section; A sending module, used for selecting a second road information point from the first road information points included in each sub-road section, and sending the road information of the selected second road information point to the target vehicle; The division module is specifically used to calculate the change coefficient of the road information of each first road information point in turn and accumulate it, and when the accumulated value obtained is greater than the segmentation step length, segmentation is performed to obtain multiple sub-segments.

6. The device according to claim 5, wherein: The first determining module is specifically configured to: Determine, based on the road information data, a change rate of the road information of each first road information point on the target road section; The change rate is processed based on a preset weight function to obtain the change coefficient.

7. The device according to claim 5, wherein: The division module is specifically used for: The first road information points are traversed in sequence according to the position sequence of the first road information points. When the mth first road information point is traversed, if: Taking the mth first road information point as the end point of the lth sub-segment and the start point of the l+1th sub-segment; Among them, k i is the change coefficient of the road information of the i-th first road information point, step is the segmentation step, and l is the number of the sub-segment; The segmented step size satisfies the following formula: Wherein, N is the number of first road information points on the target road section, and n is the number of segments.

8. The device according to any one of claims 5 to 7, wherein: The road information includes one or more of a road slope and a road curvature.

9. An electronic device, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 4.

10. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-4.

11. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 4.

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