Vehicle map information processing method, processing system and vehicle

Abstract

The present invention provides a vehicle map information processing method, processing system, and vehicle, relating to the field of vehicle map information processing. The methods include obtaining current vehicle map information; collecting current vehicle operating parameter information in real time; determining the validity of currently received data based on the vehicle map information and the current vehicle operating parameter information; constructing a data sequence based on path location and a data sequence based on slope information based on the distribution of the vehicle map information; calculating the number of valid data in the current data sequence in real time based on the vehicle map information update frequency, and reordering the data sequence; and obtaining the actual displacement information and slope information of the current vehicle location point based on the current vehicle driving parameter information and vehicle location point information in combination with a Kalman filter algorithm. The present invention performs real-time calibration of the vehicle's position, which can serve as an important information input form for a vehicle function optimization algorithm based on full road section information, thereby improving the vehicle's driving economy.

Description

Technical Field

[0001] The present invention relates to the field of vehicle map information processing, and in particular to a vehicle map information processing method, a processing system and a vehicle. Background Art

[0002] The PCU (power control unit), also known as the vehicle's power domain controller, controls the motors used for power generation and driving during startup, acceleration, and deceleration in hybrid and electric vehicles. It manages motor drive during startup, energy recovery during deceleration, power generation during charging, and VCU control during system voltage ramp-up and ramp-down.

[0003] In the prior art, the PCU can also be used to coordinate the power output of the vehicle's power system, including the coordination and output control of the power of the engine, transmission, and retarder.

[0004] At present, the use of PCU also needs to be combined with map information to effectively control the vehicle. Among them, map information is mainly obtained from the map box equipped in the vehicle. The map box provides the current position of the vehicle and the position information of the road ahead of the vehicle. The information mainly describes the position point K meters ahead and the current position point of the vehicle. In order to improve the economy of the entire vehicle, the energy-saving algorithm applied on the PCU proposes to optimize the driving economy of the entire vehicle based on the entire path, and thus requires the use of continuous path information of the road ahead. The discrete map information description currently provided cannot meet the global computing requirements of the algorithm. Moreover, when the PCU needs to optimize the driving economy of the entire vehicle based on the full path information, the map message information currently provided by the map box cannot directly meet the global computing requirements of the algorithm, which makes it impossible for the PCU to use advanced algorithms to perform energy-saving optimization based on map information. Summary of the Invention

[0005] The present invention provides a vehicle map information processing method to solve the problem that when the current PCU needs to optimize the driving economy of the entire vehicle based on full-path information, the map message information provided by the map box cannot directly meet the global calculation requirements of the algorithm, thereby causing the PCU to be unable to use advanced algorithms to perform energy-saving optimization based on map information.

[0006] Methods include:

[0007] S101: Obtain current vehicle map information;

[0008] S102: Real-time collection of current vehicle operating parameter information;

[0009] S103: Determine the validity of the currently received data based on the vehicle map information and the current vehicle operating parameter information;

[0010] S104: constructing a data sequence based on the path position and a data sequence based on the slope information based on the vehicle map information distribution;

[0011] S105: updating the data sequence of the path position and the vehicle location point information in real time according to the vehicle map information update frequency, and updating the data sequence of the slope information and the vehicle location point slope information in real time;

[0012] S106: updating the position of the current vehicle position information in the data sequence in real time according to the vehicle map information update frequency, and eliminating useless sequence data;

[0013] S107: Calculate the number of valid data in the current data sequence in real time according to the vehicle map information update frequency, and rearrange the data sequence;

[0014] S108: According to the current vehicle driving parameter information and vehicle position information, combined with the Kalman filter algorithm, the real displacement information and slope information of the current vehicle position are obtained.

[0015] It should be further explained that S101 also includes: after the vehicle is powered on for the first time, establishing a communication connection with the map box, receiving the corresponding current position message and forward position message returned by the map box, and parsing the current vehicle map information.

[0016] It should be further explained that the current location message includes: slope information of the current point, lane information, confidence, location transmission delay information, location possibility information, current path index information, message heartbeat value, current location map offset value and message type.

[0017] It should be further explained that the forward position message includes: forward position characteristic 1, forward position characteristic 0, interval distance, accuracy, content update flag, message retransmission flag, control point, characteristic value type, forward path index information, message heartbeat value, forward road map offset and message type.

[0018] It should be further explained that in the method, if it is determined that the current location path index information is greater than the first preset index value, the timeout period is less than the set period, and the vehicle speed is greater than 0, and the received current location information is a valid value, then the obtained current vehicle map information validity flag is 1;

[0019] When the data validity is 1, according to the received forward position path index information, when the forward position path index value is less than the second preset index value, the forward position path update flag is 1;

[0020] When the forward path index value is greater than or equal to the second preset index value and it is detected that the forward new path index value is inconsistent with the forward old path index value, the forward position path update flag is 1;

[0021] If it is detected that the index value of the new path ahead is consistent with the index value of the old path ahead, the flag of the updated position of the path ahead is 0.

[0022] It should be further explained that when the front position path update flag is 0, if it is detected that the displacement value of the front position point is inconsistent with the old displacement value of the front position point, the front distance point update flag is 1, otherwise it is 0;

[0023] If the displacement value of the preceding position point is detected to be less than the old displacement value of the preceding position point, the number of cycles will be increased by 1, otherwise it will remain unchanged;

[0024] If it is detected that the displacement value of the current position point is inconsistent with the old displacement value of the current position point, the update flag of the current position point is 1;

[0025] If it is detected that the displacement value of the current position point is less than the old displacement value of the current position point, the number of cycles will be increased by 1.

[0026] It should be further explained that in the method, when the forward position path update flag is 0, the number of cycles and the longest representation length of the map message position information are used to accumulate the displacement information of the current forward position point and calculate the cumulative displacement of the forward position; the number of cycles and the longest representation length of the map message position information are used to accumulate the displacement information of the current forward position point and calculate the cumulative displacement of the current position; and then the current position slope information in the POS message is converted into usable current slope information.

[0027] It should be further explained that in the method, when the front distance point update flag is 1, if the distance value between the front position points is 0, the number of valid sequences is accumulated by 1 each time; if the distance value between the front position points is not 0, the number of valid sequences is accumulated by 2 each time; when the total number of valid sequences is less than or equal to num_max, the accumulated value is taken; if it is greater than num_max, num_max is taken as the valid number of sequences; if the front distance point update flag is 0, the number of sequences is num_entry.

[0028] The present invention also provides a vehicle map information processing system, the system comprising: a vehicle map information acquisition unit, a vehicle information acquisition unit, a validity determination unit, a sequence construction unit, a data sequence update unit, a data elimination unit, a data sequence arrangement unit, and a vehicle map information processing unit;

[0029] The vehicle map information acquisition unit is used to obtain current vehicle map information;

[0030] The vehicle information collection unit is used to collect the current vehicle operating parameter information in real time;

[0031] The validity determination unit is used to determine the validity of the currently received data based on the vehicle map information and the current vehicle operation parameter information;

[0032] The sequence construction unit constructs a data sequence based on the path position and a data sequence based on the slope information based on the vehicle map information distribution;

[0033] The data sequence updating unit is used to update the data sequence of the path position and the vehicle position point information in real time according to the vehicle map information update frequency, and to update the data sequence of the slope information and the vehicle position point slope information in real time;

[0034] The data elimination unit is used to update the position of the current vehicle position information in the data sequence in real time according to the vehicle map information update frequency, and eliminate useless sequence data;

[0035] The data sequence arrangement unit is used to calculate the number of valid data in the current data sequence in real time according to the vehicle map information update frequency, and rearrange the data sequence;

[0036] The vehicle map information processing unit is used to obtain the real displacement information and slope information of the current vehicle position point based on the current vehicle driving parameter information and vehicle position point information in combination with the Kalman filter algorithm.

[0037] The present invention also provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the vehicle map information processing method when executing the program.

[0038] It can be seen from the above technical solutions that the present invention has the following advantages:

[0039] The vehicle map information processing method provided by the present invention obtains forward road segment and vehicle position message information from a vehicle map information acquisition unit, constructs a real-time updated spatial data segment of the forward road segment based on the provided message information, and uses a Kalman filter algorithm to correct the vehicle's true position in real time. This real-time updated spatial data is configured in a special data structure, which calibrates the vehicle's position in real time. This data can serve as an important input for a vehicle function optimization algorithm based on full road segment information, thereby improving the vehicle's driving efficiency.

[0040] Moreover, the present invention constructs a full-path continuous data sequence based on discrete map message information, and has the function of updating the data sequence in real time and eliminating useless data sequences, which can serve as an effective input for PCU to perform operations based on the global algorithm, thereby improving the economy of the entire vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for the description. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 This is a flow chart of a vehicle map information processing method;

[0043] Figure 2 Schematic diagram of the vehicle map information processing system. DETAILED DESCRIPTION

[0044] The vehicle map information processing method and system provided by the present invention can acquire and process associated data based on artificial intelligence technology. Specifically, the vehicle map information processing method and system utilize a controller-controlled machine to simulate, extend, and expand human intelligence, to perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. The computer program code for performing the operations disclosed herein can be written in one or more programming languages, or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar programming languages.

[0045] The vehicle map information processing method and system provided by the present invention utilize sensor monitoring, data transmission, and other technologies to construct a real-time updated spatial data segment of the road ahead of the vehicle based on message information provided by the vehicle map information acquisition unit, and to correct the vehicle's true position in real time using a Kalman filter algorithm. This real-time updated spatial data is configured in a special data structure, and the authenticity of the vehicle's position is calibrated in real time. This addresses the current problem where, when the PCU needs to optimize vehicle driving economy based on full-path information, the map message information provided by the map box cannot directly meet the algorithm's global computational requirements, resulting in the PCU being unable to utilize advanced algorithms for energy-saving optimization based on map information.

[0046] like Figure 1A flowchart illustrating a preferred embodiment of the vehicle map information processing method of the present invention is provided. The vehicle map information processing method is applied to one or more vehicles, each of which includes a controller capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions. The vehicle hardware also includes, but is not limited to, a microprocessor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), and embedded devices.

[0047] The network in which the vehicle is located includes but is not limited to the Internet, wide area network, metropolitan area network, local area network, virtual private network (VPN), etc.

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0049] See also Figure 1 FIG. 1 is a flow chart of a vehicle map information processing method according to a specific embodiment, the method comprising:

[0050] S101: Obtain current vehicle map information;

[0051] Here, after the vehicle is powered on, the PCU power domain controller obtains the current vehicle map information. The vehicle can pre-store map information and has positioning capabilities. After the vehicle is powered on, it automatically obtains the current vehicle map information.

[0052] S102: Real-time collection of current vehicle operating parameter information;

[0053] After the vehicle is running, the PCU power domain controller can collect the current vehicle operating parameter information in real time; the vehicle operating parameter information may include but is not limited to vehicle speed, engine status, vehicle power battery status information, vehicle torque information, etc.

[0054] S103: Determine the validity flg_valid of the currently received data based on the vehicle map information and the vehicle driving information;

[0055] S104: constructing a data sequence offset_pro_old[num_max] based on the path position and a data sequence slope_pro_old[n] based on the slope information according to the vehicle map information distribution, wherein num_max is a constant value fixed according to the map characteristics.

[0056] S105: According to the vehicle map information update frequency, the path position data sequence offset_pro[num_max] and the vehicle position point information offset are updated in real time, and the slope information sequence slope_pro[n] and the vehicle position point slope information slope are updated in real time, where num_max is a constant fixed according to the map characteristics.

[0057] S106: According to the vehicle map information update frequency, the position idx_str of the current vehicle position information in the data sequence is updated in real time, and useless sequence data is eliminated.

[0058] S107: Calculate the number of valid data Num_entry in the current data sequence in real time according to the vehicle map information update frequency, and rearrange the data sequence.

[0059] S108: According to the current vehicle driving parameter information and the vehicle position point information Pos_offset, based on the Kalman filter algorithm, the actual displacement information Pos_offset_act and the slope information slope_act of the current vehicle position point are obtained.

[0060] As a further refinement and expansion of the aforementioned specific implementation, and to fully illustrate the specific implementation process of this embodiment, specific vehicle map information processing method steps are provided. Specifically, data processing and calculation begins when the vehicle is initially powered on, and the map box begins to obtain the current position message POS and the forward position message POS_Prof, and performs data calculations.

[0061] The current position message POS mainly includes but is not limited to the slope information of the current point, lane information, confidence, position sending delay information, position possibility information, current path index information, message heartbeat value, current position map offset value, and message type.

[0062] The front position message POS_Prof mainly includes but is not limited to front position feature 1 (representing the position after the front position is added to the interval distance), front position feature 0 (representing the front position), interval distance (feature 0 and feature 1 position points), accuracy, content update flag, message retransmission flag, control point, feature value type, front path index information, message heartbeat value, front road map offset, and message type.

[0063] It should be further explained that, as a refinement and extension of the specific implementation of the embodiment of the present invention, in order to fully illustrate the specific implementation process in this embodiment, the provided method also includes the following steps:

[0064] The position message POS timeout time ti_Pos is calculated in real time according to the current message receiving cycle.

[0065] When the current position path index information path_idx is greater than 7, the timeout time ti_Pos is less than the set value, and the vehicle speed is greater than 0, and the received current position information offset is a valid value, the data validity flag flg_valid is 1.

[0066] When data validity flg_valid is 1, based on the received forward path index information, if the forward path index value path_pre_idx_ is less than 8, the forward path update flag path_flg_new is 1. When the forward path index value path_pre_idx is greater than or equal to 8, if the forward new path index value and the forward old path index value are detected to be inconsistent, the forward path update flag path_flg_new is 1. If the forward new path index value and the forward old path index value are detected to be consistent, the forward path update flag path_flg_new is 0.

[0067] When the forward path update flag path_flg_new is 0, if the displacement value of the forward position point is detected to be inconsistent with the old displacement value of the forward position point, the forward distance point update flag flg_new_pro is 1, otherwise it is 0. If the displacement value of the forward position point is detected to be less than the old displacement value of the forward position point, the cycle number Prof_Off_Cyc is incremented by 1, otherwise it remains unchanged. If the displacement value of the current position point is detected to be inconsistent with the old displacement value of the current position point, the current position point update flag flg_new_pos is 1, if the displacement value of the current position point is detected to be less than the old displacement value of the current position point, the cycle number Pos_Off_Cyc is incremented by 1.

[0068] When the forward path update flag, path_flg_new, is 0, the current forward position point displacement information, offset_pro, is accumulated using the number of cycles Prof_Off_Cyc and the maximum length of the map message position information, off_max, to calculate the cumulative forward position displacement Prof_Offset. The current forward position point displacement information, offset, is accumulated using the number of cycles Pos_Off_Cyc and the maximum length of the map message position information, off_max, to calculate the cumulative forward position displacement Pos_offset. The current position slope information in the POS message is converted into usable current slope information, slope.

[0069] When the front distance point update flag flg_new_pro is 1, if the distance dist value between the front position points is 0, the number of valid sequences is accumulated by 1 each time. If the distance dist value between the front position points is not 0, the number of valid sequences is accumulated by 2 each time. When the total number of valid sequences is less than or equal to num_max, the accumulated value is taken. If it is greater than num_max, num_max is taken as the valid number of sequences n_all. If the front distance point update flag flg_new_pro is 0, the number of sequences is num_entry.

[0070] When the forward distance point update flag path_flg_new is 1 or the initial index number update flag is 1, the offset_pro[num_max] displacement sequence and slope_pro[num_max] slope sequence of the entire road segment are updated. The update process may include the following steps:

[0071] When the forward position point message type is 3 or 4, and the number of valid entries n_all is less than 2, the forward position characteristic 0 message value is used as the new valid sequence input value for slope_pro[num_max], and Pos_offset is used as the new valid sequence input value for offset_pro[num_max]. For sequence inputs greater than 2 and less than num_max, all are filled with invalid values. When the number of valid entries n_all is greater than or equal to 2, if the interval distance dist value is 0, then during the next cycle update, the forward position characteristic 0 message value is used as the new valid sequence input value for slope_pro[num_max], and Pos_offset is used as the new valid sequence input value for offset_pro[num_max]. For sequence inputs greater than n_all and less than num_max, all are filled with invalid values. If the interval distance dist value is not 0, then in the next cycle update, the front position characteristic 0 message value and the front position characteristic 1 message value are taken as the new valid sequence input values ​​of slope_pro[num_max] respectively, and Prof_Offset and Prof_Offset+dist are taken as the new valid sequence input values ​​of offset_pro[num_max]. For sequence inputs greater than n_all and less than num_max, all are filled with invalid values. For sequence values ​​less than n_all, all are replaced with the old values ​​offset_pro_old[num_max] and slope_pro_old[num_max].

[0072] When the current position point update flag flg_new_pos is 1, the arrangement sequence segment idx_strt of the current position displacement point in the sequence offset_pro[num_max] is determined. If it is not in the first sequence segment, the sequence values ​​​​that are all less than Pos_Offset are removed from the sequence, and only the sequence segment that just makes Pos_Offset fall in it is retained as the first segment. At the same time, the number of valid data num_entry is updated to num_entry-idx_strt.

[0073] Clear idx_strt, shift and rearrange the offset_pro[num_max] and slope_pro[num_max] data sequences, assign the first bit to the original sequence value corresponding to the idx_strt sequence number, assign the number of assigned sequences to num_entry, assign invalid values ​​to the parts exceeding num_entry, and assign 0 to idx_strt after the assignment is completed.

[0074] Based on the vehicle speed information, the current position displacement information Pos_offset, the current position slope information slope, and the current path information, the current actual displacement position information Pos_offset_act and the current position slope information slope_act are calculated through the Kalman filter algorithm.

[0075] Based on the above method, when the vehicle is driving, the vehicle map information acquisition unit obtains the road information ahead, the vehicle map information receiving unit receives the processed message, and the vehicle map information processing unit processes the data according to the vehicle map information processing method. Finally, a road network data sequence that meets the requirements of the global algorithm can be obtained, which can meet the application of the PCU advanced algorithm and ultimately improve the economy of the entire vehicle.

[0076] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0077] The following is an embodiment of the vehicle map information processing system provided by the embodiments of the present disclosure. This system and the vehicle map information processing methods of the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiments of the vehicle map information processing system, please refer to the embodiments of the above-mentioned vehicle map information processing method.

[0078] like Figure 2 As shown, the system includes: the system includes: a vehicle map information acquisition unit, a vehicle information collection unit, a validity determination unit, a sequence construction unit, a data sequence update unit, a data elimination unit, a data sequence arrangement unit and a vehicle map information processing unit;

[0079] The vehicle map information acquisition unit is used to obtain current vehicle map information;

[0080] The vehicle information collection unit is used to collect the current vehicle operating parameter information in real time;

[0081] The validity determination unit is used to determine the validity of the currently received data based on the vehicle map information and the current vehicle operation parameter information;

[0082] The sequence construction unit constructs a data sequence based on the path position and a data sequence based on the slope information based on the vehicle map information distribution;

[0083] The data sequence updating unit is used to update the data sequence of the path position and the vehicle position point information in real time according to the vehicle map information update frequency, and to update the data sequence of the slope information and the vehicle position point slope information in real time;

[0084] The data elimination unit is used to update the position of the current vehicle position information in the data sequence in real time according to the vehicle map information update frequency, and eliminate useless sequence data;

[0085] The data sequence arrangement unit is used to calculate the number of valid data in the current data sequence in real time according to the vehicle map information update frequency, and rearrange the data sequence;

[0086] The vehicle map information processing unit is used to obtain the real displacement information and slope information of the current vehicle position point based on the current vehicle driving parameter information and vehicle position point information in combination with the Kalman filter algorithm.

[0087] The units and algorithmic steps of each example described in the embodiments disclosed in the vehicle map information processing method provided by the present invention can be implemented using electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the above description generally describes the components and steps of each example according to their functionality. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Professionals may use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of the present invention.

[0088] The vehicle map information processing method provided by the present invention incorporates the units and algorithmic steps of each example described in the embodiments disclosed herein and can be implemented using electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described above by function. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of the present invention.

[0089] Those skilled in the art will appreciate that various aspects of the vehicle map information processing method provided by the present invention can be implemented as a system, method, or program product. Therefore, various aspects of the present disclosure can be implemented in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits," "modules," or "systems."

[0090] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle map information processing method, characterized in that: Methods include: S101: Obtain current vehicle map information; S102: Real-time collection of current vehicle operating parameter information; S103: Determine the validity of the currently received data based on the vehicle map information and the current vehicle operating parameter information; S104: constructing a data sequence based on the path position and a data sequence based on the slope information based on the vehicle map information distribution; S105: updating the data sequence of the path position and the vehicle location point information in real time according to the vehicle map information update frequency, and updating the data sequence of the slope information and the vehicle location point slope information in real time; S106: updating the position of the current vehicle position information in the data sequence in real time according to the vehicle map information update frequency, and eliminating useless sequence data; S107: Calculate the number of valid data in the current data sequence in real time according to the vehicle map information update frequency, and rearrange the data sequence; S108: According to the current vehicle driving parameter information and vehicle position information, combined with the Kalman filter algorithm, the real displacement information and slope information of the current vehicle position are obtained.

2. The vehicle map information processing method according to claim 1, characterized in that: S101 also includes: after the vehicle is powered on for the first time, establishing a communication connection with the map box, receiving the corresponding current position message and the front position message returned by the map box, and parsing the current vehicle map information.

3. The vehicle map information processing method according to claim 2, characterized in that: The current location message includes: slope information of the current point, lane information, confidence, location transmission delay information, location possibility information, current path index information, message heartbeat value, current location map offset value and message type.

4. The vehicle map information processing method according to claim 2, characterized in that: The forward position message includes: forward position characteristic 1, forward position characteristic 0, interval distance, accuracy, content update flag, message retransmission flag, control point, characteristic value type, forward path index information, message heartbeat value, forward road map offset, and message type; The front position characteristic 1 represents the front position plus the interval distance, and the front position characteristic 0 represents the front position.

5. The vehicle map information processing method according to claim 4, characterized in that: In the method, if it is determined that the current location path index information is greater than the first preset index value, the timeout period is less than the set period, and the vehicle speed is greater than 0, and the received current location information is a valid value, then the obtained current vehicle map information validity flag is 1; When the data validity is 1, according to the received forward position path index information, when the forward position path index value is less than the second preset index value, the forward position path update flag is 1; When the forward path index value is greater than or equal to the second preset index value and it is detected that the forward new path index value is inconsistent with the forward old path index value, the forward position path update flag is 1; If it is detected that the index value of the new path ahead is consistent with the index value of the old path ahead, the flag of the updated position of the path ahead is 0.

6. The vehicle map information processing method according to claim 5, characterized in that: When the front position path update flag is 0, if it is detected that the displacement value of the front position point is inconsistent with the old displacement value of the front position point, the front distance point update flag is 1, otherwise it is 0; If the displacement value of the preceding position point is detected to be less than the old displacement value of the preceding position point, the number of cycles will be increased by 1, otherwise it will remain unchanged; If it is detected that the displacement value of the current position point is inconsistent with the old displacement value of the current position point, the update flag of the current position point is 1; If it is detected that the displacement value of the current position point is less than the old displacement value of the current position point, the number of cycles will be increased by 1.

7. The vehicle map information processing method according to claim 6, characterized in that: In the method, when the forward position path update flag is 0, the displacement information of the current forward position point is accumulated using the cycle number and the longest representation length of the map message position information to calculate the cumulative displacement of the forward position; the displacement information of the current forward position point is accumulated using the cycle number and the longest representation length of the map message position information to calculate the cumulative displacement of the current position; The current position slope information in the POS message is then converted into available current slope information.

8. The vehicle map information processing method according to claim 7, characterized in that: In the method, when the front distance point update flag is 1, if the distance value between the front position points is 0, the number of valid sequences is accumulated by 1 each time; if the distance value between the front position points is not 0, the number of valid sequences is accumulated by 2 each time; when the total number of valid sequences is less than or equal to num_max, the accumulated value is taken; if it is greater than num_max, num_max is taken as the valid number of sequences; if the front distance point update flag is 0, the number of sequences is num_entry.

9. A vehicle map information processing system, characterized in that: The system adopts the vehicle map information processing method according to any one of claims 1 to 8; The system includes: a vehicle map information acquisition unit, a vehicle information collection unit, a validity determination unit, a sequence construction unit, a data sequence update unit, a data elimination unit, a data sequence arrangement unit, and a vehicle map information processing unit; The vehicle map information acquisition unit is used to obtain current vehicle map information; The vehicle information collection unit is used to collect the current vehicle operating parameter information in real time; The validity determination unit is used to determine the validity of the currently received data based on the vehicle map information and the current vehicle operation parameter information; The sequence construction unit constructs a data sequence based on the path position and a data sequence based on the slope information based on the vehicle map information distribution; The data sequence updating unit is used to update the data sequence of the path position and the vehicle position point information in real time according to the vehicle map information update frequency, and to update the data sequence of the slope information and the vehicle position point slope information in real time; The data elimination unit is used to update the position of the current vehicle position information in the data sequence in real time according to the vehicle map information update frequency, and eliminate useless sequence data; The data sequence arrangement unit is used to calculate the number of valid data in the current data sequence in real time according to the vehicle map information update frequency, and rearrange the data sequence; The vehicle map information processing unit is used to obtain the real displacement information and slope information of the current vehicle position point based on the current vehicle driving parameter information and vehicle position point information in combination with the Kalman filter algorithm.

10. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the vehicle map information processing method according to any one of claims 1 to 8 are implemented.

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