Vehicle road network information construction method and vehicle driving prompting method

Abstract

The invention discloses a road network information construction method of a vehicle and a driving prompting method of the vehicle. The method comprises the following steps: acquiring current position information of a vehicle and a target road in front of the current driving of the vehicle; local map information, corresponding to the current preset range, of the vehicle is called according to the current position information, and the local map information is used for representing road information of related roads in the current preset range; constructing a tree structure of related roads in a current preset range and a linked list structure of a target road based on the local map information; road network information of the vehicle is constructed based on the tree structure and the linked list structure, and the road network information is used for prompting the road state for the vehicle in the vehicle driving process. According to the invention, the technical problem of high difficulty in constructing vehicle road network information is solved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving, and in particular to a method for constructing road network information of a vehicle and a method for providing driving prompts for the vehicle. Background Art

[0002] Most in-vehicle navigation systems provide drivers with information on the current navigation route, but since the navigation system only provides information on the current navigation route, drivers cannot understand the overall road network and cannot make overall plans. As a result, drivers cannot perceive changes in road conditions in a timely manner in scenarios such as switching between main and auxiliary roads and changes in lane width, and are unable to make driving decisions as soon as possible, reducing driving safety.

[0003] For the overall road network situation, the Electronic Horizon Provider (EHP) can output a local map of the vehicle's surroundings based on the current vehicle position and provide road traffic information beyond the line of sight. However, the road traffic information provided by EHP has multiple data types, and there are differences in the time it takes to receive different types of data from EHP. It is difficult to reasonably organize and associate different types of data while ensuring the consistency and synchronization of different types of data. Therefore, it is difficult to integrate the road traffic information provided by EHP into road network information that can be used by users.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a method for constructing a vehicle's road network information and a method for providing driving prompts for the vehicle, so as to at least solve the technical problem that constructing the vehicle's road network information is difficult.

[0006] According to one aspect of an embodiment of the present invention, a method for constructing road network information of a vehicle is provided, comprising: obtaining current position information of the vehicle and a target road currently ahead of the vehicle; retrieving local map information corresponding to a current preset range of the vehicle according to the current position information, wherein the local map information is used to represent road information of roads involved in the current preset range; constructing a tree structure of roads involved in the current preset range and a linked list structure of target roads based on the local map information; constructing road network information of the vehicle based on the tree structure and the linked list structure, wherein the road network information is used to prompt the vehicle with road status during driving.

[0007] Optionally, the tree structure includes multiple first nodes and the linked list structure includes multiple second nodes; the multiple first nodes are used to represent multiple roads involved in the current preset range, and the edges between the multiple first nodes are used to represent intersections between the multiple roads; the multiple second nodes are used to represent multiple road sections involved in the target road, and the edges between the multiple second nodes are used to represent intersections between the multiple road sections.

[0008] Optionally, a tree structure of roads involved in a current preset range and a linked list structure of target roads are constructed based on local map information, including: determining road turning information, road attribute information and road geometry information of roads involved in the current preset range based on the local map information, wherein the road turning information is used to represent parameter information of the curve on the road, the road attribute information is used to represent type parameter information of the road, and the road geometry information is used to represent geometry parameter information of the road; constructing a tree structure based on the road turning information and the roads involved in the current preset range; and constructing a linked list structure based on the road attribute information and the road geometry information.

[0009] Optionally, a tree structure is constructed based on the road turning information and the roads involved in the current preset range, including: determining a first forked road directly connected to the target road and a second forked road directly connected to the first forked road based on the road turning information and the roads involved in the current preset range; and constructing a tree structure with the target road as the root node, the first forked road as the child node, and the second forked road as the grandchild node.

[0010] Optionally, a linked list structure is constructed based on road attribute information and road geometry information, including: dividing the sections involved in the target road based on the road attribute information and road geometry information to obtain multiple sections; determining the section where the vehicle is currently located from the multiple sections as the first section based on the current position information, and the last section as the second section, wherein the last section is a section determined from the multiple sections based on the driving direction of the vehicle; constructing a linked list structure with the first section as the head node, the second section as the tail node, and the section between the first section and the second section in the multiple sections as the intermediate node.

[0011] Optionally, the method further includes: during the driving process of the vehicle, retrieving updated local map information within a preset update range corresponding to the vehicle according to the updated position information of the vehicle; and updating the tree structure and the linked list structure based on the updated local map information.

[0012] Optionally, the tree structure and the linked list structure are updated based on the updated local map information, including: obtaining the change status of the newly added forked road and the target road in the updated local map information, wherein the change status is used to indicate whether the target road currently traveled by the vehicle has changed; updating the tree structure according to the connection relationship and the change status between the newly added forked road and the target road; and updating the linked list structure based on the change status.

[0013] Optionally, the tree structure is updated based on the connection relationship between the newly added forked road and the target road and the change status, including: if the change status is that the target road currently traveled by the vehicle has not changed, the tree structure is updated based on the connection relationship between the newly added forked road and the target road; if the change status is that the target road currently traveled by the vehicle has changed, the tree structure is updated based on the connection relationship between the newly added forked road and the changed target road.

[0014] Optionally, the tree structure is updated based on the connection relationship between the newly added forked road and the target road, including: if the newly added forked road is directly connected to the target road, the newly added forked road is connected as a new child node after the root node in the tree structure; if the newly added forked road is not directly connected to the target road, the first preset forked road adjacent to the newly added forked road in the tree structure is determined, and the newly added forked road is connected as a new grandchild node to the node corresponding to the first preset forked road.

[0015] Optionally, the tree structure is updated based on the connection relationship between the newly added forked road and the changed target road, including: based on the connection relationship between the newly added forked road and the changed target road, adding node information of the newly added forked road to the tree structure to obtain an initial tree structure; and pruning the initial tree structure using a depth-first search algorithm.

[0016] Optionally, based on the connection relationship between the newly added forked road and the changed target road, the node information of the newly added forked road is added to the tree structure to obtain an initial tree structure, including: if the newly added forked road is directly connected to the changed target road, the changed target road is used as the new root node, and the newly added forked road is used as a new child node connected to the new root node to obtain the initial tree structure; if the newly added forked road is not directly connected to the changed target road, a second preset forked road adjacent to the newly added forked road is determined in the tree structure, and the newly added forked road is used as a new grandchild node connected to the node corresponding to the second preset forked road to obtain the initial tree structure.

[0017] Optionally, the initial tree structure is pruned using a depth-first search algorithm, including: using a depth-first search algorithm to determine the root node corresponding to the target road in the initial tree structure and the first child node connected to the root node, wherein the first child node is the other node among the child nodes connected to the root node except the child node corresponding to the changed target road; deleting the root node and the first child node in the initial tree structure to prune the initial tree structure.

[0018] Optionally, updating the linked list structure based on the change state includes: adjusting the node information of the linked list structure based on the change state to obtain an initial linked list structure; and pruning the initial linked list structure using a double pointer algorithm.

[0019] Optionally, the node information of the linked list structure is adjusted based on the change state to obtain an initial linked list structure, including: if the change state is that the target road currently traveled by the vehicle has not changed, based on the updated position information, determine that the current section of the vehicle is a third section from multiple sections, and use the third section as the head node, the second section as the tail node, and the section between the third section and the second section of the multiple sections as the intermediate node to adjust the node information of the linked list structure to obtain the initial linked list structure; if the change state is that the target road currently traveled by the vehicle has changed, adjust the node information of the linked list structure according to the updated road attribute information and the updated road geometry information of the changed target road to obtain the initial linked list structure.

[0020] Optionally, the node information of the linked list structure is adjusted according to the updated road attribute information and the updated road geometry information of the changed target road to obtain an initial linked list structure, including: dividing the sections involved in the changed target road based on the updated road attribute information and the updated road geometry information to obtain multiple updated sections; determining the section where the vehicle is currently located from the multiple updated sections as the first updated section based on the current position information, and taking the last section among the multiple updated sections determined based on the driving direction of the vehicle as the second updated section; taking the first updated section as the head node, the second updated section as the tail node, and the updated section between the first updated section and the second updated section among the multiple updated sections as the intermediate node, so as to adjust the node information of the linked list structure to obtain an initial linked list structure.

[0021] Optionally, the initial linked list structure is pruned using a double pointer algorithm, including: using the double pointer algorithm to determine the target road section that the vehicle has traveled in the initial linked list structure; deleting the nodes corresponding to the target road section in the initial linked list structure to prune the initial linked list structure.

[0022] According to another aspect of an embodiment of the present invention, a vehicle road network information construction device is also provided, including: an acquisition module, used to acquire the current position information of the vehicle and the target road currently ahead of the vehicle. A call module, used to call the local map information corresponding to the vehicle within the current preset range according to the current position information, wherein the local map information is used to represent the road information of the roads involved in the current preset range. A first construction module, used to construct a tree structure of the roads involved in the current preset range and a linked list structure of the target roads based on the local map information, wherein different first nodes in the tree structure are used to represent different roads involved in the current preset range, and the edges between different first nodes are used to represent the intersections between different roads, and different second nodes in the linked list structure are used to represent different sections involved in the target road, and the edges between different second nodes are used to represent the intersections between different sections. A second construction module, based on the tree structure and the linked list structure, constructs the vehicle's road network information, wherein the road network information is used to prompt the vehicle with road status during the vehicle's driving.

[0023] According to another aspect of an embodiment of the present invention, a driving prompt device for a vehicle is also provided, including: a determination module, used to determine whether a target road currently ahead of the vehicle satisfies a prompt condition of at least one road state based on the vehicle's road network information during the vehicle's driving, wherein the road network information is obtained according to the above-mentioned vehicle road network information construction method; an output module, used to output prompt information corresponding to the target road state in response to the road network information satisfying the prompt condition of the target road state in at least one road state.

[0024] According to another aspect of an embodiment of the present invention, a driving prompt method for a vehicle is also provided, comprising: during vehicle driving, determining whether a target road currently ahead of the vehicle satisfies a prompt condition of at least one road state based on the vehicle's road network information, wherein the road network information is obtained according to the above-mentioned vehicle road network information construction method; in response to the road network information satisfying the prompt condition of the target road state in at least one road state, outputting prompt information corresponding to the target road state.

[0025] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, which includes a stored executable program, wherein when the executable program is running, the device where the storage medium is located controls the above-mentioned vehicle road network information construction method and vehicle driving prompt method.

[0026] According to another aspect of an embodiment of the present invention, a computer program product is also provided, including a computer program, which implements the above-mentioned vehicle road network information construction method and vehicle driving prompt method when executed by a processor.

[0027] In an embodiment of the present invention, the current position information of the vehicle and the target road in front of the vehicle are obtained; the local map information of the vehicle corresponding to the current preset range is retrieved according to the current position information; a tree structure of the roads involved in the current preset range and a linked list structure of the target roads are constructed based on the local map information; the road network information of the vehicle is constructed based on the tree structure and the linked list structure. It is easy to notice that the tree structure of the roads involved in the preset range is constructed based on the local map information, and the tree structure can be used to unify different types of local map information, and save the roads and the connection relationship between the roads in the preset range in front of the vehicle. The linked list structure of the target roads is constructed based on the local map information, so that the linked list structure can save the specific information of each road in the preset range in front of the vehicle. The road network information in the preset range in front of the vehicle is constructed based on the above-mentioned tree structure and linked list structure, and the road network conditions in the front driving range can be saved and promptly communicated to the driver, thereby achieving the technical effect of constructing vehicle road network information that can be used by the driver, and then solving the technical problem of the difficulty of constructing vehicle road network information. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0029] Figure 1 is a flow chart of a method for constructing road network information of a vehicle according to an embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of an optional tree structure according to an embodiment of the present invention;

[0031] Figure 3 is a schematic diagram of an optional linked list structure according to an embodiment of the present invention;

[0032] Figure 4 is a flow chart of a driving prompt method for a vehicle according to an embodiment of the present invention;

[0033] Figure 5 is a schematic diagram of a vehicle road network information construction device according to an embodiment of the present invention;

[0034] Figure 6 2 is a schematic diagram of a driving prompt device for a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 creative work should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] Example 1

[0038] According to an embodiment of the present invention, an embodiment of a method for constructing road network information of a vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0039] Figure 1 is a flow chart of a method for constructing road network information of a vehicle according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0040] Step S102, obtaining the current position information of the vehicle and the target road ahead of the vehicle.

[0041] The current vehicle position in the above steps is the current position of the vehicle during driving.

[0042] The target road in the above steps is the road on which the vehicle is currently traveling, and the target road ahead of the vehicle is the target road starting from the current position of the vehicle.

[0043] In an optional embodiment, the current position information of the vehicle and the road the vehicle is currently traveling on can be obtained through the Global Positioning System (GPS) technology. Then, the target road ahead of the vehicle can be determined based on the road the vehicle is currently traveling on and the current position of the vehicle on the road.

[0044] In another optional embodiment, V2 data may be obtained from the EHP, and the current position information of the vehicle and the target road ahead of the vehicle may be determined through the data in the V2 data whose field name is POSITION.

[0045] Step S104, retrieving local map information corresponding to the vehicle within a current preset range according to the current position information, wherein the local map information is used to represent road information of roads involved in the current preset range.

[0046] The preset range in the above steps is a pre-set road range, which can be determined according to the current position information. The preset range can be preset according to the actual application situation. The specific preset range is not limited here, but the preset range should not deviate from the current position of the vehicle.

[0047] The local map information in the above steps may include the roads involved in the current preset range, as well as road turn information, road attribute information, road geometry information, road traffic light information, road connection relationships, etc., but is not limited to these.

[0048] In an optional embodiment, a road area in front of the vehicle connected to the current position can be determined as the preset range according to the current position information, or a road area around the current position of the vehicle can be determined as the preset range. In short, the preset range should include the area in front of the vehicle and does not deviate from the current position of the vehicle.

[0049] According to the preset range, all roads and road connection relationships within the preset range can be obtained through the interface provided by the map service provider, and road turning information, road attribute information, road collection information, etc. can be obtained, thereby completing the retrieval of local map information within the preset range.

[0050] In another optional embodiment, the EHP can output a local map of the vehicle's surroundings based on the current vehicle position, and provide a product or service of beyond-visual-range road traffic information. Therefore, all roads within the current preset range corresponding to the vehicle, as well as road attribute information such as road curvature, road slope, lane line shape, lane attributes, and road traffic light information such as traffic light position and traffic light outline can be retrieved from the EHP based on the current position information, and the EHP transmits the local map information to the vehicle through the vehicle communication network in accordance with the established protocol, such as the Advanced Driver Assistance Systems Interface Specification Version 2 (ADASIS V2) protocol, wherein the vehicle communication network can be an in-vehicle Ethernet or a controller area network (CAN) bus, but is not limited thereto. The local map information transmitted to the vehicle by the EHP through the ADASIS V2 protocol is in the form of V2 data, and the V2 data is also the data transmitted through the ADASIS V2 protocol.

[0051] Step S106: constructing a tree structure of roads involved in the current preset range and a linked list structure of target roads based on the local map information.

[0052] The tree structure in the above steps is a hierarchical data structure, consisting of nodes and edges. The tree structure contains a root node, under which there can be multiple child nodes, each child node can have its own child nodes, and so on to form a hierarchical structure. The tree structure is used to store multiple roads within the current preset range, and the tree structure can represent the connection relationship between multiple roads. The linked list structure in the above steps is a linear data structure, consisting of a series of nodes, each node containing data and a pointer to the next node. The linked list structure is used to store attribute information of different sections involved in the target road. In an optional embodiment, local map information in the form of V2 data is obtained from EHP. V2 data has multiple types. Due to transmission through Ethernet, the on-board application can only receive one type of data at a certain time. Different types of V2 data are sent one after another, so a suitable data structure and algorithm are required to convert and process the V2 data to integrate different types of V2 data together.

[0053] A tree structure is selected as the data structure for integrating V2 data, and a tree structure of the roads involved in the current preset range is constructed based on the local map information in the form of V2 data. Each data in the V2 data corresponds to a road code, which is also the unique identifier of the road. Therefore, a multi-branch tree data structure can be constructed using the road as a node. The target road where the current vehicle is located is used as the root node, the forked roads connected to the root node are used as child nodes, and the forked roads connected to the child nodes are used as grandchild nodes to construct a tree structure.

[0054] After constructing the tree-structured road network structure, it is necessary to describe the attributes of different sections of the target road. The target road can be divided into different sections according to the local map information, and a linked list structure can be constructed according to the attributes of the road in the local map information.

[0055] Step S108, constructing the road network information of the vehicle based on the tree structure and the linked list structure, wherein the road network information is used to prompt the vehicle of the road status during the driving process of the vehicle.

[0056] The road network information in the above steps includes the road network structure and the attributes of the target road. The tree structure can represent the road network structure, and the linked list structure can store the attributes of the target road.

[0057] The road status in the above steps may include whether the current road has a smaller intersection, whether the current road has a bend, whether there is congestion ahead of the current road, whether a traffic accident has occurred ahead of the current road, and the impact range of the traffic accident, etc., but the content included in the road status may not be limited to this.

[0058] In an optional embodiment, the constructed tree structure and linked list structure are combined to obtain the road network information of the vehicle. The road network information of the vehicle can be applied in some driving scenarios, one of which can be a scenario of prompting the road status for a moving vehicle. For example, when the target road is a ramp, the forked road of the target road can be determined in advance according to the road network structure in the road network information. When the forked road of the target road has a ramp that can continue to drive and a main road, the driver can be prompted in advance that the intersection ahead can merge into the main road, and the driver is prompted with the distance between the current position and the intersection ahead to prevent the driver from missing the road conditions that merge into the main road and to prompt the driving experience; or, the curve information of the target road can be obtained from the linked list structure, and the driver can be reminded when the vehicle is about to pass a large curvature curve to improve driving safety.

[0059] In addition, another application scenario of road network information can be the scenario of driving route planning. For example, based on the attributes of the target road in the road network information, it can be determined whether there are many large curvature curves in the target road, and whether to change to other lanes. If it is necessary to change to other vehicles, the available lanes can be determined based on the road network structure in the road network information, and the path planning can be made for the driver to avoid a large number of large curvature curves, so as to achieve the purpose of improving driving safety. However, the application scenarios of road network information are not limited to this.

[0060] In another optional embodiment, the vehicle starts at the origin, and at the start, collects local map information within the preset range ahead, and constructs a tree structure of the roads involved in the preset range ahead and a linked list structure of the target roads based on the local map information while driving, and constructs road network information based on the tree structure and the linked list structure. When the vehicle travels a certain distance but has not yet traveled out of the preset range, the road network information is constructed. At this time, the vehicle can know the road status ahead in advance and make driving decisions in advance based on the road status. When the vehicle travels to the edge of the preset range, the local map information within the preset range ahead can be collected again to update the road network information, so that the vehicle can always know the road status ahead in advance while driving forward.

[0061] Exemplarily, the vehicle starts at the origin, and in the process of driving forward, local map information within 200 meters ahead is collected according to the current position information, and while driving, a tree structure of the roads involved within 200 meters from the origin and a linked list structure of the target road are constructed based on the local map information within 200 meters ahead, and road network information is constructed based on the tree structure and the linked list structure. After the vehicle travels 100 meters from the origin, the road network information within 200 meters ahead of the origin is generated, and the vehicle can know the road status 200 meters ahead of the origin in advance at 100 meters ahead of the origin, and make driving decisions in advance according to the road status. When the vehicle travels to 200 meters ahead of the origin, the local map information from 200 meters ahead of the origin to 400 meters ahead of the origin can be obtained again, and the road network information can be reconstructed to update the original road network information. It should be noted that the specific values ​​involved in the above examples are only examples, and the specific values ​​involved in actual applications may not be limited to this.

[0062] In an embodiment of the present invention, the current position information of the vehicle and the target road in front of the vehicle are obtained; the local map information of the vehicle corresponding to the current preset range is retrieved according to the current position information; a tree structure of the roads involved in the current preset range and a linked list structure of the target roads are constructed based on the local map information; the road network information of the vehicle is constructed based on the tree structure and the linked list structure. It is easy to notice that the tree structure of the roads involved in the preset range is constructed based on the local map information, so that the tree structure can save the roads and the connection relationship between the roads in the preset range in front of the vehicle, and the linked list structure of the target roads is constructed based on the local map information, so that the linked list structure can save the specific information of each road in the preset range in front of the vehicle. The road network information in the preset range in front of the vehicle is constructed based on the above-mentioned tree structure and linked list structure, which can save and promptly convey the road network conditions in the front driving range to the driver, thereby achieving the technical effect of constructing vehicle road network information that can be used by the driver, and then solving the technical problem of the difficulty of constructing vehicle road network information.

[0063] Optionally, the tree structure includes multiple first nodes and the linked list structure includes multiple second nodes; the multiple first nodes are used to represent multiple roads involved in the current preset range, and the edges between the multiple first nodes are used to represent intersections between the multiple roads; the multiple second nodes are used to represent multiple road sections involved in the target road, and the edges between the multiple second nodes are used to represent intersections between the multiple road sections.

[0064] The first node in the above steps is a node in the tree structure, and each first node may represent a road within the current preset range.

[0065] The second node in the above step is a node in the linked list, and each second node can represent a section in the target road. The section can be obtained by dividing the target road.

[0066] In an optional embodiment, the root node, child nodes, and grandchild nodes in the tree structure can all be regarded as the first nodes in the tree structure, wherein the edges between different first nodes are used to represent intersections between different roads, that is, the two roads corresponding to the two first nodes connected by the edge are connected, so they have an intersection.

[0067] Different second nodes in the linked list structure are used to represent different road sections involved in the target road, and the second nodes are used to store the attributes of the road sections corresponding to the second nodes, so that the attributes of the different road sections involved in the target road are stored in the linked list structure.

[0068] Optionally, a tree structure of roads involved in a current preset range and a linked list structure of target roads are constructed based on local map information, including: determining road turning information, road attribute information and road geometry information of roads involved in the current preset range based on the local map information, wherein the road turning information is used to represent parameter information of the curve on the road, the road attribute information is used to represent type parameter information of the road, and the road geometry information is used to represent geometry parameter information of the road; constructing a tree structure based on the road turning information and the roads involved in the current preset range; and constructing a linked list structure based on the road attribute information and the road geometry information.

[0069] The road turning information in the above steps can be information used to describe the turning point of the road, and may include but is not limited to the path number, the sub-path number, the offset of the sub-path starting point on the parent path, the turning angle, the probability of being an intersection, the road type and composition, the number of forward and reverse lanes, the turning point, whether it is a complex intersection, etc., wherein the turning angle is the angle between the road and the next section of the road, and the turning point is the point on the road that can turn to another road.

[0070] The road attribute information in the above steps is information describing a section of road, focusing on describing the basic attributes of the road, including but not limited to the path number, the offset of the starting point of the section, the highway grade, type, road composition, speed limit, number of lanes, direction, special signs, etc., among which the types include main roads, roundabouts, parking lots, etc., the road composition includes highways, single lanes, double lanes, etc., and the special signs include tunnel signs, bridge signs, fork road signs, emergency lane signs, service area signs and complex intersection signs, etc.

[0071] The road geometry information in the above steps also describes a section of road, focusing on describing the geometric features of the road, including but not limited to the path number, the offset of the starting point of the section, the contour type, the contour sequence points, the curvature, the longitude and latitude, etc. Among them, the contour sequence points are used for the interpolation calculation of the position within this section, and the curvature is represented by the high-order difference of the curvature.

[0072] In an optional embodiment, the road turning information, road attribute information and road geometry information of the roads involved in the current preset range are determined based on the local map information. When the local map information is local map information in the form of V2 data obtained from the EHP, the road turning information, road attribute information and road geometry information can be extracted from the V2 data. Specifically, STUB (road turning information) data can be extracted from the V2 data as the road turning information, SEGMENT (road attribute information) data can be extracted as the road attribute information, and PROFILE (road geometry information) data can be extracted as the road geometry information, wherein STUB, SEGMENT and PROFILE are all field names in the V2 data.

[0073] Determine all the roads involved in the current preset range, and determine whether there is a fork in the road through the road turning information. Then take the target road where the vehicle is located as the root node, the fork as the child node, and then determine whether there is a fork in the fork as the child node based on the road turning information. Take the fork of the child node as the grandchild node, and so on to build a tree structure. The nodes in the tree structure represent the roads involved in the current preset range, and the edges in the tree structure represent the intersections between roads.

[0074] The road turning information and road attribute information of the target road where the vehicle is located are extracted from the local map information, and two one-way linked list structures are designed to store the road turning information of different sections of the target road and the road attribute information of different sections of the target road respectively, thereby obtaining a linked list structure for storing the attributes of the target road.

[0075] Optionally, a tree structure is constructed based on the road turning information and the roads involved in the current preset range, including: determining a first forked road directly connected to the target road and a second forked road directly connected to the first forked road based on the road turning information and the roads involved in the current preset range; and constructing a tree structure with the target road as the root node, the first forked road as the child node, and the second forked road as the grandchild node.

[0076] The first forked road in the above steps is a forked road directly connected to the target road, corresponding to a child node in the tree structure.

[0077] The second forked road in the above steps is a forked road along the vehicle's driving direction, connected to the first forked road, and corresponds to a grandchild node in the tree structure.

[0078] The root node in the above steps is the top node of the entire tree. The root node has no parent node and only has child nodes. The child node is the direct child node of the root node, that is, the node connected to the root node. The grandchild node is the grandchild node of the root node, that is, the node connected to the child node. The parent node of a node in the tree structure refers to the previous node of the node.

[0079] In an optional embodiment, V2 data, that is, the road number in the local map information, that is, the unique identifier of the road, is extracted, and each road number corresponds to a road within a preset range. The road number of the target road where the vehicle is currently located is used as the root node, and the current position information of the vehicle is stored in the root node. The forked road connected to the target road is determined according to the road turning information, and the forked road connected to the target road is used as the first forked road. The forked road connected to the first forked road is determined according to the turning information of the first forked road, and the forked road of the first forked road is used as the second forked road.

[0080] A tree structure is constructed with the target road as the root node, the first forked road as the child node, and the second forked road as the grandchild node. Figure 2 is a schematic diagram of an optional tree structure according to an embodiment of the present invention, such as Figure 2 As shown, the road number of the target road is used as the root node, the road number of the first forked road is used as the child node, and the road number of the second forked road is used as the grandchild node. One root node connects multiple child nodes, and one child node connects multiple grandchild nodes. Each node also needs to save the position of the current node in the parent node. The constructed tree structure can describe the structure of the road ahead of the vehicle and the road fork information.

[0081] Optionally, a linked list structure is constructed based on road attribute information and road geometry information, including: dividing the sections involved in the target road based on the road attribute information and road geometry information to obtain multiple sections; determining the section where the vehicle is currently located from the multiple sections as the first section based on the current position information, and the last section as the second section, wherein the last section is a section determined from the multiple sections based on the driving direction of the vehicle; constructing a linked list structure with the first section as the head node, the second section as the tail node, and the section between the first section and the second section in the multiple sections as the intermediate node.

[0082] The road segments in the above steps are obtained by dividing the target road. The basis for the division is the road attribute information and the road geometry information. The road segments obtained by dividing the target road have no intersections and can be merged to obtain the target road.

[0083] The first road section in the above steps is the road section of the target road where the vehicle is currently located, and the second road section is the last road section of the target road along the driving direction of the vehicle.

[0084] The head node in the above steps is the first node of the linked list structure. When accessing the linked list structure, we usually start from the head node. The tail node is the last node in the linked list structure, and its pointer points to a null value, indicating the end of the linked list. The middle node is the other node in the linked list structure except the head node and the tail node, and is located in the middle of the linked list structure.

[0085] In an optional embodiment, when analyzing the road attribute information and road geometry information of the target road and dividing the road sections involved in the target road based on the road attribute information and road geometry information, the target road can be divided according to the contour type in the road geometry information, and continuous roads with the same contour type can be divided into one section to obtain multiple sections; the target road can also be divided according to the highway grade in the road attribute information, and continuous roads with the same highway grade can be divided into one section to obtain multiple sections. However, the above division method is only an example, and the actual road section division method may not be limited to this.

[0086] Along the driving direction of the vehicle on the target road, the first road section among the multiple road sections, that is, the road section where the vehicle is currently located, is determined as the first road section, and the last road section among the multiple road sections is determined as the second road section. Considering that the road sections obtained by dividing the target road are all connected end to end, two one-way linked list data structures are designed to describe the road attribute information and road geometry information of each road section in the target road respectively. Figure 3 is a schematic diagram of an optional linked list structure according to an embodiment of the present invention, such as Figure 3 As shown, the first road section is used as the head node of the linked list structure, the second road section is used as the tail node of the linked list structure, and the section between the first road section and the second road section is used as the intermediate node to construct a one-way linked list structure, wherein the number of intermediate nodes is determined by the number of sections in which the target road is divided, and the road attribute information or road geometry information of the section corresponding to the node is stored in each node of the linked list structure, so that the attributes of each section of the target structure are described by the linked list structure.

[0087] Optionally, the method further includes: during the driving process of the vehicle, retrieving updated local map information within a preset update range corresponding to the vehicle according to the updated position information of the vehicle; and updating the tree structure and the linked list structure based on the updated local map information.

[0088] The updated position in the above steps is the current position of the vehicle when the road network information is updated. The road network information is constructed based on the vehicle position, but the vehicle position is constantly changing during driving. After the road network information is determined based on the vehicle position, the vehicle moves to a new position and needs to update the vehicle position to obtain the new road network information. This new position can be used as the updated position information of the vehicle.

[0089] The update preset range in the above steps is a pre-set range, which is obtained based on the update position. The update preset range can be preset according to the actual application situation, and the specific preset range is not limited here, but the update preset range should not be separated from the update position information of the vehicle.

[0090] The updating of the local map information in the above steps is to update the road information of the roads involved in the preset range, and the type of road information included is the same as that of the local map information.

[0091] In an optional embodiment, during the driving process of the vehicle, when the road network information needs to be updated, V2 data can be obtained from the EHP, and the current position information of the vehicle, that is, the updated position information, can be determined through the data in the V2 data whose field name is POSITION (vehicle position information). The updated position information of the vehicle can also be determined from the GPS system, but the method for determining the updated position information of the vehicle may not be limited to this.

[0092] The update preset range is determined according to the updated position information of the vehicle, the V2 data corresponding to the update preset range is obtained from the EHP, and the information with field names of STUB, SEGMENT, and PROFILE are retrieved from the V2 data as road turning information, road attribute information, and road geometry information, respectively, so as to determine the updated local map information within the update preset range.

[0093] Subsequently, based on the update of local map information, the tree structure is updated, new roads are added to the tree structure, the road network structure is expanded, the linked list structure is updated, and the attributes of the new roads are added, thereby achieving the technical effect of expanding the road network information coverage area as the vehicle travels.

[0094] Optionally, the tree structure and the linked list structure are updated based on the updated local map information, including: obtaining the change status of the newly added forked road and the target road in the updated local map information, wherein the change status is used to indicate whether the target road currently traveled by the vehicle has changed; updating the tree structure according to the connection relationship and the change status between the newly added forked road and the target road; and updating the linked list structure based on the change status.

[0095] The newly added forked roads in the above steps are forked roads that are in the process of updating the local map information after the local map information is updated but are not in the tree structure.

[0096] The change status of the target road in the above steps includes whether the target road corresponding to the updated position information is consistent with the target road when the road network information was constructed last time, and the road number of the current target road.

[0097] The connection relationship of the target road in the above steps is to update the connection relationship between multiple roads within a preset range with the target road as the starting point.

[0098] In an optional embodiment, a new target road is determined according to the change state of the target road, and whether the root node of the tree structure needs to be changed is determined according to whether the new target road is consistent with the previous target road. After obtaining updated V2 data from EHP, that is, updating the local map information, it is determined according to the road turning information in the updated local map information whether there is a newly added forked road not included in the tree structure within the update preset range, thereby determining whether to add a new node to the tree structure.

[0099] Determine whether a new linked list structure needs to be created based on the change status. If the target road changes, a new linked list structure is created to store and update the attributes of the roads within the preset range. If the target road does not change, a new linked list structure does not need to be created, but the head node and tail node are adjusted to complete the update of the linked list structure. The above attributes are road attribute information and road geometry information.

[0100] Optionally, the tree structure is updated based on the connection relationship between the newly added forked road and the target road and the change status, including: if the change status is that the target road currently traveled by the vehicle has not changed, the tree structure is updated based on the connection relationship between the newly added forked road and the target road; if the change status is that the target road currently traveled by the vehicle has changed, the tree structure is updated based on the connection relationship between the newly added forked road and the changed target road.

[0101] In an optional embodiment, if the change state is that the target road currently traveled by the vehicle has not changed, the root node of the tree structure does not change. According to the road turning information in the updated local map information, a new forked road that is within the preset update range but not included in the tree structure is determined, a new node is established for the new forked road, and the new node is added to the tree structure according to the connection relationship of the target road.

[0102] If the change state is that the target road that the vehicle is currently traveling on has changed, a new tree structure needs to be created, with the changed target road as the root node, and a new tree structure is constructed according to the connection relationship of the changed target road, thereby completing the update of the tree structure.

[0103] In another optional embodiment, if the change state is that the target road that the vehicle is currently traveling on has changed, a new tree structure may not be created. Instead, the tree structure is first updated based on the connection relationship between the newly added forked road and the changed target road, and then the tree structure is pruned to remove unnecessary redundant roads.

[0104] Optionally, the tree structure is updated based on the connection relationship between the newly added forked road and the target road, including: if the newly added forked road is directly connected to the target road, the newly added forked road is connected as a new child node after the root node in the tree structure; if the newly added forked road is not directly connected to the target road, the first preset forked road adjacent to the newly added forked road in the tree structure is determined, and the newly added forked road is connected as a new grandchild node to the node corresponding to the first preset forked road.

[0105] The first preset branch road in the above step is a road directly or indirectly connected to the target road.

[0106] In an optional embodiment, a new node is created for a newly added forked road. If the newly added forked road is directly connected to the target road, the root node corresponding to the target road in the tree structure is determined to be the parent node of the new node, and the new node is mounted as a new child node after the root node in the tree structure.

[0107] If the newly added forked road is not directly connected to the target road, all adjacent roads of the newly added forked road are determined, and the first preset forked road is selected from them. When selecting, the road closest to the target road among the adjacent roads of the newly added forked road is determined and used as the first preset forked road. The first preset forked road can be directly connected to the target road or indirectly connected. Then the newly added forked road is mounted as a new grandchild node to the node corresponding to the first preset forked road.

[0108] Optionally, the tree structure is updated based on the connection relationship between the newly added forked road and the changed target road, including: based on the connection relationship between the newly added forked road and the changed target road, adding node information of the newly added forked road to the tree structure to obtain an initial tree structure; and pruning the initial tree structure using a depth-first search algorithm.

[0109] The initial tree structure in the above steps is the tree structure obtained by adding nodes to the tree structure based on the connection relationship between the newly added bifurcated road and the changed target road when the target road changes. The initial tree structure is a process concept, and the updated tree structure can be obtained by pruning the initial tree structure.

[0110] The Depth First Search (DFS) algorithm in the above steps is an algorithm used to traverse or search data structures such as trees and graphs. It starts from the root node and searches along a path until it can no longer go deeper, then returns to the previous node and continues to search the next path.

[0111] The pruning process in the above steps is a technique to reduce the search space in the search tree through some conditional judgments, thereby improving the search efficiency. In the depth-first search algorithm, pruning can help reduce the branches of the search tree and avoid continuing to search along invalid paths, thereby speeding up the search. Common pruning processes include: pruning based on objective function values, pruning based on constraints, pruning based on symmetry, etc.

[0112] In an optional embodiment, a new node is created for the newly added forked road, and the parent node of the new node is determined according to the connection relationship of the changed target road, and then the new node is mounted under the parent node in the tree structure to obtain the initial tree structure. Then, the node corresponding to the changed target road is used as the new root node, and the original root node and child nodes are pruned using a depth-first search algorithm, and the new root node and all nodes connected to it are retained.

[0113] Optionally, based on the connection relationship between the newly added forked road and the changed target road, the node information of the newly added forked road is added to the tree structure to obtain an initial tree structure, including: if the newly added forked road is directly connected to the changed target road, the changed target road is used as the new root node, and the newly added forked road is used as a new child node connected to the new root node to obtain the initial tree structure; if the newly added forked road is not directly connected to the changed target road, a second preset forked road adjacent to the newly added forked road is determined in the tree structure, and the newly added forked road is used as a new grandchild node connected to the node corresponding to the second preset forked road to obtain the initial tree structure.

[0114] The second preset branch road in the above step is a road directly or indirectly connected to the changed target road.

[0115] In an optional embodiment, a new node is created for a newly added forked road. If the newly added forked road is directly connected to the changed target road, the root node corresponding to the changed target road in the tree structure is determined to be the parent node of the new node, and the new node is mounted as a new child node after the root node in the tree structure, thereby obtaining an initial tree structure.

[0116] If the newly added forked road is not directly connected to the changed target road, all adjacent roads of the newly added forked road are determined, and a second preset forked road is selected from them. When selecting, the road closest to the changed target road among the adjacent roads of the newly added forked road is determined, and it is used as the second preset forked road. The second preset forked road can be directly connected to the changed target road or indirectly connected. Then the newly added forked road is mounted as a new grandchild node on the node corresponding to the second preset forked road, thereby obtaining an initial tree structure.

[0117] Optionally, the initial tree structure is pruned using a depth-first search algorithm, including: using a depth-first search algorithm to determine the root node corresponding to the target road in the initial tree structure and the first child node connected to the root node, wherein the first child node is the other node among the child nodes connected to the root node except the child node corresponding to the changed target road; deleting the root node and the first child node in the initial tree structure to prune the initial tree structure.

[0118] The first child node in the above steps is connected to the original root node, the first child node is not the node corresponding to the changed target road, and the child nodes and grandchild nodes connected below the first child node do not include the node corresponding to the changed target road.

[0119] In an optional embodiment, the node corresponding to the changed target road is determined as the new root node, the original root node is determined using a depth-first search algorithm, and the entire tree structure is searched from the root node in depth-first order, each node is traversed, and when a new root node is found, the child node corresponding to the new root node is found in reverse order, and all nodes except the child node are marked as the first child node. The first child node is deleted to remove the child node and the grandchild nodes connected to it, the new root node and the nodes connected to it are retained, and the root node is deleted, thereby completing the pruning process of the initial tree structure.

[0120] Optionally, updating the linked list structure based on the change state includes: adjusting the node information of the linked list structure based on the change state to obtain an initial linked list structure; and pruning the initial linked list structure using a double pointer algorithm.

[0121] The initial linked list structure in the above steps is a linked list structure obtained by adjusting the node information of the linked list structure according to whether the target road changes when the road network information is updated. It is a process concept, and the initial linked list structure can be pruned to obtain an updated linked list structure.

[0122] The double pointer algorithm in the above steps is a method for pruning a linked list structure. The core idea is to use two pointers to move in the initial linked list structure to achieve the purpose of quickly searching or processing data.

[0123] In an optional embodiment, if the change state is that the target road has changed, the changed target road can be segmented to obtain a new road section, and the road attribute information and road geometry information of the new road section are retrieved from the updated local map information to construct a new linked list structure to obtain an initial linked list structure. If the change state is that the target road has not changed, the road section where the vehicle is currently located is determined based on the updated position information of the vehicle, and the head node of the linked list structure is updated to obtain an initial linked list structure.

[0124] Then, the double pointer algorithm is used to traverse the road attribute information and road geometry information in the initial linked list structure, and the road attribute information and road geometry information of the road section that the vehicle has passed are deleted, thereby completing the pruning process of the initial linked list structure.

[0125] Optionally, the node information of the linked list structure is adjusted based on the change state to obtain an initial linked list structure, including: if the change state is that the target road currently traveled by the vehicle has not changed, based on the updated position information, determine that the current section of the vehicle is a third section from multiple sections, and use the third section as the head node, the second section as the tail node, and the section between the third section and the second section of the multiple sections as the intermediate node to adjust the node information of the linked list structure to obtain the initial linked list structure; if the change state is that the target road currently traveled by the vehicle has changed, adjust the node information of the linked list structure according to the updated road attribute information and the updated road geometry information of the changed target road to obtain the initial linked list structure.

[0126] The third road section in the above steps is the road section where the vehicle is currently located on the target road when the road network information is updated and no change is sent to the target road.

[0127] In the above steps, updating the road attribute information is to update the road attribute information in the local map information, and updating the road geometry information is to update the road geometry information in the local map information.

[0128] In an optional embodiment, if the change status is that the target road on which the vehicle is currently traveling has not changed, then based on the updated position information, it is determined which section of the target road the vehicle is located in, and the section is determined as the third section, the head node is updated from the first section to the third section, the tail node is still the second section, and the section between the third section and the second section in the multiple sections is determined as an intermediate node, thereby adjusting the node information of the linked list structure and obtaining the initial linked list structure.

[0129] If the change state is that the target road currently traveled by the vehicle has changed, the road where the vehicle is located is determined based on the updated position information, and the road is determined as the changed target road. The updated road attribute information and the updated road geometry information of the changed target road are retrieved from the updated local map information, and the changed target road is segmented according to the updated road attribute information and the updated road geometry information, and an initial linked list structure is constructed based on the multiple updated road segments obtained by segmentation and the updated road attribute information and the updated road geometry information corresponding to the multiple updated road segments.

[0130] Optionally, the node information of the linked list structure is adjusted according to the updated road attribute information and the updated road geometry information of the changed target road to obtain an initial linked list structure, including: dividing the sections involved in the changed target road based on the updated road attribute information and the updated road geometry information to obtain multiple updated sections; determining the section where the vehicle is currently located from the multiple updated sections as the first updated section based on the current position information, and taking the last section among the multiple updated sections determined based on the driving direction of the vehicle as the second updated section; taking the first updated section as the head node, the second updated section as the tail node, and the updated section between the first updated section and the second updated section among the multiple updated sections as the intermediate node, so as to adjust the node information of the linked list structure to obtain an initial linked list structure.

[0131] The updated road sections in the above steps are the road sections obtained by dividing the changed target road. The basis for the division is the updated road attribute information and the updated road geometry information. The updated road sections obtained by dividing the changed target road have no intersections and can be merged to obtain the changed target road.

[0132] The first updated section in the above steps is the updated section in the changed target road where the vehicle is currently located, and the second updated section is the last updated section in the changed target road along the driving direction of the vehicle.

[0133] In an optional embodiment, when analyzing the updated road attribute information and updated road geometry information of the changed target road, and dividing the road sections involved in the changed target road based on the updated road attribute information and the updated road geometry information, the target road can be divided according to the contour type in the updated road geometry information, and continuous roads with the same contour type can be divided into one updated road section to obtain multiple updated road sections; the changed target road can also be divided according to the highway grade in the updated road attribute information, and continuous roads with the same highway grade can be divided into one updated road section to obtain multiple updated road sections. However, the above division method is only an example, and the actual division method of the updated road section may not be limited to this.

[0134] Along the driving direction of the vehicle on the changed target road, the first update section among the multiple update sections, that is, the update section where the vehicle is currently located, is determined as the first update section, and the last update section among the multiple update sections is determined as the second update section. The first update section is used as the head node of the initial linked list structure, the second update section is used as the tail node of the initial linked list structure, and the update section between the first update section and the second update section is used as the intermediate node. The update road attribute information and the update road geometry information of the corresponding update section are stored in each node of the initial linked list structure, thereby completing the adjustment of the node information of the linked list structure and obtaining the initial linked list structure.

[0135] Optionally, the initial linked list structure is pruned using a double pointer algorithm, including: using the double pointer algorithm to determine the target road section that the vehicle has traveled in the initial linked list structure; deleting the nodes corresponding to the target road section in the initial linked list structure to prune the initial linked list structure.

[0136] The target road section in the above steps is the road section on the changed target road that the vehicle has traveled.

[0137] In an optional embodiment, a double pointer algorithm is used to determine the target road section that the vehicle has traveled through in the initial linked list structure. Specifically, two pointers are defined, pointing to the heads of the SEGMNT linked list and the PORFILE linked list, respectively. The SEGMNT linked list is an initial linked list structure for storing updated road attribute information, and the PORFILE linked list is an initial linked list structure for storing updated road geometry information. The SEGMNT linked list and the PORFILE linked list are traversed, and the data pointed to by the two pointers are compared. If the data in the SEGMNT linked list is less than the data in the PORFILE linked list, the pointer pointing to the SEGMNT linked list is moved backward by one position; if the data in the SEGMNT linked list is greater than or equal to the data in the PORFILE linked list, the pointer pointing to the PORFILE linked list is moved backward by one position. When the data in the PORFILE linked list pointed to by the two pointers is equal to the data in the SEGMNT linked list, it means that the current updated road section is the updated road section where the vehicle is located, and the updated road section is used as the new head node. The nodes before the new head node are all target sections and should be deleted to achieve pruning of the initial linked list structure.

[0138] By pruning, the updated road section data that the vehicle has passed through is deleted, which can reduce the amount of data and improve the search efficiency while updating the linked list structure.

[0139] Example 2

[0140] According to an embodiment of the present invention, an embodiment of a driving prompt method for a vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0141] Figure 4 is a flow chart of a driving prompt method for a vehicle according to an embodiment of the present invention. Figure 4 As shown, the method comprises the following steps:

[0142] Step S402, during the driving process of the vehicle, determine whether the target road currently ahead of the vehicle meets at least one road state prompt condition based on the vehicle's road network information, wherein the road network information is obtained according to the above-mentioned vehicle road network information construction method.

[0143] The prompt conditions in the above steps may include but are not limited to the switching of the main road and the auxiliary road, the target road having a small intersection, the lane narrowing, and the target road having a curve with a large curvature.

[0144] In an optional embodiment, it can be determined based on the road network information whether the road section the vehicle is currently on is a ramp of a highway or a city expressway, and whether the next road section is a main road. If the vehicle is on the ramp and the next road section is a main road, the target road meets the prompt condition for switching between the main and auxiliary roads.

[0145] Based on the road network information, it can be determined whether there is a small intersection ahead of the target road. If so, the prompt condition that the target road has a small intersection is met.

[0146] The road network information can obtain the number of lanes in the road section. By comparing the number of lanes in the current section with the number of lanes in the next section, it can be determined whether the lane is about to narrow. If the lane is about to narrow, the prompt condition for lane narrowing is met.

[0147] The road network information can obtain the curvature of each road section. If the vehicle is about to pass a curve with a large curvature, the prompt condition that the target road has a curve with a large curvature is met.

[0148] Step S404: in response to the road network information satisfying a prompt condition of a target road state in at least one road state, outputting prompt information corresponding to the target road state.

[0149] In an optional embodiment, when the target road meets the prompt conditions for switching between the main and auxiliary roads, the remaining distance of the vehicle from the merging point can be calculated, and the user can be prompted how far the vehicle has to go before merging into the main road. In this scenario, it is also possible to combine the autonomous driving perception information to obtain whether there are any vehicles on the main road with a faster speed next to the vehicle, thereby improving the user's driving safety.

[0150] When the conditions for prompting that the target road has a small intersection are met, since non-motor vehicles and pedestrians often cross at small intersections, the road network information can be combined with the perception data to remind the user in advance that he is about to pass the small intersection and to pay attention to the surrounding environment.

[0151] When the conditions for lane narrowing are met, the driver can be prompted to change lanes in advance.

[0152] When the prompt condition that the target road has a curve with a large curvature is met, the user can be reminded in advance to control the vehicle speed.

[0153] Example 3

[0154] According to an embodiment of the present invention, an embodiment of a vehicle road network information construction device is provided, and the device can execute the vehicle road network information construction method provided in the above-mentioned embodiment 1. The specific implementation method and preferred application scenario are the same as those of the above-mentioned embodiment 1, and will not be repeated here.

[0155] Figure 5 is a schematic diagram of a vehicle road network information construction device according to an embodiment of the present invention, such as Figure 5 As shown, the vehicle road network information construction device includes:

[0156] The acquisition module 50 is used to acquire the current position information of the vehicle and the target road ahead of the vehicle.

[0157] The retrieval module 52 is used to retrieve the local map information within the current preset range corresponding to the vehicle according to the current position information, wherein the local map information is used to represent the road information of the roads involved in the current preset range.

[0158] The first construction module 54 is used to construct a tree structure of the roads involved in the current preset range and a linked list structure of the target road based on the local map information, wherein different first nodes in the tree structure are used to represent different roads involved in the current preset range, and the edges between different first nodes are used to represent intersections between different roads; different second nodes in the linked list structure are used to represent different sections involved in the target road, and the edges between different second nodes are used to represent intersections between different sections.

[0159] The second construction module 56 constructs the road network information of the vehicle based on the tree structure and the linked list structure, wherein the road network information is used to prompt the vehicle with the road status during the vehicle driving process.

[0160] The first construction module includes: a determination unit, which is used to determine the road turning information, road attribute information and road geometry information of the roads involved in the current preset range based on the local map information, wherein the road turning information is used to represent the parameter information of the curve on the road, the road attribute information is used to represent the type parameter information of the road, and the road geometry information is used to represent the geometry parameter information of the road; a first construction unit, which is used to construct a tree structure according to the road turning information and the roads involved in the current preset range; and a second construction unit, which is used to construct a linked list structure according to the road attribute information and the road geometry information.

[0161] The first construction unit is also used to determine a first forked road directly connected to the target road and a second forked road directly connected to the first forked road according to the road turning information and the roads involved in the current preset range; and to construct a tree structure with the target road as the root node, the first forked road as the child node, and the second forked road as the grandchild node.

[0162] The second construction unit is also used to divide the sections involved in the target road based on road attribute information and road geometry information to obtain multiple sections; determine the section where the vehicle is currently located from the multiple sections as the first section based on the current position information, and the last section as the second section, wherein the last section is a section determined from the multiple sections based on the vehicle's driving direction; and construct a linked list structure with the first section as the head node, the second section as the tail node, and the section between the first section and the second section in the multiple sections as the intermediate node.

[0163] The second construction module also includes: a retrieval unit, which is used to retrieve the updated local map information within the preset update range corresponding to the vehicle according to the updated position information of the vehicle during the driving process of the vehicle; and an updating unit, which is used to update the tree structure and the linked list structure based on the updated local map information.

[0164] The update unit is also used to obtain the change status of the newly added forked roads and target roads in the updated local map information, wherein the change status is used to indicate whether the target road currently traveled by the vehicle has changed; update the tree structure according to the connection relationship and the change status between the newly added forked roads and the target roads; and update the linked list structure based on the change status.

[0165] The update unit is also used to update the tree structure based on the connection relationship between the newly added fork road and the target road if the change state is that the target road currently traveled by the vehicle has not changed; if the change state is that the target road currently traveled by the vehicle has changed, the tree structure is updated based on the connection relationship between the newly added fork road and the changed target road.

[0166] The update unit is also used to connect the newly added forked road as a new child node to the root node in the tree structure if the newly added forked road is directly connected to the target road; if the newly added forked road is not directly connected to the target road, determine the first preset forked road adjacent to the newly added forked road in the tree structure, and connect the newly added forked road as a new grandchild node to the node corresponding to the first preset forked road.

[0167] The updating unit is also used to add node information of the newly added forked road to the tree structure based on the connection relationship between the newly added forked road and the changed target road to obtain an initial tree structure; and prune the initial tree structure using a depth-first search algorithm.

[0168] The update unit is also used to, if the newly added forked road is directly connected to the changed target road, use the changed target road as a new root node, and connect the newly added forked road as a new child node after the new root node to obtain an initial tree structure; if the newly added forked road is not directly connected to the changed target road, determine the second preset forked road adjacent to the newly added forked road in the tree structure, and connect the newly added forked road as a new grandchild node to the node corresponding to the second preset forked road to obtain an initial tree structure.

[0169] The updating unit is also used to determine the root node corresponding to the target road in the initial tree structure and the first child node connected to the root node using a depth-first search algorithm, wherein the first child node is other nodes among the child nodes connected to the root node except the child node corresponding to the changed target road; and delete the root node and the first child node in the initial tree structure to perform pruning on the initial tree structure.

[0170] The updating unit is also used to adjust the node information of the linked list structure based on the change state to obtain the initial linked list structure; and to prune the initial linked list structure using a double pointer algorithm.

[0171] The update unit is also used to, if the change state is that the target road currently traveled by the vehicle has not changed, determine that the current section of the vehicle is the third section from multiple sections based on the updated position information, and use the third section as the head node, the second section as the tail node, and the section between the third section and the second section of the multiple sections as the intermediate node to adjust the node information of the linked list structure to obtain an initial linked list structure; if the change state is that the target road currently traveled by the vehicle has changed, adjust the node information of the linked list structure according to the updated road attribute information and the updated road geometry information of the changed target road to obtain an initial linked list structure.

[0172] The update unit is also used to divide the sections involved in the changed target road based on the updated road attribute information and the updated road geometry information to obtain multiple updated sections; determine the section where the vehicle is currently located from the multiple updated sections as the first updated section based on the current position information, and use the last section in the multiple updated sections determined based on the vehicle's driving direction as the second updated section; use the first updated section as the head node, the second updated section as the tail node, and the updated section between the first updated section and the second updated section in the multiple updated sections as the intermediate node to adjust the node information of the linked list structure to obtain an initial linked list structure.

[0173] The updating unit is also used to determine the target road section traveled by the vehicle in the initial linked list structure by using a double pointer algorithm; and delete the node corresponding to the target road section in the initial linked list structure to prune the initial linked list structure.

[0174] Example 4

[0175] According to an embodiment of the present invention, an embodiment of a driving prompt device for a vehicle is provided, and the device can execute the driving prompt method for a vehicle provided in the above-mentioned embodiment 2. The specific implementation method and preferred application scenario are the same as those of the above-mentioned embodiment 2, and will not be repeated here.

[0176] Figure 6 is a schematic diagram of a driving prompt device for a vehicle according to an embodiment of the present invention, such as Figure 6 As shown, the driving prompt device of the vehicle includes:

[0177] The determination module 60 is used to determine whether the target road ahead of the vehicle meets at least one road state prompt condition based on the vehicle's road network information during the vehicle's driving process, wherein the road network information is obtained according to the above-mentioned vehicle road network information construction method.

[0178] The output module 62 is used to output prompt information corresponding to the target road state in response to the road network information satisfying the prompt condition of the target road state in at least one road state.

[0179] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0180] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0181] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0182] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0183] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0184] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for constructing road network information of a vehicle, characterized in that: include: Acquiring the current position information of the vehicle and the target road ahead of the vehicle; Retrieving local map information within a current preset range corresponding to the vehicle according to the current position information, wherein the local map information is used to represent road information of roads involved in the current preset range; Constructing a tree structure of the roads involved in the current preset range and a linked list structure of the target road based on the local map information; The road network information of the vehicle is constructed based on the tree structure and the linked list structure, wherein the road network information is used to prompt the vehicle with a road status during the driving of the vehicle.

2. The method for constructing road network information of a vehicle according to claim 1, characterized in that: The tree structure includes a plurality of first nodes, and the linked list structure includes a plurality of second nodes; The multiple first nodes are used to represent multiple roads involved in the current preset range, and the edges between the multiple first nodes are used to represent intersections between the multiple roads; The plurality of second nodes are used to represent a plurality of road sections involved in the target road, and the edges between the plurality of second nodes are used to represent junction points between the plurality of road sections.

3. The method for constructing road network information of a vehicle according to claim 2, characterized in that: Constructing a tree structure of the roads involved in the current preset range and a linked list structure of the target road based on the local map information, including: Determine, based on the local map information, road turning information, road attribute information, and road geometry information of the roads involved in the current preset range, wherein the road turning information is used to represent parameter information of a curve on the road, the road attribute information is used to represent type parameter information of the road, and the road geometry information is used to represent geometry parameter information of the road; Constructing the tree structure according to the road turning information and the roads involved in the current preset range; The linked list structure is constructed according to the road attribute information and the road geometry information.

4. The method for constructing road network information of a vehicle according to claim 3, characterized in that: Constructing the tree structure according to the road turning information and the roads involved in the current preset range includes: Determine, according to the road turning information and the roads involved in the current preset range, a first forked road directly connected to the target road and a second forked road directly connected to the first forked road; The tree structure is constructed with the target road as a root node, the first forked road as a child node, and the second forked road as a grandchild node.

5. The method for constructing road network information of a vehicle according to claim 3, characterized in that: Constructing the linked list structure according to the road attribute information and the road geometry information includes: Dividing the road sections involved in the target road based on the road attribute information and the road geometry information to obtain a plurality of road sections; Based on the current position information, determine the road section where the vehicle is currently located from the multiple road sections as the first road section, and determine the last road section as the second road section, wherein the last road section is a road section determined from the multiple road sections and obtained based on the driving direction of the vehicle; The linked list structure is constructed with the first road section as a head node, the second road section as a tail node, and the road section between the first road section and the second road section among the multiple road sections as an intermediate node.

6. The method for constructing road network information of a vehicle according to claim 1, characterized in that: The method further comprises: During the driving process of the vehicle, retrieve updated local map information within a preset update range corresponding to the vehicle according to the updated position information of the vehicle; The tree structure and the linked list structure are updated based on the updated local map information.

7. The method for constructing road network information of a vehicle according to claim 6, characterized in that: The tree structure and the linked list structure are updated based on the updated local map information, including: Acquire the newly added bifurcated road and the change status of the target road in the updated local map information, wherein the change status is used to indicate whether the target road currently traveled by the vehicle has changed; Updating the tree structure according to the connection relationship between the newly added forked road and the target road and the change state; The linked list structure is updated based on the changed state.

8. The method for constructing road network information of a vehicle according to claim 7, characterized in that: The tree structure is updated according to the connection relationship between the newly added bifurcated road and the target road and the change state, including: If the change state is that the target road currently traveled by the vehicle has not changed, updating the tree structure based on the connection relationship between the newly added forked road and the target road; If the change state is that the target road on which the vehicle is currently traveling has changed, the tree structure is updated based on the connection relationship between the newly added forked road and the changed target road.

9. The method for constructing road network information of a vehicle according to claim 8, characterized in that: The tree structure is updated based on the connection relationship between the newly added bifurcated road and the target road, including: If the newly added forked road is directly connected to the target road, the newly added forked road is connected as a new child node after the root node in the tree structure; If the newly added forked road is not directly connected to the target road, a first preset forked road adjacent to the newly added forked road in the tree structure is determined, and the newly added forked road is connected to the node corresponding to the first preset forked road as a new grandchild node.

10. The method for constructing road network information of a vehicle according to claim 8, characterized in that: The tree structure is updated based on the connection relationship between the newly added forked road and the changed target road, including: Based on the connection relationship between the newly added forked road and the changed target road, adding node information of the newly added forked road to the tree structure to obtain an initial tree structure; The initial tree structure is pruned using a depth-first search algorithm.

11. The method for constructing road network information of a vehicle according to claim 10, characterized in that: Adding node information of the newly added forked road to the tree structure based on the connection relationship between the newly added forked road and the changed target road to obtain an initial tree structure includes: If the newly added forked road is directly connected to the changed target road, the changed target road is used as a new root node, and the newly added forked road is used as a new child node connected to the new root node to obtain the initial tree structure; If the newly added forked road is not directly connected to the changed target road, determine a second preset forked road adjacent to the newly added forked road in the tree structure, and connect the newly added forked road as a new grandchild node to the node corresponding to the second preset forked road to obtain the initial tree structure.

12. The method for constructing road network information of a vehicle according to claim 10, characterized in that: The initial tree structure is pruned using a depth-first search algorithm, including: Determine the root node corresponding to the target road in the initial tree structure and the first child node connected to the root node by using the depth-first search algorithm, wherein the first child node is other nodes among the child nodes connected to the root node except the child node corresponding to the changed target road; The root node and the first child node in the initial tree structure are deleted to perform pruning processing on the initial tree structure.

13. The method for constructing road network information of a vehicle according to claim 10, characterized in that: Updating the linked list structure based on the changed state includes: Adjusting the node information of the linked list structure based on the changed state to obtain an initial linked list structure; The initial linked list structure is pruned using a double pointer algorithm.

14. The method for constructing road network information of a vehicle according to claim 13, characterized in that: The node information of the linked list structure is adjusted based on the change state to obtain an initial linked list structure, including: If the change state is that the target road currently traveled by the vehicle has not changed, determine the road section currently located by the vehicle as a third road section from multiple road sections based on the updated position information, and use the third road section as a head node, the second road section as a tail node, and the road section between the third road section and the second road section in the multiple road sections as an intermediate node, so as to adjust the node information of the linked list structure and obtain the initial linked list structure; If the change state is that the target road on which the vehicle is currently traveling has changed, the node information of the linked list structure is adjusted according to the updated road attribute information and updated road geometry information of the changed target road to obtain the initial linked list structure.

15. The method for constructing road network information of a vehicle according to claim 14, characterized in that: The node information of the linked list structure is adjusted according to the updated road attribute information and the updated road geometry information of the changed target road to obtain the initial linked list structure, including: Dividing the road sections involved in the changed target road based on the updated road attribute information and the updated road geometry information to obtain a plurality of updated road sections; Determine the current road section of the vehicle as a first updated road section from the multiple updated road sections based on the current position information, and take the last road section of the multiple updated road sections determined based on the driving direction of the vehicle as a second updated road section; The first update section is used as the head node, the second update section is used as the tail node, and the update section between the first update section and the second update section among the multiple update sections is used as the intermediate node to adjust the node information of the linked list structure to obtain the initial linked list structure.

16. The method for constructing road network information of a vehicle according to claim 13, characterized in that: The initial linked list structure is pruned using a double pointer algorithm, including: Determine the target road section traveled by the vehicle in the initial linked list structure by using the double pointer algorithm; The node corresponding to the target road section in the initial linked list structure is deleted to perform pruning processing on the initial linked list structure.

17. A driving prompt method for a vehicle, characterized in that: include: During vehicle driving, determining whether a target road currently ahead of the vehicle satisfies at least one road state prompt condition based on the road network information of the vehicle, wherein the road network information is obtained according to any one of the methods of claims 1 to 16; In response to the road network information satisfying a prompt condition of a target road state among the at least one road state, prompt information corresponding to the target road state is output.

18. A vehicle, characterized in that: It comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 17.

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