Vehicle-mounted digital map integration method and device and storage medium

Abstract

The invention relates to the technical field of driving assistance, in particular to a vehicle-mounted digital map integration method and device and a storage medium, and the method comprises the steps: obtaining map data in a map database based on map middleware in response to a digital map wake-up instruction, generating an electronic horizon line, the electronic horizon is reconstructed and converted into map data in a format corresponding to the actuator, and the map data obtained through reconstruction and conversion is provided for the corresponding actuator; the map middleware, the map database and the actuator are all deployed on a central computing platform under a centralized electronic and electrical architecture, the actuator comprises a driving assistance function application and a cabin function application, and the map middleware performs information interaction with the driving assistance function application and the cabin function application. And vehicle-mounted digital map integration under a centralized electronic and electrical architecture is realized. The problems that an existing vehicle-mounted digital map integration hardware configuration cost is higher, software maintenance work is more, and the requirement for transmission efficiency cannot be met can be solved.

Description

Technical Field

[0001] The present invention relates to the field of driving assistance technology, and in particular to a vehicle-mounted digital map integration method, device and storage medium. Background Art

[0002] With the development of automobile electrification and intelligence, the automotive EE architecture (electronic and electrical architecture) has gradually developed from distributed to domain-centralized, and is currently moving towards a centralized EE architecture through cross-domain concentration and integration.

[0003] With the trend of automobile intelligence, in-vehicle digital maps are gradually developing towards networking, intelligence and multi-purpose, and no longer simply provide services for in-vehicle navigation maps. In fact, in-vehicle digital maps exist as data sources and operation objects in the in-vehicle electronic navigation map applications in the cockpit domain, and at the same time, they also exist as a priori factors and reference anchor points for various sensors in the driving assistance functions in the driving domain.

[0004] Against the backdrop of the evolution of automotive EE architecture and the expansion of in-vehicle digital map applications, digital map integration methods and devices under a centralized EE architecture suitable for the integration of driving domain and cockpit domain have become an important need for related production activities.

[0005] The existing related technologies have the following shortcomings: 1. The integration of digital maps based on distributed architecture or domain centralized architecture has higher hardware configuration costs and more software maintenance work.

[0006] 2. In a distributed architecture or a domain-centralized architecture, the bus transmission pressure is greater, especially in the context of the large-scale use of sensors in intelligent connected vehicles. The volume of the on-board digital map database is huge, and assisted driving applications are relatively sensitive to the efficiency of map data transmission. Therefore, it is impossible to take into account both the transmission efficiency and content detail of the digital map.

[0007] Patent CN109532719B discloses an electric vehicle based on multi-sensor information fusion, and proposes a domain-centralized EE architecture that provides sensor fusion functions. However, this solution separates the navigation application of the vehicle-mounted digital map from other applications, increasing the data transmission cost.

[0008] Patent CN217320274U discloses a cabin-parking integrated controller, system and car, and proposes a method for integrating the cockpit domain and the parking domain, which improves the data transmission and storage efficiency from the perspective of the vehicle digital map. However, this solution still does not integrate other functions of the vehicle digital map in the field of assisted driving, and is still not a vehicle digital map under the centralized EE architecture.

[0009] In summary, the current existing technologies have defects in solving the problems caused by the expansion of in-vehicle digital map applications and the evolution of automotive EE architecture, such as higher hardware configuration costs, more software maintenance work, and inability to meet transmission efficiency requirements, and need to be improved. Summary of the invention

[0010] The purpose of the present invention is to provide a vehicle-mounted digital map integration method, device and storage medium, which can solve the above-mentioned problems such as higher hardware configuration cost, more software maintenance work and failure to meet transmission efficiency requirements.

[0011] In order to achieve the above object, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a method for integrating a vehicle-mounted digital map, which comprises: in response to a digital map wake-up instruction, obtaining map data in a map database based on a map middleware, generating an electronic horizon, and reconstructing the electronic horizon into map data in a format corresponding to an actuator, and providing the reconstructed and converted map data to a corresponding actuator; the map middleware, the map database and the actuator are all deployed on a central computing platform under a centralized electronic and electrical architecture; the actuator comprises a driving assistance function application and a cockpit function application, and the map middleware interacts with the driving assistance function application and the cockpit function application to realize the integration of the vehicle-mounted digital map under the centralized electronic and electrical architecture.

[0012] Furthermore, one or more electronic horizon providers are deployed in the map middleware to obtain corresponding map data from the map database based on the vehicle position, requested navigation path, requested points of interest, time, weather, and surrounding environment; several electronic horizon reconstructors are deployed in the map middleware to reconstruct the corresponding map data obtained from the map database into map data in a format corresponding to the executor.

[0013] Furthermore, the digital map wake-up instruction includes a wake-up instruction issued by a user in a vehicle cabin or a wake-up instruction issued by the vehicle itself while the vehicle is running.

[0014] Furthermore, the wake-up command issued by the user in the vehicle cabin includes starting automatic cruise, starting automatic parking or requesting a navigation route; the wake-up command issued by the vehicle itself during operation includes requesting map data based on location, requesting map data to assist sensor fusion or updating map data.

[0015] Furthermore, the electronic horizon is an ADAS horizon.

[0016] In a second aspect, the present invention provides a vehicle-mounted digital map integration device, comprising: a map database, deployed on a central computing platform under a centralized electronic and electrical architecture, and used to store map data of different specifications; a map middleware, deployed on the central computing platform under the centralized electronic and electrical architecture, responding to a digital map wake-up instruction, obtaining map data in the map database based on the map middleware, generating an electronic horizon, and reconstructing the electronic horizon into map data in a format corresponding to the actuator, and providing the reconstructed map data to the corresponding actuator; an actuator, deployed on the central computing platform under the centralized electronic and electrical architecture, comprising a driving assistance function application and a cockpit function application, wherein the map middleware exchanges information with the driving assistance function application and the cockpit function application to realize the vehicle-mounted digital map integration under the centralized electronic and electrical architecture.

[0017] In a third aspect, the present invention provides a storage medium storing a computer-readable program, wherein the computer-readable program can execute the above-mentioned vehicle-mounted digital map integration method when called.

[0018] Beneficial effects of the present invention: 1. The map middleware and map database described in the present invention are both deployed on a central computing platform under a centralized electronic and electrical architecture. The map middleware responds to a digital map wake-up instruction, obtains map data in the map database based on the map middleware, generates an electronic horizon, and reconstructs the electronic horizon into map data in a format corresponding to the actuator, and provides the reconstructed map data to the corresponding actuator. The digital map is integrated based on the centralized electronic and electrical architecture, with lower hardware configuration costs and less software maintenance work.

[0019] 2. The actuator described in the present invention includes a driving assistance function application and a cockpit function application deployed on a central computing platform under a centralized electronic and electrical architecture, that is, the map data and actuator applications are centralized, the bus transmission cost is saved, and the transmission efficiency and content detail of the digital map are taken into account. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0021] Figure 1 This is a flow chart of the vehicle-mounted digital map integration method described in an embodiment of the present invention; Figure 2 Schematic diagram of the vehicle-mounted digital map integration device according to an embodiment of the present invention; Figure 3The following is a flowchart of the vehicle-mounted digital map integration device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0023] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0024] Example 1, see Figure 1 As shown, a vehicle-mounted digital map integration method includes: responding to a digital map wake-up instruction, obtaining map data in a map database based on a map middleware, generating an electronic horizon, and reconstructing the electronic horizon into map data in a format corresponding to the actuator, and providing the reconstructed and converted map data to the corresponding actuator; the map middleware and the map database are both deployed on a central computing platform under a centralized electronic and electrical architecture.

[0025] A centralized electronic and electrical architecture refers to the use of only one high-computing-power ECU (electronic control unit) controller as the overall controller of the entire vehicle system. This controller is called the central computing platform.

[0026] Since the map middleware and map database are both deployed on a central computing platform under a centralized electronic and electrical architecture, the map middleware responds to a digital map wake-up instruction, obtains map data in the map database based on the map middleware, generates an electronic horizon, and reconstructs the electronic horizon into map data in a format corresponding to the actuator, and provides the reconstructed map data to the corresponding actuator. The digital map is integrated based on the centralized electronic and electrical architecture, with lower hardware configuration costs and less software maintenance work.

[0027] The actuator includes a driving assistance function application and a cockpit function application deployed on a central computing platform under a centralized electronic and electrical architecture. The map middleware interacts with the driving assistance function application and the cockpit function application to realize the integration of vehicle-mounted digital maps under a centralized electronic and electrical architecture. Among them, the driving assistance function application includes functions such as perception, sensor fusion, regulation and control, positioning, navigation and prediction. The cockpit function application includes functions such as location input, navigation map rendering and navigation broadcast. The map data and actuator applications are centralized, which saves the bus transmission cost and takes into account the transmission efficiency and content detail of the digital map.

[0028] One or more electronic horizon providers are deployed in the map middleware to obtain corresponding map data from the map database according to the vehicle position, the requested navigation path, the requested points of interest, time, weather, and surrounding environment; several electronic horizon reconstructors are deployed in the map middleware to reconstruct the corresponding map data obtained from the map database into map data in a format corresponding to the actuator.

[0029] In this embodiment, the digital map wake-up command includes a wake-up command issued by a user in the vehicle cockpit or a wake-up command issued by the vehicle itself during operation. The wake-up command issued by the user in the vehicle cockpit includes starting automatic cruise control, starting automatic parking, or requesting a navigation path; the wake-up command issued by the vehicle itself during operation includes requesting map data according to location, requesting map data to assist sensor fusion, or updating map data.

[0030] In this embodiment, the electronic horizon is an ADAS horizon. The transmission of vehicle-mounted digital maps usually uses the ADASIS protocol: ADASIS (Advanced Driver Assistance System Interface Specification) is a map data transmission communication protocol for vehicles, which can extract the road network and its features in front of the vehicle from the map database as the ADAS horizon and provide it to the actuator, i.e., the corresponding application and controller.

[0031] Example 2, see Figure 3 As shown, a vehicle-mounted digital map integration device includes: a map database, deployed on a central computing platform under a centralized electronic and electrical architecture, and used to store map data of different specifications; a map middleware, deployed on a central computing platform under a centralized electronic and electrical architecture, responding to a digital map wake-up instruction, obtaining map data in the map database based on the map middleware, generating an electronic horizon, and reconstructing the electronic horizon into map data in a format corresponding to the actuator, and providing the reconstructed and converted map data to the corresponding actuator.

[0032] The actuator includes a driving assistance function application and a cockpit function application deployed on a central computing platform under a centralized electronic and electrical architecture. The map middleware interacts with the driving assistance function application and the cockpit function application to achieve vehicle-mounted digital map integration under the centralized electronic and electrical architecture.

[0033] One or more electronic horizon providers are deployed in the map middleware to obtain corresponding map data from the map database according to the vehicle position, the requested navigation path, the requested points of interest, time, weather, and surrounding environment; several electronic horizon reconstructors are deployed in the map middleware to reconstruct the corresponding map data obtained from the map database into map data in a format corresponding to the actuator.

[0034] See also Figure 2 As shown, when the vehicle-mounted digital map integration device is working, it responds to the digital map wake-up instruction and obtains the map data in the map database based on the map middleware. One or more electronic horizon providers deployed in the map middleware are used to obtain the corresponding map data from the map database according to the vehicle position, the requested navigation path, the requested points of interest, time, weather, and surrounding environment. Several electronic horizon reconstructors deployed in the map middleware are used to reconstruct the corresponding map data obtained from the map database into map data in a format corresponding to the actuator. In this embodiment, one of the electronic horizon reconstructors reconstructs the obtained electronic horizon into a high-precision map and provides it to the driving assistance function; one of the electronic horizon reconstructs the obtained electronic horizon into a parking lot map and provides it to the parking function and the navigation rendering function; one of the electronic horizon reconstructs the obtained electronic horizon into a navigation map and provides it to the navigation rendering function.

[0035] Embodiment 3, a storage medium stores a computer-readable program, wherein the computer-readable program can execute the above-mentioned vehicle-mounted digital map integration method when called.

[0036] It should be noted that the storage medium shown can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier, which carries a computer-readable computer program. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0037] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0038] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A vehicle-mounted digital map integration method, characterized in that: include: In response to a digital map wake-up instruction, map data in a map database is acquired based on the map middleware, an electronic horizon is generated, and the electronic horizon is reconstructed and converted into map data in a format corresponding to the actuator, and the reconstructed and converted map data is provided to the corresponding actuator; The map middleware, map database and actuator are all deployed on a central computing platform under a centralized electronic and electrical architecture; The actuator includes a driving assistance function application and a cockpit function application. The map middleware interacts with the driving assistance function application and the cockpit function application to achieve vehicle-mounted digital map integration under a centralized electronic and electrical architecture.

2. The vehicle-mounted digital map integration method according to claim 1, characterized in that: One or more electronic horizon providers are deployed in the map middleware to obtain corresponding map data from the map database according to the vehicle position, the requested navigation path, the requested points of interest, time, weather, and surrounding environment; Several electronic horizon reconstructors are deployed in the map middleware to reconstruct the corresponding map data obtained from the map database into map data in the corresponding format of the executor.

3. The vehicle-mounted digital map integration method according to claim 1 or 2, characterized in that: The digital map wake-up command includes a wake-up command issued by a user in the vehicle cabin or a wake-up command issued by the vehicle itself while the vehicle is running.

4. The vehicle-mounted digital map integration method according to claim 3, characterized in that: The wake-up command issued by the user in the vehicle cockpit includes starting automatic cruising, starting automatic parking, or requesting a navigation route; The wake-up command automatically issued by the vehicle during operation includes requesting map data according to the location, requesting map data to assist sensor fusion, or updating map data.

5. The vehicle-mounted digital map integration method according to claim 1 or 2, characterized in that: The electronic horizon is an ADAS horizon.

6. A vehicle-mounted digital map integration device, characterized in that: The vehicle-mounted digital map integration method according to any one of claims 1 to 5 can be executed, comprising: The map database is deployed on the central computing platform under the centralized electronic and electrical architecture and is used to store map data of different specifications; The map middleware is deployed on the central computing platform under the centralized electronic and electrical architecture, responds to the digital map wake-up instruction, obtains the map data in the map database based on the map middleware, generates the electronic horizon, reconstructs the electronic horizon into the map data in the format corresponding to the actuator, and provides the reconstructed and converted map data to the corresponding actuator; The actuator is deployed on a central computing platform under a centralized electronic and electrical architecture, including driving assistance function applications and cockpit function applications. The map middleware interacts with the driving assistance function applications and the cockpit function applications to realize the integration of vehicle-mounted digital maps under the centralized electronic and electrical architecture.

7. A storage medium, characterized in that: A computer-readable program is stored therein, and when the computer-readable program is called, the vehicle-mounted digital map integration method according to any one of claims 1 to 5 can be executed.

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