Road network map configuration method and device and electronic equipment

Abstract

The embodiment of the invention discloses a road network map configuration method and device and electronic equipment. The method comprises the steps that a road side unit receives current position information broadcasted by a vehicle driving in a current service range and obtains a driving track of the vehicle according to the current position information, and the driving track is composed of a plurality of coordinate points; obtaining road key coordinate points from the plurality of coordinate points; and adjusting a preset road network map broadcasted by the road side unit based on the road key coordinate points to obtain a target road network map. Therefore, the road key coordinate points are automatically obtained through the road side unit according to the driving track of the vehicle, and then the original preset road network map is adjusted by using the road key coordinate points, so that the preset road network map is updated, and the target road network map is obtained. The road network map configuration process does not need manual participation, and the human labor cost is greatly reduced.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and more specifically, to a road network map configuration method, device and electronic device. Background Art

[0002] RSU (Road Side Unit) is a device installed on the roadside in the ETC system. It uses DSRC (Dedicated Short Range Communication) technology to communicate with the on-board unit (OBU) to achieve vehicle identification and electronic deduction of points. Figure 1 As shown, RSU can gather information on roadside traffic facilities and road traffic participants, upload it to the V2X (vehicle to everything) platform, and broadcast roadside traffic equipment information to road traffic participants through Msg_MAP map messages (a type of V2X message) for navigation-assisted driving.

[0003] However, in order to ensure the accuracy of the message, the current Msg_MAP map message needs to be manually configured through the cloud control platform or RSU local configuration. With the massive increase in the number of RSU deployments, a lot of labor costs will be consumed. Summary of the invention

[0004] In view of the above problems, the present application proposes a road network map configuration method, device and electronic device to improve the above problems.

[0005] In the first aspect, the present application provides a road network map configuration method, the method comprising: a roadside unit receives current position information broadcast by a vehicle traveling within a current service range, and obtains a driving trajectory of the vehicle based on the current position information, the driving trajectory being composed of multiple coordinate points; obtains key road coordinate points from the multiple coordinate points; and adjusts a preset road network map broadcast by the roadside unit based on the key road coordinate points to obtain a target road network map.

[0006] In the second aspect, the present application provides a road network map configuration device, which includes: a driving trajectory acquisition module, which is used for a road side unit to receive current position information broadcast by a vehicle traveling within a current service range, and obtain the driving trajectory of the vehicle based on the current position information, wherein the driving trajectory is composed of multiple coordinate points; a road key point acquisition module, which is used to obtain road key coordinate points from the multiple coordinate points; a road network map configuration module, which is used to adjust the preset road network map broadcast by the road side unit based on the road key coordinate points to obtain a target road network map.

[0007] In a third aspect, the present application provides an electronic device comprising one or more processors and a memory; one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the above-mentioned method.

[0008] In a fourth aspect, the present application provides a computer-readable storage medium, in which program code is stored, wherein the above method is executed when the program code is run.

[0009] In a fifth aspect, the present application provides a computer program product, comprising a computer program / instruction, which implements the steps of the above method when executed by a processor.

[0010] The present application provides a road network map configuration method, device, vehicle and storage medium, which receives the current position information broadcast by the vehicle traveling within the current service range through the road side unit, and obtains the driving trajectory of the vehicle according to the current position information, wherein the driving trajectory is composed of multiple coordinate points; obtains the key road coordinate points from the multiple coordinate points; and adjusts the preset road network map broadcast by the road side unit based on the key road coordinate points to obtain the target road network map. Thus, the road side unit automatically obtains the key road coordinate points according to the driving trajectory of the vehicle, and then uses the key road coordinate points to adjust the original preset road network map to update the preset road network map and obtain the target road network map. The road network map configuration process does not require human participation, which greatly reduces the labor cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 A vehicle-road collaboration framework diagram in the prior art is shown.

[0013] Figure 2 A flow chart of a road network map configuration method proposed in an embodiment of the present application is shown.

[0014] Figure 3 A flow chart of a road network map configuration method proposed in another embodiment of the present application is shown.

[0015] Figure 4 An example diagram of the principle of obtaining key coordinate points of a road provided in an embodiment of the present application is shown.

[0016] Figure 5 An example diagram of key road coordinate points obtained by screening provided by an embodiment of the present application is shown.

[0017] Figure 6 A flow chart of a road network map configuration method proposed in yet another embodiment of the present application is shown.

[0018] Figure 7 A structural block diagram of a road network map configuration device proposed in an embodiment of the present application is shown.

[0019] Figure 8 A structural block diagram of an electronic device proposed in this application is shown. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0021] In the embodiments of the present application, the inventor proposes a road network map configuration method, device and electronic device, which receives the current position information broadcast by the vehicle traveling within the current service range through the roadside unit, and obtains the driving trajectory of the vehicle according to the current position information, wherein the driving trajectory is composed of multiple coordinate points; obtains the key road coordinate points from the multiple coordinate points; and adjusts the preset road network map broadcast by the roadside unit based on the key road coordinate points to obtain the target road network map. Thus, the roadside unit automatically obtains the key road coordinate points according to the driving trajectory of the vehicle, and then uses the key road coordinate points to adjust the original preset road network map to update the preset road network map and obtain the target road network map. The road network map configuration process does not require human participation, which greatly reduces the labor cost.

[0022] See also Figure 2 , is a road network map configuration method provided by an embodiment of the present application, the road network map configuration method can be applied to the road network map configuration of a roadside unit in a traffic control scenario, and can be specifically used for assisted driving of a vehicle. The method comprises:

[0023] Step S110: The roadside unit receives the current position information broadcasted by the vehicle traveling within the current service range, and obtains the driving trajectory of the vehicle according to the current position information, wherein the driving trajectory is composed of a plurality of coordinate points.

[0024] With the development and construction of the city, the road environment of the city is always in a state of change. Therefore, the map information (Msg_MAP) of the local area gathered by the roadside unit may be inaccurate.

[0025] In order to optimize this problem, the roadside unit in the implementation mode of the present application can receive the current location information broadcast by the vehicle traveling in the current service range (i.e. the current service range of the roadside unit, different roadside units have different current service ranges), so as to make corrections to the local area map information gathered by the roadside unit based on the current location information. The local area map information (Msg_MAP) can include the intersection information, road section information, lane information and the connection relationship between roads in the local area.

[0026] As an implementation method, the roadside unit can receive the current location information broadcasted by the on-board unit (OBU) of the vehicle traveling within the current service range. The current location information can be understood as the current GPS location (positioning) information of the vehicle. After the roadside unit receives the current location information broadcasted by the on-board unit of the vehicle, the current location information can be stored. When the vehicle leaves the current service range of the roadside unit (for example, a road section), the roadside unit can directly obtain the vehicle's driving trajectory based on the current location information. For the sake of ease of description, the driving trajectory can be regarded as consisting of multiple coordinate points.

[0027] Among them, it should be noted that the current service range of the roadside unit can be a road section. When the vehicle is traveling on this road section, the current position information of the vehicle can be broadcast periodically (which can be expressed as Msg_BSM message). Optionally, the broadcast frequency can be 10Hz by default, or it can be other values, which are not limited here. Thus, the roadside unit can receive multiple (can also be understood as several, the specific number is not limited here) current position information periodically broadcast by the vehicle's on-board unit. The multiple current position information constitutes a description of the vehicle's driving trajectory. If the position corresponding to each current position information is regarded as a coordinate point, then the multiple current position information represents multiple coordinate points, so that the driving trajectory can be regarded as composed of these multiple punctuation points.

[0028] Optionally, the vehicle in the implementation manner of the present application has a V2X function, through which the vehicle can share its road traffic participation information with a roadside unit.

[0029] Step S120: Acquire key road coordinate points from the multiple coordinate points.

[0030] When obtaining the vehicle's driving trajectory, due to the different driving habits of different users (for example, some users may be able to drive relatively standardly within the lane, while some users may deviate from the lane or drive on the line), and the user may overtake or overtake multiple times during driving, the obtained vehicle's driving trajectory may not accurately describe the actual lane conditions.

[0031] In order to optimize this problem, in this embodiment, key road coordinate points are obtained from multiple coordinate points constituting the vehicle's driving trajectory to reduce or eliminate errors.

[0032] There are multiple key road coordinate points, which are less than or equal to the number of coordinate points constituting the vehicle's driving trajectory. Key road coordinate points can be understood as coordinate points that can accurately describe lane trajectories, and key road coordinate points meet the requirements for describing a lane.

[0033] Step S130: adjusting the preset road network map broadcast by the roadside unit based on the key road coordinate points to obtain a target road network map.

[0034] As a method, the preset road network map broadcast by the roadside unit can be adjusted based on the key road coordinate points to update the preset road network map and obtain the target road network map.

[0035] Among them, the preset road network map can be understood as the map information of the local area gathered by the roadside unit described above. The preset road network map includes the lane information within the current service range of the roadside unit. In order to make a more targeted comparison, the preset road network map at this time can be understood as the preset lane trajectory corresponding to the aforementioned road section (the current service range of the roadside unit). The preset lane trajectory can also be regarded as composed of multiple lane coordinate points.

[0036] Therefore, in the process of adjusting the preset road network map broadcast by the roadside unit based on the road key coordinate points, the extracted road key coordinate points can be compared with the lane coordinate points of the corresponding position. If the lane coordinate points of the corresponding position do not match the road key coordinate points, the lane coordinate points of the corresponding position are replaced with the road key coordinate points to calibrate (update) the original lane coordinate points of the corresponding position, so that the lane coordinate points of the corresponding position are further close to the trajectory of the actual lane.

[0037] Optionally, if the lane coordinate point at the corresponding position matches the key coordinate point of the road, the original lane coordinate point at the corresponding position may not be adjusted. Matching can be understood as the lane coordinate point at the corresponding position coincides with the key coordinate point of the road, or the position difference between the lane coordinate point at the corresponding position and the key coordinate point of the road is within a preset difference range, which can be set according to actual needs and is not specifically limited.

[0038] Optionally, the greater the number of key road coordinate points, the higher the accuracy of the target road network map obtained after adjustment.

[0039] Optionally, the current service range of the roadside unit may be one road section or multiple road sections (which may be multiple continuous road sections and / or multiple intersecting road sections). If the current service range of the roadside unit is one road section, the target road network map obtained after adjustment includes one lane map; and if the current service range of the roadside unit includes multiple road sections, the target road network map obtained after adjustment includes multiple lane maps.

[0040] The present embodiment provides a method for configuring a road network map, which receives the current location information broadcasted by a vehicle traveling within the current service range through a roadside unit, and obtains the driving trajectory of the vehicle according to the current location information, wherein the driving trajectory is composed of multiple coordinate points; obtains key road coordinate points from the multiple coordinate points; and adjusts the preset road network map broadcasted by the roadside unit based on the key road coordinate points to obtain a target road network map. Thus, the roadside unit automatically obtains the key road coordinate points according to the driving trajectory of the vehicle, and then uses the key road coordinate points to adjust the original preset road network map to update the preset road network map and obtain the target road network map. The road network map configuration process does not require human participation, which greatly reduces the labor cost.

[0041] See also Figure 3 , is a road network map configuration method provided in another embodiment of the present application, the method comprising:

[0042] Step S210: The roadside unit receives the current position information broadcast by the vehicle traveling within the current service range, and obtains the driving trajectory of the vehicle according to the current position information, wherein the driving trajectory is composed of multiple coordinate points.

[0043] The specific implementation of step S210 may refer to the relevant description of step S110 in the aforementioned embodiment, which will not be repeated here.

[0044] Step S220: For any two adjacent coordinate points on the driving trajectory, obtain the maximum vertical distance between the line connecting the two adjacent coordinate points and the center line of the lane in which the vehicle is driving.

[0045] In the process of acquiring (extracting) key coordinate points of the road from multiple coordinate points, as an implementation method, in order to obtain more accurate lane trajectory description information, for any two adjacent coordinate points on the acquired vehicle's driving trajectory, the maximum vertical distance between the line connecting the two adjacent coordinate points and the lane centerline of the lane in which the vehicle is traveling can be obtained. The maximum vertical distance can reflect the degree to which the vehicle deviates from the lane centerline during driving.

[0046] Optionally, if the value of the maximum vertical distance is larger, it indicates that the vehicle deviates from the actual lane trajectory when driving on the road between the two adjacent coordinate points; if the value of the maximum vertical distance is smaller, it indicates that the vehicle does not deviate from the actual lane trajectory when driving on the road between the two adjacent coordinate points.

[0047] Optionally, the maximum vertical distances corresponding to two different adjacent coordinate points may be different.

[0048] Step S231: If the maximum vertical distance is less than or equal to a preset threshold, the two adjacent coordinate points are determined as key road coordinate points.

[0049] The preset threshold represents a critical value of the vehicle deviating from the actual lane trajectory during driving. The specific value of the preset threshold may not be limited. For example, the preset threshold may be 1 (meter).

[0050] As an implementation mode, if the maximum vertical distance is less than or equal to a preset threshold, it means that the vehicle does not deviate from the actual lane trajectory when driving on the road between the two adjacent coordinate points. At this time, the two adjacent coordinate points can be determined as key road coordinate points.

[0051] If step S231 is satisfied, step S240 is executed instead.

[0052] In a specific application scenario, see Figure 4 , shows an example diagram of the principle of obtaining key coordinate points of a road provided by an embodiment of the present application. Figure 4 As shown, for any two adjacent key road coordinate points in the vehicle's driving direction (e.g. Figure 4 The coordinate points P1 and P2 shown in the figure can obtain the maximum vertical distance (which can also be understood as an actual error) between the line connecting the two coordinate points and the actual track of the lane (i.e., the center line of the lane where the vehicle is traveling). In order to minimize the error as much as possible, the key coordinate points of the road in the implementation mode of the present application need to meet the requirement that "the value of the maximum vertical distance is less than the preset threshold value ( Figure 4 The preset threshold value shown is 1 meter)", so if Figure 4 If the maximum vertical distance shown is less than 1 meter, both coordinate points P1 and P2 can be determined as key coordinate points of the road.

[0053] It should be noted that for each coordinate point (except the first and last coordinate points), it may participate in two extraction processes of road key coordinate points. If a coordinate point is determined as a road key coordinate point in one extraction process, but not in the other extraction process, then the coordinate point can be discarded in the end; if the coordinate point is determined as a road key coordinate point in two different extraction processes, then the coordinate point is determined as a road key coordinate point.

[0054] For example, Figure 4 If the coordinate point P1 shown meets the requirements of being a key coordinate point on the road on the line segment P1P2, but does not meet the requirements of being a key coordinate point on the line segment P0P1, the coordinate point P1 will not be determined as a key coordinate point on the road. Only when the coordinate point P1 meets the requirements of being a key coordinate point on the road on the line segment P1P2 and the coordinate point P1 also meets the requirements of being a key coordinate point on the road on the line segment P0P1, will the coordinate point P1 be determined as a key coordinate point on the road.

[0055] That is to say, for the multiple coordinate points that constitute the vehicle's driving trajectory, except for the first and last coordinate points, any other coordinate points can be judged twice, so as to ensure the accuracy and reliability of the extracted key road coordinate points, so that the lane trajectory constituted by the extracted key road coordinate points can be closer to the actual lane trajectory, thereby facilitating the subsequent improvement of the accuracy of the road network map configuration.

[0056] Optional, see Figure 5 , shows an example diagram of key road coordinate points obtained by screening provided by an embodiment of the present application. Figure 5 As shown, after experiencing Figure 4 After the extraction process of key road coordinate points shown in the figure, we can get Figure 5 The key coordinate points of the road are shown. Figure 5 The black dots in the figure represent the key coordinate points of the road, and the gray lines are the connecting lines of the key coordinate points of the road. Since the key coordinate points of the road are obtained through strict screening and can more accurately describe the actual lane trajectory, the gray lines can also be regarded as the connecting lines of the lane center coordinate points of the lane where the vehicle is traveling.

[0057] Step S232: If the maximum vertical distance is greater than a preset threshold, the two adjacent coordinate points are discarded.

[0058] As another implementation, if the maximum vertical distance is greater than a preset threshold, it means that the vehicle deviates from the actual lane trajectory when driving on the road between the two adjacent coordinate points, and the two adjacent coordinate points can be discarded.

[0059] Step S240: adjusting the preset road network map broadcast by the roadside unit based on the key road coordinate points to obtain a target road network map.

[0060] The specific implementation of step S240 may refer to the relevant description of step S130 in the aforementioned embodiment, which will not be repeated here.

[0061] The present embodiment provides a method for configuring a road network map, which receives the current position information broadcasted by a vehicle traveling within the current service range through a roadside unit, and obtains the driving trajectory of the vehicle according to the current position information, wherein the driving trajectory is composed of multiple coordinate points; for any two adjacent coordinate points on the driving trajectory, the maximum vertical distance between the line connecting the two adjacent coordinate points and the lane centerline of the lane in which the vehicle is traveling is obtained; if the maximum vertical distance is less than or equal to a preset threshold, the two adjacent coordinate points are determined as key road coordinate points; if the maximum vertical distance is greater than the preset threshold, the two adjacent coordinate points are discarded; based on the key road coordinate points, the preset road network map broadcasted by the roadside unit is adjusted to obtain a target road network map. Thus, the road key coordinate points are automatically obtained according to the driving trajectory of the vehicle by the roadside unit, and then the original preset road network map is adjusted with the road key coordinate points to update the preset road network map to obtain the target road network map. The road network map configuration process does not require manual participation, which greatly reduces the labor cost.

[0062] At the same time, the multiple coordinate points that constitute the vehicle's driving trajectory are judged whether they meet the requirements of becoming key road coordinate points, and even the other coordinate points in the driving trajectory except the first and last coordinate points are judged twice, which can further improve the accuracy of the extraction of key road coordinate points, thereby further improving the accuracy of the road network map configuration.

[0063] See also Figure 6 , is a road network map configuration method provided in another embodiment of the present application, the method comprising:

[0064] Step S310: The roadside unit receives the current position information broadcast by the vehicle traveling within the current service range, and obtains the driving trajectory of the vehicle according to the current position information, wherein the driving trajectory is composed of multiple coordinate points.

[0065] The specific implementation of step S310 may refer to the relevant description of step S110 in the aforementioned embodiment, which will not be repeated here.

[0066] Step S320: When the lane on which the vehicle is traveling is a curve, key road coordinate points are acquired from the multiple coordinate points.

[0067] In this embodiment, considering that the difference between the key road coordinate points obtained on a straight lane and the coordinate points of the corresponding positions in the preset road network map may not be very large, in order to avoid wasting computing resources, for vehicles traveling within the current service range of the roadside unit, the key road coordinate points can be obtained from the multiple coordinate points when the lane the vehicle is traveling on is a curved lane. When the lane the vehicle is traveling on is a (flat) straight lane, the coordinate points constituting the vehicle trajectory can be directly used as the key road coordinate points.

[0068] In this way, if a road section on which a vehicle is traveling includes both curved lanes and straight lanes, the lane trajectory formed by the key road coordinate points extracted on the curved lane and the lane trajectory formed by the coordinate points on the (flat) straight lane can be spliced ​​together to eventually obtain a complete lane trajectory, which is more realistic than the corresponding lane trajectory of the preset road network map and closer to the actual lane conditions, that is, closer to the trajectory of the actual lane.

[0069] Optionally, the implementation process of how to obtain the key road coordinate points from the multiple coordinate points in step S320 can refer to the relevant descriptions of step S120, step S220, step S231, and step S232 in the aforementioned embodiments, which will not be repeated here.

[0070] Step S330: adjusting the preset road network map broadcast by the roadside unit based on the key road coordinate points to obtain a target road network map.

[0071] The specific implementation of step S330 may refer to the relevant description of step S130 in the aforementioned embodiment, which will not be repeated here.

[0072] The present embodiment provides a method for configuring a road network map, which receives the current position information broadcasted by a vehicle traveling within the current service range through a roadside unit, and obtains the driving trajectory of the vehicle according to the current position information, wherein the driving trajectory is composed of multiple coordinate points; when the lane traveled by the vehicle is a curve, key road coordinate points are obtained from the multiple coordinate points; based on the key road coordinate points, the preset road network map broadcasted by the roadside unit is adjusted to obtain a target road network map. Thus, the roadside unit automatically obtains the key road coordinate points according to the driving trajectory of the vehicle, and then uses the key road coordinate points to adjust the original preset road network map to update the preset road network map and obtain the target road network map. The road network map configuration process does not require human participation, which greatly reduces the labor cost.

[0073] By obtaining key road coordinate points from multiple coordinate points only when the vehicle's driving lane is a curve, the problem of wasting computing resources caused by the small difference between the key road coordinate points obtained on a straight lane and the coordinate points of the corresponding positions in the preset road network map can be avoided.

[0074] See also Figure 7 The present application provides a road network map configuration device 400, the road network map configuration device 400 comprising:

[0075] The driving trajectory acquisition module 410 is used for the roadside unit to receive the current position information broadcast by the vehicle traveling within the current service range, and obtain the driving trajectory of the vehicle according to the current position information, and the driving trajectory is composed of multiple coordinate points.

[0076] As an implementation manner, the driving trajectory acquisition module 410 may be used by the roadside unit to receive the current location information broadcasted by the vehicle-mounted units of vehicles traveling within the current service range.

[0077] The road key point acquisition module 420 is used to acquire the road key coordinate points from the multiple coordinate points.

[0078] As an implementation method, the road key point acquisition module 420 can be specifically used to obtain, for any two adjacent coordinate points on the driving trajectory, the maximum vertical distance between the line connecting the two adjacent coordinate points and the center line of the lane in which the vehicle is traveling; if the maximum vertical distance is less than or equal to a preset threshold, the two adjacent coordinate points are determined as road key coordinate points.

[0079] Optionally, the road key point acquisition module 420 may also be configured to discard the two adjacent coordinate points if the maximum vertical distance is greater than a preset threshold.

[0080] As another implementation manner, the road key point acquisition module 420 may be specifically configured to acquire the road key coordinate points from the multiple coordinate points when the lane on which the vehicle is traveling is a curve.

[0081] The road network map configuration module 430 is used to adjust the preset road network map broadcast by the road side unit based on the key coordinate points of the road to obtain a target road network map.

[0082] In the implementation manner of the present application, the preset road network map includes lane information within the current service range, and the lane information is composed of multiple lane coordinate points. In this way, the road network map configuration module 430 can be specifically used to compare the road key coordinate point with the lane coordinate point at the corresponding position, and if the lane coordinate point at the corresponding position does not match the road key coordinate point, the lane coordinate point at the corresponding position is replaced with the road key coordinate point.

[0083] The following will be combined Figure 8 An electronic device provided by the present application is described.

[0084] See also Figure 8 Based on the above-mentioned road network map configuration method and device, the embodiment of the present application also provides another electronic device 100 that can execute the above-mentioned road network map configuration method. The electronic device 100 includes one or more (only one is shown in the figure) processors 102, a memory 104, and a data acquisition module 106 that are coupled to each other. Among them, the memory 104 stores a program that can execute the content of the above-mentioned embodiment, and the processor 102 can execute the program stored in the memory 104.

[0085] Among them, the processor 102 may include one or more processing cores. The processor 102 uses various interfaces and lines to connect various parts within the entire electronic device 100, and executes various functions and processes data of the electronic device 100 by running or executing instructions, programs, code sets or instruction sets stored in the memory 104, and calling data stored in the memory 104. Optionally, the processor 102 can be implemented in at least one hardware form of a network processor (Neural network Processing Unit, NPU), a digital signal processing (Digital Signal Processing, DSP), a field programmable gate array (Field-Programmable Gate Array, FPGA), and a programmable logic array (Programmable Logic Array, PLA). The processor 102 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU), a network processor (Neural network Processing Unit, NPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing display content; the NPU is responsible for processing multimedia data such as video and images; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 102, but may be implemented separately through a communication chip.

[0086] The memory 104 may include a random access memory (RAM) or a read-only memory (ROM). The memory 104 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 104 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data (such as a phone book, audio and video data, chat record data) created by the electronic device 100 during use.

[0087] The data acquisition module 106 can be used to obtain the driving status information of the electronic device 100. The data acquisition module 106 can be a laser radar, a camera, a sensor, a GPS (Global Positioning System) navigation, etc.

[0088] An embodiment of the present application provides a computer-readable storage medium in which a program code is stored, and the program code can be called by a processor to execute the method described in the above method embodiment.

[0089] The computer readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium includes a non-transitory computer-readable storage medium. The computer readable storage medium has storage space for program codes that execute any of the method steps in the above method. These program codes can be read from or written to one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0090] In summary, the present application provides a road network map configuration method, device, and electronic device, which receives the current location information broadcast by the vehicle traveling within the current service range through the roadside unit, and obtains the driving trajectory of the vehicle according to the current location information, wherein the driving trajectory is composed of multiple coordinate points; obtains the key road coordinate points from the multiple coordinate points; and adjusts the preset road network map broadcast by the roadside unit based on the key road coordinate points to obtain the target road network map. Thus, the roadside unit automatically obtains the key road coordinate points according to the driving trajectory of the vehicle, and then uses the key road coordinate points to adjust the original preset road network map to update the preset road network map and obtain the target road network map. The road network map configuration process does not require human participation, which greatly reduces the labor cost.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A road network map configuration method, characterized in that: The method comprises: The roadside unit receives the current position information broadcasted by the vehicle traveling within the current service range, and obtains the driving trajectory of the vehicle according to the current position information, wherein the driving trajectory is composed of a plurality of coordinate points; Acquire key road coordinate points from the multiple coordinate points; The preset road network map broadcast by the roadside unit is adjusted based on the key road coordinate points to obtain a target road network map.

2. The method according to claim 1, characterized in that The acquiring key road coordinate points from the multiple coordinate points includes: For any two adjacent coordinate points on the driving trajectory, obtaining the maximum vertical distance between a line connecting the two adjacent coordinate points and a lane centerline of a lane in which the vehicle is driving; If the maximum vertical distance is less than or equal to a preset threshold, the two adjacent coordinate points are determined as key road coordinate points.

3. The method according to claim 2, characterized in that The method further comprises: If the maximum vertical distance is greater than a preset threshold, the two adjacent coordinate points are discarded.

4. The method according to claim 1, characterized in that: The preset road network map includes lane information within the current service range, and the lane information is composed of a plurality of lane coordinate points. The adjusting the preset road network map broadcast by the roadside unit based on the key road coordinate points includes: The road key coordinate point is compared with the lane coordinate point of the corresponding position. If the lane coordinate point of the corresponding position does not match the road key coordinate point, the lane coordinate point of the corresponding position is replaced with the road key coordinate point.

5. The method according to claim 1, characterized in that The roadside unit receives current location information broadcasted by vehicles traveling within the current service range, including: The roadside unit receives the current location information broadcasted by the on-board units of vehicles traveling within the current service range.

6. The method according to any one of claims 1 to 5, characterized in that: The acquiring key road coordinate points from the multiple coordinate points includes: When the lane on which the vehicle is traveling is a curve, key road coordinate points are acquired from the plurality of coordinate points.

7. A road network map configuration device, characterized in that: The device comprises: A driving trajectory acquisition module, used for the roadside unit to receive the current position information broadcast by the vehicle traveling within the current service range, and obtain the driving trajectory of the vehicle according to the current position information, wherein the driving trajectory is composed of multiple coordinate points; A road key point acquisition module, used for acquiring road key coordinate points from the plurality of coordinate points; The road network map configuration module is used to adjust the preset road network map broadcast by the road side unit based on the key coordinate points of the road to obtain a target road network map.

8. An electronic device, characterized in that: comprising one or more processors and memory; One or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, wherein when the program code is executed by a processor, the method according to any one of claims 1 to 6 is executed.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of any method described in claims 1-6 are implemented.

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