V2X-based map speed limit information updating system, method, device and medium

Abstract

The invention discloses a V2X-based map speed limit information updating system, method and device and a medium, and belongs to the technical field of map updating. According to the invention, real-time traffic information is obtained through a vehicle verification and updating device, and the real-time traffic information is verified and judged through the vehicle verification and updating device to obtain speed limit information and send the speed limit information to a road test module; the speed limit information is collected and integrated through the road test module to obtain a speed limit data packet, the speed limit data packet is sent to the edge calculation module, the speed limit information of the corresponding road section is updated through the edge calculation module according to the speed limit data packet in combination with a preset map database to obtain updated speed limit information, and the updated speed limit information is uploaded to the cloud platform; and issuing the updated speed limit information to the networked vehicles through the cloud platform so as to ensure that all the vehicles obtain the updated speed limit information. The high-precision map is updated through V2X, the cloud platform distributes and ensures that the vehicle obtains the latest speed limit, and the real-time performance and accuracy of speed limit information updating are improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a device, method, equipment and medium for updating map speed limit information based on V2X. Background Art

[0002] With the development of intelligent transportation systems, high-precision maps have become an indispensable basic component of autonomous driving and intelligent driving. These maps not only provide detailed geographic information, but also contain dynamic information such as road structure and traffic rules, which is crucial to ensure the safe driving of autonomous vehicles. However, in reality, speed limit information may change frequently due to construction, temporary traffic control, etc., which puts higher requirements on the real-time and accuracy of high-precision maps.

[0003] At present, the update of high-precision maps relies on regular map data collection and manual annotation. Although this method can ensure a certain degree of accuracy, it is incapable of responding to emergencies and frequently changing speed limit information. Traditional high-precision map update methods often have a lag and cannot reflect the actual speed limit changes on the road in a timely manner, especially in cities with heavy traffic and complex road conditions. This lag is more obvious.

[0004] The main problem facing the existing high-precision map update technology is the lack of real-time performance. When the speed limit information on the road changes, the traditional method cannot quickly capture these changes and update them to the map in time. In addition, relying on manual methods is not only time-consuming and labor-intensive, but also prone to information omissions or errors. These defects may cause autonomous vehicles to fail to make the most appropriate decisions when faced with temporary speed limit changes, increasing the risk of traffic accidents. Therefore, it is particularly urgent to develop a system and method that can update speed limit information in high-precision maps in real time. Summary of the invention

[0005] The main purpose of the present invention is to provide a V2X-based map speed limit information update system, method, device and medium, aiming to solve the problem of how to improve the accuracy and real-time performance of updating high-precision map speed limit information.

[0006] To achieve the above object, the present invention provides a V2X-based map speed limit information update system, the V2X-based map speed limit information update system at least comprising: a vehicle verification update device, a road test module, an edge computing module and a cloud platform, wherein the vehicle verification update device is connected to the road test module via a communication bus, the road test module is connected to the edge computing module via a communication bus, and the edge computing module is connected to the cloud platform via a communication bus;

[0007] The vehicle verification and updating device is used to obtain real-time traffic information;

[0008] The vehicle verification and updating device is also used to verify and judge the real-time traffic information, obtain speed limit information, and send it to the road test module;

[0009] The drive test module is used to collect and integrate the speed limit information to obtain a speed limit data packet and send it to the edge computing module;

[0010] The edge computing module is used to update the speed limit information of the corresponding road section according to the speed limit data packet in combination with a preset map database, obtain updated speed limit information, and upload it to the cloud platform;

[0011] The cloud platform is used to publish the updated speed limit information to networked vehicles to ensure that all vehicles obtain the updated speed limit information.

[0012] In one embodiment, the vehicle verification and updating device includes a perception unit, a navigation map unit, a high-precision map unit, a vehicle interaction unit and a first verification unit:

[0013] The sensing unit is used to obtain speed limit sign information and obtain first speed limit information according to the speed limit sign information;

[0014] The navigation map unit is used to obtain second speed limit information based on the navigation map;

[0015] The high-precision map unit is used to obtain the third speed limit information based on the high-precision map;

[0016] The vehicle interaction unit is used to obtain speed limit information of surrounding vehicles to obtain fourth speed limit information;

[0017] The first verification unit is used to determine that the verification is successful and obtain the speed limit information when the first speed limit information is consistent with the third speed limit information, the second speed limit information is consistent with the third speed limit information, and the first speed limit information is consistent with the fourth speed limit information.

[0018] In one embodiment, the drive test module includes an acquisition unit and a second verification unit:

[0019] The acquisition unit is used to acquire speed limit information uploaded by multiple vehicles within a preset time;

[0020] The acquisition unit is further used to acquire a consistency rate of the plurality of speed limit information;

[0021] The second verification unit is used to determine that the verification is successful when the consistency rate reaches a preset threshold, and obtain a speed limit data packet, wherein the speed limit data packet includes at least one of road section information, speed limit information and vehicle pseudo VIN information.

[0022] In addition, to achieve the above-mentioned purpose, the present invention also provides a method for updating map speed limit information based on V2X, the method comprising:

[0023] Obtain real-time traffic information through the vehicle verification and update device;

[0024] The real-time traffic information is verified and judged by the vehicle verification and updating device to obtain speed limit information, and sent to the road test module;

[0025] The speed limit information is collected and integrated by the drive test module to obtain a speed limit data packet, and sent to the edge computing module;

[0026] The speed limit information of the corresponding road section is updated by the edge computing module according to the speed limit data packet combined with the preset map database, the updated speed limit information is obtained, and uploaded to the cloud platform;

[0027] The updated speed limit information is published to networked vehicles via a cloud platform to ensure that all vehicles obtain the updated speed limit information.

[0028] In one embodiment, the step of verifying and judging the real-time traffic information by the vehicle verification and updating device, obtaining the speed limit information, and sending it to the road test module includes:

[0029] Obtain speed limit sign information, navigation maps and high-precision maps;

[0030] Identify the speed limit sign information to obtain first speed limit information;

[0031] acquiring second speed limit information based on the navigation map;

[0032] Acquire third speed limit information based on the high-precision map;

[0033] Obtaining speed limit information of surrounding vehicles to obtain fourth speed limit information;

[0034] When the first speed limit information is consistent with the third speed limit information, the second speed limit information is consistent with the third speed limit information, and the first speed limit information is consistent with the fourth speed limit information, it is determined that the inspection is successful and the speed limit information is obtained;

[0035] The speed limit information is sent to the drive test module.

[0036] In one embodiment, the step of collecting and integrating the speed limit information through the drive test module to obtain a speed limit data packet and sending it to the edge computing module includes:

[0037] After the road test module receives the speed limit information, it obtains the road section and the corresponding road section speed limit information through V2I communication feedback;

[0038] Obtaining road section speed limit information uploaded by multiple vehicles passing through the road section within a preset time;

[0039] Determine the speed limit information of the plurality of road sections and obtain a determination result;

[0040] When the judgment result reaches a preset consistency rate threshold, a data packaging operation is performed to obtain a speed limit data packet, wherein the speed limit data packet includes at least one of road section information, speed limit information and vehicle pseudo VIN information;

[0041] The speed limit data packet is uploaded to the edge computing module.

[0042] In one embodiment, the step of updating the speed limit information of the corresponding road section by the edge computing module according to the speed limit data packet in combination with a preset map database, obtaining the updated speed limit information, and uploading it to the cloud platform includes:

[0043] Obtaining speed limit information and road section information according to the speed limit data packet;

[0044] Based on a preset map database and the road section information, obtaining map speed limit information corresponding to the road section information;

[0045] Comparing the speed limit information with the map speed limit information to obtain a comparison result;

[0046] When the comparison result is different, taking the speed limit information as the target speed limit information, updating the map speed limit information corresponding to the road section information, and obtaining updated speed limit information;

[0047] The speed limit information is uploaded to the cloud platform.

[0048] In one embodiment, the step of obtaining the map speed limit information corresponding to the road section information based on the preset map database and the road section information includes:

[0049] Obtaining link information and tile information corresponding to a plurality of map business maps based on the plurality of map business map data according to the road section information;

[0050] Obtaining intersection information according to the plurality of LINK information and tile information;

[0051] According to the intersection information, the plurality of LINK information or tile information are interrupted and merged to obtain unified LINK information or tile information;

[0052] The map speed limit information is obtained from the unified LINK information or tile information.

[0053] In addition, to achieve the above-mentioned purpose, the present invention also provides a V2X-based map speed limit information update device, the device comprising: a memory, a processor, and a V2X-based map speed limit information update program stored in the memory and executable on the processor, the V2X-based map speed limit information update program being configured to implement any one of the steps of the V2X-based map speed limit information update method.

[0054] In addition, to achieve the above-mentioned purpose, the present invention also provides a medium, on which a V2X-based map speed limit information update program is stored, and when the V2X-based map speed limit information update program is executed by a processor, the steps of any one of the V2X-based map speed limit information update methods are implemented.

[0055] The present invention obtains real-time traffic information through the vehicle verification and update device, verifies and judges the real-time traffic information through the vehicle verification and update device, obtains speed limit information, and sends it to the road test module; the road test module collects and integrates the speed limit information to obtain a speed limit data packet, and sends it to the edge computing module, and the edge computing module updates the speed limit information of the corresponding road section according to the speed limit data packet combined with the preset map database, obtains updated speed limit information, and uploads it to the cloud platform; the updated speed limit information is published to the networked vehicles through the cloud platform to ensure that all vehicles obtain the updated speed limit information. The traffic speed limit information is obtained and verified in real time through V2X technology, and the high-precision map is updated through edge computing. The cloud platform distributes to ensure that the vehicle obtains the latest speed limit, improves the real-time and accuracy of the speed limit information update, and enhances driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a structural block diagram of a first embodiment of a map speed limit information update system based on V2X of the present invention;

[0057] Figure 2 This is a flow chart of a first embodiment of a method for updating map speed limit information based on V2X according to the present invention;

[0058] Figure 3 This is a flow chart of a second embodiment of a method for updating map speed limit information based on V2X according to the present invention;

[0059] Figure 4 This is a flow chart of a third embodiment of a method for updating map speed limit information based on V2X according to the present invention;

[0060] Figure 5 This is a flow chart of a fourth embodiment of a method for updating map speed limit information based on V2X according to the present invention;

[0061] Figure 6Schematic diagram of the device structure of the hardware operating environment involved in the V2X-based map speed limit information updating method in the embodiment of the present application;

[0062] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0063] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0064] Reference Figure 1 , Figure 1 This is a structural block diagram of the first embodiment of the V2X-based map speed limit information update system of the present invention.

[0065] The V2X-based map speed limit information update system includes: a vehicle verification and update device 10, a road test module 20, an edge computing module 30 and a cloud platform 40, wherein the vehicle verification and update device 10 is connected to the road test module 20 via a communication bus, the road test module 20 is connected to the edge computing module 30 via a communication bus, and the road test module 30 is connected to the cloud platform 40 via a communication bus.

[0066] In this embodiment, the vehicle verification and updating device 10 is used to obtain real-time traffic information.

[0067] It should be noted that the vehicle verification and updating device 10 can receive real-time image data captured by the vehicle camera, such as speed limit sign images, temporary speed limit notifications, etc. At the same time, the device can also use the vehicle's own sensors, such as visual or laser perception systems, to identify speed limit information in the surrounding environment, and cross-check with the vehicle to everything (V2X) communication to ensure the accuracy of the information. When the vehicle is driving, the vehicle verification and updating device 10 first refers to the road-level speed limit value provided by the navigation map, and combines the location information provided by the vehicle's own high-precision positioning system to determine the lane-level speed limit information at the current location. Subsequently, the device will perform preliminary processing on the received traffic information, extract speed limit related information, and upload this information to the roadside unit through V2X. In addition, the device will also exchange information with other vehicles, verify the speed limit information of the current road section with each other, and increase the credibility of the data.

[0068] The vehicle verification and updating device 10 is also used to verify and judge the real-time traffic information, obtain the speed limit information, and send it to the road test module 20.

[0069] It should be noted that during the verification process, the vehicle verification and update device 10 will compare the speed limit information output by the on-board map module with the results captured by the on-board perception system to ensure the matching degree of the two. Once the verification is completed, the verification and update module will package the full information package containing intersection information (LINK information), speed limit information, perceived speed limit sign image information, perceived speed limit sign location information, and perceived timestamp information, and send a verification package containing LINK information and speed limit information during subsequent vehicle-to-vehicle interactions. When the verification is completed between vehicles, all vehicles participating in the verification will upload the complete full information package to the road test module 20 for further verification and summary.

[0070] Furthermore, the vehicle verification and updating device 10 includes a sensing unit 101, a navigation map unit 102, a high-precision map unit 103, a vehicle interaction unit 104 and a first verification unit 105. The sensing unit 101 is used to obtain speed limit sign information and obtain first speed limit information according to the speed limit sign information. Specifically, the sensing unit 101 is usually equipped with a visual perception device, such as a camera or a laser radar, which can capture images of speed limit signs on the road. The sensing unit 101 uses image recognition technology to read the digital information on these signs and convert it into the first speed limit information that can be understood by the vehicle system. When the vehicle is driving, the sensing unit 101 will continuously scan the surrounding environment to find and identify any information about the speed limit. Once the speed limit sign is detected, the sensing unit 101 will identify the value on the speed limit sign through an image processing algorithm, and convert this information into a digital signal for verifying and updating the speed limit data in the vehicle navigation map or high-precision map.

[0071] In addition, the above-mentioned navigation map unit 102 is used to obtain the second speed limit information based on the navigation map. The navigation map unit 102 can access the navigation map data pre-installed on the vehicle through interaction with the vehicle-mounted terminal. These data contain road information, including but not limited to road name, road grade, number of lanes, and preset speed limit values. After the vehicle is started, the navigation map unit 102 will find the road section where the vehicle is located on the navigation map according to the current location information of the vehicle, and extract the preset speed limit value from the attributes of the road section, which is the so-called second speed limit information. This information is usually used as the basic reference system for vehicle operation, and is used to set the cruising speed, remind the driver to pay attention to the speed limit regulations of the current road section, etc. When the vehicle is driving, the navigation map unit 102 will monitor the changes in the vehicle's position in real time, and continuously update the second speed limit information according to changes in the vehicle's route.

[0072] The above-mentioned high-precision map unit 103 is used to obtain the third speed limit information based on the high-precision map. Compared with ordinary navigation maps, high-precision maps provide more detailed and accurate road information, including but not limited to lane-level speed limit information, lane width, road slope, curvature, etc. Through deep integration with the on-board system, the high-precision map unit 103 can obtain the lane information of the vehicle's current location in real time, and extract the speed limit information of the lane level from the high-precision map database, that is, the third speed limit information. As for the above-mentioned vehicle interaction unit 104, it is used to obtain the speed limit information of surrounding vehicles and obtain the fourth speed limit information. It realizes information interaction with surrounding vehicles through vehicle-to-vehicle (V2V) communication technology, obtains the speed limit information of surrounding vehicles, and thus obtains the fourth speed limit information.

[0073] Furthermore, the first verification unit 105 is used to determine that the verification is successful and obtain the speed limit information when the first speed limit information is consistent with the third speed limit information and the second speed limit information is consistent with the third speed limit information and the first speed limit information is consistent with the fourth speed limit information. The first verification unit 105 is responsible for integrating the speed limit information obtained from different sources and performing consistency verification. Specifically, when the first speed limit information obtained from the perception unit (i.e., the speed limit information identified by the vehicle's own perception system), the second speed limit information obtained from the navigation map unit (i.e., the standard speed limit information indicated on the navigation map), the third speed limit information obtained from the high-precision map unit (i.e., the lane-level speed limit information recorded in the high-precision map), and the fourth speed limit information obtained from the vehicle interaction unit (i.e., the speed limit information reported by surrounding vehicles) are all consistent with each other, the first verification unit 105 determines that the verification is successful and ultimately determines the validity of the speed limit information. For example, when a vehicle is traveling on a road section with a speed limit of 80 kilometers per hour, if the vehicle's perception system recognizes that the speed limit sign in front shows 80 kilometers per hour, and the navigation map also shows that the speed limit of the road section is 80 kilometers per hour, and the high-precision map also confirms that the speed limit of the lane is 80 kilometers per hour, and the surrounding vehicles also report the same speed limit information, then the first verification unit 105 will determine that 80 kilometers per hour is the effective speed limit of the current road section and provide this information to the vehicle control system to ensure that the vehicle travels at the correct speed limit.

[0074] The road test module 20 is used to collect and integrate the speed limit information, obtain the speed limit data packet, and send it to the edge computing module 30.

[0075] It should be noted that after collecting the speed limit information uploaded by each vehicle, the road test module 20 will first perform a preliminary summary and integration of this information. During this process, the module will compare and verify the speed limit information on the same or similar road sections (LINK) to eliminate possible errors or redundant data. Once the consistency of the information reaches a predetermined threshold, the road test module will package all information that meets the standards within this time period into a speed limit data packet, and upload it to the edge computing module 30 together with the vehicle's pseudo VIN (Vehicle Identification Number) information. The pseudo VIN information is an alternative identifier used to identify the vehicle identity, which is used to protect the real vehicle identity information. It also facilitates the edge computing module to track the source of information when processing data to ensure the authenticity and validity of the data.

[0076] Furthermore, the road test module 20 includes an acquisition unit 201 and a second verification unit 202. The acquisition unit 201 is used to acquire the speed limit information uploaded by multiple vehicles within a preset time and is also used to acquire the consistency rate of the multiple speed limit information. When the vehicle uploads the speed limit information to the roadside unit (RSU) through V2X technology, the acquisition unit 201 will collect this information, and perform preliminary processing and summary on it. Specifically, it will record the speed limit information uploaded by each vehicle, and count the proportion of the same speed limit value in this information, that is, calculate the consistency rate of these speed limit information. For example, within a period of time, if 100 vehicles upload speed limit information, and 80 of them report the same speed limit value, then the acquisition unit 201 will calculate that the consistency rate of these speed limit information is 80%. This process helps to identify the credibility of the speed limit information, because a high consistency rate indicates that most vehicles report the same speed limit value, thereby improving the reliability of the information. In addition, the acquisition unit 201 is also responsible for sending this summarized information and its consistency rate to the edge computing module 30.

[0077] In addition, the second verification unit 202 is used to determine that the verification is successful when the consistency rate reaches a preset threshold, and obtain a speed limit data packet, which includes at least one of the road section information, speed limit information and vehicle pseudo VIN information. Specifically, when the consistency rate of the speed limit information uploaded by multiple vehicles collected by the acquisition unit 201 reaches the preset threshold, the second verification unit 202 will perform further verification. If the consistency rate meets the standard, the unit will confirm the reliability of the information and determine that the verification is successful. At this time, the second verification unit 202 will create a speed limit data packet, which contains at least one of the road section information, speed limit information and vehicle pseudo VIN information. The road section information is to identify the specific road section or location to which the speed limit information belongs, so as to update the corresponding road section in the high-precision map later. The speed limit information is the actual speed limit value, that is, the speed limit information reported by most vehicles, which is used to update the speed limit data in the high-precision map. The vehicle pseudo VIN information is to identify the identity of the vehicle that uploaded the speed limit information. The generated speed limit data packet will then be sent to the edge computing module 30 for further processing to update the speed limit information in the high-precision map.

[0078] The edge computing module 30 is used to update the speed limit information of the corresponding road section according to the speed limit data packet combined with the preset map database, obtain the updated speed limit information, and upload it to the cloud platform 40.

[0079] It should be noted that when the edge computing module 30 receives the speed limit data packets uploaded by the road test module 20, it will first parse these data packets to extract the key data such as the road section information, speed limit value, timestamp and pseudo VIN contained therein. Then, the module will compare this information with the preset map database stored locally, and use the algorithm to evaluate the consistency and rationality of the data. If the information in the data packet is consistent or close to the existing information, the edge computing module 30 will update the speed limit value of the corresponding road section according to the information in these data packets. In this process, the edge computing module 30 will also apply some advanced algorithms to handle data conflicts and abnormal situations. For example, when the received speed limit information is inconsistent with the record in the database, the module will decide whether to adopt the new speed limit value based on the timestamp of the data, the reliability of the data source, and other auxiliary information (such as vehicle type, driving speed, etc.). In addition, the edge computing module 30 will also record each update operation so that the historical record of the change can be traced back when necessary. Once the speed limit information is updated, the edge computing module 30 will package the updated information, attach the necessary metadata (such as update time, version number, etc.), and then upload it to the cloud platform 40.

[0080] The cloud platform 40 is used to publish the updated speed limit information to the connected vehicles to ensure that all vehicles obtain the updated speed limit information.

[0081] It should be noted that when the edge computing module 30 uploads the updated speed limit information to the cloud platform 40, the cloud platform 40 will first perform consistency checks and formatting on the information to ensure the integrity and standardization of the information. Then, the cloud platform 40 will select the most suitable communication protocol and path based on the vehicle's location information, vehicle type and other relevant factors, and efficiently transmit the updated speed limit information to each connected vehicle. In this process, the cloud platform 40 will use data compression and transmission optimization technology to achieve rapid distribution of information with minimal bandwidth consumption.

[0082] In addition, the cloud platform 40 also has data management and historical record functions. It can store the details of each update, including the time, location, road sections involved, and speed limit values ​​before and after the update. These data can not only be used for subsequent audits and statistical analysis, but also help identify potential problem areas to further optimize traffic management strategies. Through the efficient operation of the cloud platform 40, all connected vehicles can receive the latest speed limit information in real time, which is of great significance for ensuring road traffic safety and improving traffic efficiency. Vehicle drivers can adjust their driving behavior based on the latest speed limit information to avoid fines or safety accidents caused by speeding or information lag.

[0083] This embodiment obtains real-time traffic information through the vehicle verification and update device, verifies and judges the real-time traffic information through the vehicle verification and update device, obtains speed limit information, and sends it to the road test module; the road test module collects and integrates the speed limit information to obtain a speed limit data packet, and sends it to the edge computing module, and the edge computing module updates the speed limit information of the corresponding road section according to the speed limit data packet combined with the preset map database, obtains updated speed limit information, and uploads it to the cloud platform; the updated speed limit information is published to the networked vehicles through the cloud platform to ensure that all vehicles obtain the updated speed limit information. The traffic speed limit information is obtained and verified in real time through V2X technology, and the high-precision map is updated through edge computing. The cloud platform distributes to ensure that the vehicle obtains the latest speed limit, improves the real-time and accuracy of the speed limit information update, and enhances driving safety.

[0084] The embodiment of the present invention provides a method for updating map speed limit information based on V2X, referring to Figure 2 , Figure 2 The figure is a flowchart of a first embodiment of a method for updating map speed limit information based on V2X according to the present invention.

[0085] In this embodiment, the V2X-based map speed limit information updating method includes:

[0086] Step S10: Obtain real-time traffic information through the vehicle verification and updating device.

[0087] It should be understood that the vehicle verification and update device can receive real-time image data captured by the vehicle camera, such as speed limit sign images, temporary speed limit notifications, etc. At the same time, the device can also use the vehicle's own sensors, such as visual or laser perception systems, to identify speed limit information in the surrounding environment, and cross-check with V2X communication to ensure the accuracy of the information. When the vehicle is driving, the vehicle verification and update device first refers to the road-level speed limit value provided by the navigation map, and combines the location information provided by the vehicle's own high-precision positioning system to determine the lane-level speed limit information at the current location. Subsequently, the device will perform preliminary processing on the received traffic information, extract speed limit-related information, and upload this information to the roadside unit through V2X. In addition, the device will also exchange information with other vehicles to verify the speed limit information of the current section of the road to increase the credibility of the data.

[0088] Step S20: The real-time traffic information is verified and judged by the vehicle verification and updating device, speed limit information is obtained, and sent to the road test module.

[0089] It should be noted that during the verification process, the vehicle verification and update device will compare the speed limit information output by the on-board map module with the results captured by the on-board perception system to ensure the matching degree of the two. Once the verification is completed, the verification and update module will package the full information package containing the intersection information (LINK information), speed limit information, perceived speed limit sign image information, perceived speed limit sign location information, and perceived timestamp information, and send the verification package containing the LINK information and speed limit information during subsequent vehicle-to-vehicle interactions. When the verification is completed between vehicles, all vehicles participating in the verification will upload the complete full information package to the road test module 20 for further verification and summary.

[0090] Furthermore, the above-mentioned vehicle verification and updating device includes a perception unit, a navigation map unit, a high-precision map unit, a vehicle interaction unit and a first verification unit. Specifically, the speed limit sign information, navigation map and high-precision map are obtained through the vehicle verification and updating device. The first speed limit information is obtained by identifying the speed limit sign information through the perception unit. Specifically, the perception unit is usually equipped with a visual perception device, such as a camera or a laser radar, which can capture the image of the speed limit sign on the road. The perception unit uses image recognition technology to read the digital information on these signs and convert it into the first speed limit information that can be understood by the vehicle system. When the vehicle is driving, the perception unit will continuously scan the surrounding environment to find and identify any information about the speed limit. Once the speed limit sign is detected, the perception unit will identify the value on the speed limit sign through an image processing algorithm, and convert this information into a digital signal for verifying and updating the speed limit data in the vehicle navigation map or high-precision map.

[0091] In addition, the second speed limit information is obtained based on the navigation map through the navigation map unit. The navigation map unit can access the navigation map data pre-installed on the vehicle through interaction with the vehicle terminal. These data contain road information, including but not limited to road name, road grade, number of lanes, and preset speed limit values. After the vehicle is started, the navigation map unit will find the road section where the vehicle is located on the navigation map according to the current location information of the vehicle, and extract the preset speed limit value from the attributes of the road section, which is the so-called second speed limit information. This information is usually used as the basic reference system for vehicle operation to set the cruising speed, remind the driver to pay attention to the speed limit regulations of the current road section, etc. When the vehicle is driving, the navigation map unit will monitor the position changes of the vehicle in real time, and continuously update the second speed limit information according to the changes in the vehicle's route. The third speed limit information is obtained based on the high-precision map through the above-mentioned high-precision map unit. Compared with ordinary navigation maps, high-precision maps provide more detailed and accurate road information, including but not limited to lane-level speed limit information, lane width, road slope, curvature, etc. The high-precision map unit is deeply integrated with the vehicle system to obtain the lane information of the vehicle in real time and extract the speed limit information of the lane level, i.e. the third speed limit information, from the high-precision map database. The speed limit information of surrounding vehicles is obtained through the vehicle interaction unit to obtain the fourth speed limit information. It uses V2V communication technology to achieve information interaction with surrounding vehicles, obtain the speed limit information of surrounding vehicles, and thus obtain the fourth speed limit information.

[0092] Furthermore, through the above-mentioned first verification unit, when the first speed limit information is consistent with the third speed limit information and the second speed limit information is consistent with the third speed limit information and the first speed limit information is consistent with the fourth speed limit information, the verification is determined to be successful and the speed limit information is obtained. The first verification unit is responsible for integrating the speed limit information obtained from different sources and performing consistency verification. Specifically, when the first speed limit information obtained from the perception unit (i.e., the speed limit information identified by the vehicle's own perception system), the second speed limit information obtained from the navigation map unit (i.e., the standard speed limit information indicated on the navigation map), the third speed limit information obtained from the high-precision map unit (i.e., the lane-level speed limit information recorded in the high-precision map) and the fourth speed limit information obtained from the vehicle interaction unit (i.e., the speed limit information reported by surrounding vehicles) are all consistent with each other, the first verification unit determines that the verification is successful and ultimately determines the validity of the speed limit information. For example, when a vehicle is traveling on a road section with a speed limit of 80 km / h, if the vehicle's perception system recognizes that the speed limit sign in front shows 80 km / h, and the navigation map also shows that the speed limit of the road section is 80 km / h, and the high-precision map also confirms that the speed limit of the lane is 80 km / h, and the surrounding vehicles also report the same speed limit information, then the first verification unit will determine that 80 km / h is the effective speed limit of the current road section, and provide this information to the vehicle control system to ensure that the vehicle travels at the correct speed limit, and finally send the speed limit information to the road test module.

[0093] Step S30: The speed limit information is collected and integrated through the road test module to obtain a speed limit data packet, and sent to the edge computing module.

[0094] It should be understood that after the road test module collects the speed limit information uploaded by each vehicle, it will first conduct a preliminary summary and integration of this information. During this process, the module will compare and verify the speed limit information on the same or similar road sections to eliminate possible errors or redundant data. Once the consistency of the information reaches the predetermined threshold, the road test module will package all the information that meets the standards within this time period into a speed limit data packet and upload it to the edge computing module together with the vehicle's pseudo-VIN information. The pseudo-VIN information is an alternative identifier used to identify the vehicle's identity. It is used to protect the real vehicle identity information. It also facilitates the edge computing module to track the source of information when processing data to ensure the authenticity and validity of the data.

[0095] Step S40: The speed limit information of the corresponding road section is updated through the edge computing module according to the speed limit data packet combined with the preset map database, the updated speed limit information is obtained, and uploaded to the cloud platform.

[0096] It should be noted that when the edge computing module receives the speed limit data packets uploaded by the road test module, it will first parse these data packets to extract key data such as road section information, speed limit value, timestamp, and pseudo VIN contained therein. Then, the module will compare this information with the preset map database stored locally, and use the algorithm to evaluate the consistency and rationality of the data. If the information in the data packet is consistent or close to the existing information, the edge computing module will update the speed limit value of the corresponding road section according to the information in these data packets. In this process, the edge computing module will also apply some advanced algorithms to handle data conflicts and abnormal situations. For example, when the received speed limit information is inconsistent with the records in the database, the module will decide whether to adopt the new speed limit value based on the timestamp of the data, the reliability of the data source, and other auxiliary information (such as vehicle type, driving speed, etc.). In addition, the edge computing module will also record each update operation so that the historical record of the change can be traced back when necessary. Once the speed limit information is updated, the edge computing module will package the updated information, attach necessary metadata (such as update time, version number, etc.), and then upload it to the cloud platform.

[0097] Step S50: Publish the updated speed limit information to the networked vehicles via the cloud platform to ensure that all vehicles obtain the updated speed limit information.

[0098] It should be noted that when the edge computing module uploads the updated speed limit information to the cloud platform, the cloud platform will first perform consistency checks and formatting on the information to ensure the integrity and standardization of the information. Then, the cloud platform will select the most suitable communication protocol and path based on the vehicle's location information, vehicle type, and other relevant factors to efficiently transmit the updated speed limit information to each connected vehicle. During this process, the cloud platform will use data compression and transmission optimization technology to achieve rapid distribution of information with minimal bandwidth consumption.

[0099] In addition, the cloud platform also has data management and historical record functions. It can store the details of each update, including the time, location, road sections involved, and speed limits before and after the update. These data can not only be used for subsequent audits and statistical analysis, but also help identify potential problem areas to further optimize traffic management strategies. Through the efficient operation of the cloud platform, all connected vehicles can receive the latest speed limit information in real time, which is of great significance for ensuring road traffic safety and improving traffic efficiency. Vehicle drivers can adjust their driving behavior based on the latest speed limit information to avoid fines or safety accidents caused by speeding or information lag.

[0100] This embodiment obtains real-time traffic information through the vehicle verification and update device, verifies and judges the real-time traffic information through the vehicle verification and update device, obtains speed limit information, and sends it to the road test module; the road test module collects and integrates the speed limit information to obtain a speed limit data packet, and sends it to the edge computing module, and the edge computing module updates the speed limit information of the corresponding road section according to the speed limit data packet combined with the preset map database, obtains updated speed limit information, and uploads it to the cloud platform; the updated speed limit information is published to the networked vehicles through the cloud platform to ensure that all vehicles obtain the updated speed limit information. The traffic speed limit information is obtained and verified in real time through V2X technology, and the high-precision map is updated through edge computing. The cloud platform distributes to ensure that the vehicle obtains the latest speed limit, improves the real-time and accuracy of the speed limit information update, and enhances driving safety.

[0101] refer to Figure 3 , Figure 3 This is a flow chart of a second embodiment of a method for updating map speed limit information based on V2X according to the present invention.

[0102] The step S30 described in the first embodiment further includes:

[0103] Step S301: After the road test module receives the speed limit information, the road section and the corresponding road section speed limit information are obtained through V2I communication feedback.

[0104] It should be noted that after the road test module receives speed limit information from multiple vehicle-mounted terminals, it obtains the road section and the corresponding road section speed limit information through vehicle-to-infrastructure (V2I) communication. This process is crucial to ensure the real-time update of speed limit information.

[0105] Step S302: Obtaining road section speed limit information uploaded by multiple vehicles passing through the road section within a preset time.

[0106] It should be noted that when vehicles pass a certain road section within a preset time period (such as a few minutes), they will upload the perceived speed limit information to the road test module through the vehicle terminal. This information may come from a variety of channels, including images of speed limit signs captured by the vehicle camera, speed limit values ​​identified by the vehicle perception system, speed limit information provided by the navigation map, etc. The road test module will collect the uploaded speed limit information and perform preliminary processing, including data cleaning and format unification, to ensure the consistency and availability of the information, and obtain the speed limit information of multiple sections of the road.

[0107] Step S303: Determine the speed limit information of multiple road sections and obtain a determination result.

[0108] It should be noted that the road test module will calculate the consistency rate of these speed limit information, that is, what proportion of the speed limit information uploaded within the preset time is the same, and obtain the judgment result of the consistency rate and the preset consistency rate threshold. Specifically, after requesting to verify the speed limit information of LINK, at least a sample replies are received, and the replies with the same results account for at least η of the a replies received. If the proportion of inconsistent with the requested LINK speed limit information is θ and they are all consistent, this verification procedure ends and reports the result to RSU. When the sample is discarded and the number of times the sample is discarded reaches E, it is reported to the vehicle-side service cloud to check the perception or map version. In this way, the system ensures that the accuracy of the speed limit information will only be confirmed when most vehicles report the same speed limit information, and timely system checks will be performed when frequent anomalies occur to improve data reliability and driving safety.

[0109] Step S304: When the judgment result reaches a preset consistency rate threshold, a data packaging operation is performed to obtain a speed limit data packet, which includes at least one of road section information, speed limit information and vehicle pseudo VIN information.

[0110] It should be noted that when the consistency rate reaches the preset consistency rate threshold, the verification is determined to be successful, and a speed limit data packet is obtained, which includes at least one of the road section information, speed limit information and vehicle pseudo information. Specifically, when the consistency rate of the speed limit information uploaded by multiple vehicles collected by the acquisition unit reaches the preset threshold, the second verification unit will perform further verification. If the consistency rate meets the standard, the unit will confirm the reliability of this information and determine that the verification is successful. At this time, the second verification unit will create a speed limit data packet, which contains at least one of the road section information, speed limit information and vehicle pseudo VIN information. The road section information identifies the specific road section or location to which the speed limit information belongs, so that the corresponding road section in the high-precision map can be updated later. The speed limit information is the actual speed limit value, that is, the speed limit information reported by most vehicles, which is used to update the speed limit data in the high-precision map. The vehicle pseudo VIN information identifies the identity of the vehicle that uploaded the speed limit information. The generated speed limit data packet will then be sent to the edge computing module for further processing.

[0111] Step S305: Upload the speed-limited data packet to the edge computing module.

[0112] It should be noted that the drive test module will upload the speed limit data packet to the edge computing module through wired or wireless communication. After receiving the speed limit data packet, the edge computing module will conduct an in-depth analysis of the data to verify the accuracy and timeliness of the information.

[0113] In this embodiment, after the road test module receives the speed limit information, the road section and the corresponding road section speed limit information are obtained through V2I communication feedback; multiple road section speed limit information uploaded by vehicles passing through the road section within a preset time is obtained; multiple road section speed limit information is judged to obtain a judgment result; when the judgment result reaches a preset consistency rate threshold, a data packaging operation is performed to obtain a speed limit data packet, and the speed limit data packet is uploaded to the edge computing module. The speed limit information is received through V2I feedback, integrated and judged, and then packaged and uploaded to achieve real-time and accurate speed limit updates.

[0114] refer to Figure 4 , Figure 4 This is a flow chart of a third embodiment of a method for updating map speed limit information based on V2X according to the present invention.

[0115] The step S40 of the first embodiment further includes:

[0116] Step S401: Obtain speed limit information and road section information according to the speed limit data packet.

[0117] It should be noted that after receiving these speed limit data packets, the edge computing module will first extract the road section information and speed limit information in the data packets. The road section information specifies the specific road section or location corresponding to the speed limit information, while the speed limit information is the actual speed limit value. The edge computing module will use this information to update the corresponding road section in the high-precision map.

[0118] Step S402: Based on the preset map database and the road section information, map speed limit information corresponding to the road section information is obtained.

[0119] It should be understood that when the edge computing module receives a speed limit data packet containing road section information, it will use the preset map database to match the road section information in the data packet and extract the map speed limit information of the corresponding road section.

[0120] This process ensures that the system can accurately identify the road section mentioned in the data package and compare and verify it against the standard speed limit value in the database. If the speed limit information in the data package is consistent with the information in the preset map database, or is within the preset error range, the speed limit information is considered to be reliable and the speed limit data in the high-precision map is updated accordingly.

[0121] Step S403: Compare the speed limit information and the map speed limit information to obtain a comparison result.

[0122] It should be noted that when the edge computing module obtains the speed limit information, it will compare it with the map speed limit information in the preset map database. Specifically, the edge computing module will check whether the speed limit information obtained from different channels is consistent with the speed limit value marked in the map database. If the newly obtained speed limit information matches the map speed limit information, or is within the preset error range, the system will consider the information to be reliable. Otherwise, the edge computing module will mark the inconsistency and may trigger further verification or update processes.

[0123] Step S404: When the comparison result is different, the speed limit information is used as the target speed limit information, and the map speed limit information corresponding to the road section information is updated to obtain updated speed limit information.

[0124] It should be noted that if the edge computing module detects that the speed limit information perceived by the current vehicle is different from the speed limit information in the preset map database, and the reliability of the new information is confirmed after verification, the system will use the newly acquired speed limit information as the target speed limit information. Subsequently, the system will update the speed limit information of the road section in the high-precision map, replacing the old speed limit value with the new speed limit value to ensure that the information on the map is the latest and accurate speed limit information.

[0125] Step S405: Upload the speed limit information to the cloud platform.

[0126] It should be noted that after the edge computing module processes the speed limit data packet and confirms the accuracy and timeliness of the speed limit information, it will upload the updated speed limit information to the cloud platform. The cloud platform is responsible for receiving these updated speed limit information and storing them in the central database. Subsequently, the cloud platform will distribute this updated information to all connected vehicles through V2X technology or other communication methods.

[0127] In this embodiment, speed limit information and road section information are obtained according to the speed limit data packet; map speed limit information corresponding to the road section information is obtained based on the preset map database combined with the road section information; the speed limit information and the map speed limit information are compared to obtain a comparison result; when the comparison result is different, the speed limit information is used as the target speed limit information, and the map speed limit information corresponding to the road section information is updated to obtain updated speed limit information; the speed limit information is uploaded to the cloud platform. The map speed limit information is updated according to the speed limit data packet to ensure real-time accuracy and improve driving safety.

[0128] refer to Figure 5 , Figure 5 This is a flow chart of a fourth embodiment of a method for updating map speed limit information based on V2X according to the present invention.

[0129] Before step S40 of the first embodiment, the method further includes:

[0130] Step S501: obtaining link information and tile information corresponding to multiple business maps based on multiple business map data according to the road section information.

[0131] It should be noted that the cloud platform will determine the location of the road section in the map data of different map providers based on the received road section information (such as longitude and latitude coordinates, road names, etc.). Since the map divisions of different map providers are different, the cloud platform needs to identify the Link information corresponding to the road section in the map data of each map provider. Link information refers to the data entry on the map that represents a specific road section, which includes the starting point, end point and related attributes (such as speed limit, etc.) of the road section. In addition to the Link information, the system also needs to determine the tile information where the road section is located. Tiles refer to small areas into which the map is divided, which are used for the storage and transmission of map data. Different map providers may have different tile division methods, so it is necessary to find the tile where the corresponding road section is located.

[0132] Step S502: Obtain intersection information according to multiple LINK information and tile information.

[0133] It should be noted that the cloud platform will determine the LINK information and tile information in the map data of each map provider based on the road section information. Since the map divisions of different map providers may be different, the system needs to identify the common parts of these LINK and tile information, that is, the intersection information. Specifically, the cloud platform will find all the LINK and tile information representing the same geographic location in the map data of each map provider, and extract the overlapping parts from them. This process ensures that even in the map data of different map providers, the information representing the same location can be correctly matched and compared.

[0134] Step S503: interrupt and merge multiple LINK information or tile information according to the intersection information to obtain unified LINK information or tile information.

[0135] It is important to understand that the cloud platform will first identify all LINK information and tile information representing the same geographic location in the map data of each map provider based on the intersection information obtained from the map data of different map providers. Then, the platform will interrupt these LINK information or tile information, that is, divide them into smaller fragments. Then, the platform will merge these fragments to form a unified LINK information or tile information. Through this series of operations, the cloud platform ensures that even the map data of different map providers can be consistent and accurate when representing the same location.

[0136] Step S504: obtaining map speed limit information from the unified LINK information or tile information.

[0137] It should be noted that the cloud platform will use this unified information to extract the map speed limit information of the corresponding road section. This process involves comparing the unified LINK information or tile information with the preset map database to obtain the latest speed limit value. In this way, even if the data formats of different map vendors are different, the system can ensure the accuracy and consistency of speed limit information.

[0138] This embodiment obtains Link information and tile information corresponding to multiple map business maps based on multiple map business map data according to road section information; obtains intersection information according to multiple LINK information and tile information; interrupts and merges multiple LINK information or tile information according to the intersection information to obtain unified LINK information or tile information; obtains map speed limit information for the unified LINK information or tile information. Multiple map business data are integrated according to road section information to obtain unified LINK or tile information to ensure that the speed limit information is accurate and consistent.

[0139] The present application provides a V2X-based map speed limit information update device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the V2X-based map speed limit information update method in the above-mentioned embodiment 1.

[0140] Reference below Figure 6 , which shows a schematic diagram of the structure of a V2X-based map speed limit information update device suitable for implementing the embodiment of the present application. The V2X-based map speed limit information update device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The V2X-based map speed limit information update device shown is merely an example and should not bring any limitations to the functions and scope of use of the embodiments of the present application.

[0141] like Figure 6As shown, the V2X-based map speed limit information update device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the V2X-based map speed limit information update device are also stored in RAM1004. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the V2X-based map speed limit information update device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a V2X-based map speed limit information update device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0142] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0143] The V2X-based map speed limit information update device provided by the present application adopts the V2X-based map speed limit information update method in the above embodiment, which can solve the technical problem of how to improve the accuracy and real-time performance of updating high-precision map speed limit information. Compared with the prior art, the beneficial effects of the V2X-based map speed limit information update device provided by the present application are the same as the beneficial effects of the V2X-based map speed limit information update method provided in the above embodiment, and the other technical features in the V2X-based map speed limit information update device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0144] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0145] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0146] The present application provides a computer-readable medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the V2X-based map speed limit information updating method in the above-mentioned embodiment.

[0147] The computer-readable medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable media may 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 or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0148] The above-mentioned computer-readable medium may be included in the V2X-based map speed limit information update device; or it may exist independently without being assembled into the V2X-based map speed limit information update device.

[0149] The computer-readable medium carries one or more programs. When the one or more programs are executed by the V2X-based map speed limit information update device, the V2X-based map speed limit information update device can be written in one or more programming languages ​​or a combination thereof to perform computer program codes for the operations of the present application. The programming languages ​​include object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0150] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the 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 square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square 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 square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart 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.

[0151] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0152] The readable medium provided in this application is a computer-readable medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned V2X-based map speed limit information update method, and can solve the technical problem of how to improve the accuracy and real-time performance of updating high-precision map speed limit information. Compared with the prior art, the beneficial effects of the computer-readable medium provided in this application are the same as the beneficial effects of the V2X-based map speed limit information update method provided in the above-mentioned embodiment, and will not be repeated here.

[0153] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned V2X-based map speed limit information update method.

[0154] The computer program product provided in this application can solve the technical problem of how to improve the accuracy and real-time performance of updating the speed limit information of high-precision maps. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the V2X-based map speed limit information update method provided in the above embodiment, and will not be repeated here.

[0155] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A map speed limit information update system based on V2X, characterized in that: The V2X-based map speed limit information update system at least includes: a vehicle verification and update device, a road test module, an edge computing module and a cloud platform, wherein the vehicle verification and update device is connected to the road test module via a communication bus, the road test module is connected to the edge computing module via a communication bus, and the edge computing module is connected to the cloud platform via a communication bus; The vehicle verification and updating device is used to obtain real-time traffic information; The vehicle verification and updating device is also used to verify and judge the real-time traffic information, obtain speed limit information, and send it to the road test module; The drive test module is used to collect and integrate the speed limit information to obtain a speed limit data packet and send it to the edge computing module; The edge computing module is used to update the speed limit information of the corresponding road section according to the speed limit data packet in combination with a preset map database, obtain updated speed limit information, and upload it to the cloud platform; The cloud platform is used to publish the updated speed limit information to networked vehicles to ensure that all vehicles obtain the updated speed limit information.

2. The system according to claim 1, characterized in that The vehicle verification and updating device comprises a perception unit, a navigation map unit, a high-precision map unit, a vehicle interaction unit and a first verification unit: The sensing unit is used to obtain speed limit sign information and obtain first speed limit information according to the speed limit sign information; The navigation map unit is used to obtain second speed limit information based on the navigation map; The high-precision map unit is used to obtain the third speed limit information based on the high-precision map; The vehicle interaction unit is used to obtain speed limit information of surrounding vehicles to obtain fourth speed limit information; The first verification unit is used to determine that the verification is successful and obtain the speed limit information when the first speed limit information is consistent with the third speed limit information, the second speed limit information is consistent with the third speed limit information, and the first speed limit information is consistent with the fourth speed limit information.

3. The system according to claim 1, characterized in that The drive test module includes an acquisition unit and a second verification unit: The acquisition unit is used to acquire speed limit information uploaded by multiple vehicles within a preset time; The acquisition unit is further used to acquire a consistency rate of the plurality of speed limit information; The second verification unit is used to determine that the verification is successful when the consistency rate reaches a preset threshold, and obtain a speed limit data packet, wherein the speed limit data packet includes at least one of road section information, speed limit information and vehicle pseudo VIN information.

4. A method for updating map speed limit information based on V2X, characterized in that: The method is applied to the V2X-based map speed limit information update system according to any one of claims 1 to 3, and the method comprises: Obtain real-time traffic information through the vehicle verification and update device; The real-time traffic information is verified and judged by the vehicle verification and updating device to obtain speed limit information, and sent to the road test module; The speed limit information is collected and integrated by the drive test module to obtain a speed limit data packet, and sent to the edge computing module; The speed limit information of the corresponding road section is updated by the edge computing module according to the speed limit data packet combined with the preset map database, the updated speed limit information is obtained, and uploaded to the cloud platform; The updated speed limit information is published to the connected vehicles via V2X through the cloud platform to ensure that all vehicles obtain the updated speed limit information.

5. The method according to claim 4, characterized in that The step of verifying and judging the real-time traffic information by the vehicle verification and updating device, obtaining the speed limit information, and sending the speed limit information to the road test module includes: Obtain speed limit sign information, navigation maps and high-precision maps; Identify the speed limit sign information to obtain first speed limit information; acquiring second speed limit information based on the navigation map; Acquire third speed limit information based on the high-precision map; Obtaining speed limit information of surrounding vehicles to obtain fourth speed limit information; When the first speed limit information is consistent with the third speed limit information, the second speed limit information is consistent with the third speed limit information, and the first speed limit information is consistent with the fourth speed limit information, it is determined that the inspection is successful and the speed limit information is obtained; The speed limit information is sent to the drive test module.

6. The method according to claim 4, characterized in that The step of collecting and integrating the speed limit information through the drive test module to obtain a speed limit data packet and sending it to the edge computing module includes: After the road test module receives the speed limit information, it obtains the road section and the corresponding road section speed limit information through V2I communication feedback; Obtaining road section speed limit information uploaded by multiple vehicles passing through the road section within a preset time; Determine the speed limit information of the plurality of road sections and obtain a determination result; When the judgment result reaches a preset consistency rate threshold, a data packaging operation is performed to obtain a speed limit data packet, wherein the speed limit data packet includes at least one of road section information, speed limit information and vehicle pseudo VIN information; The speed limit data packet is uploaded to the edge computing module.

7. The method according to claim 4, characterized in that The step of updating the speed limit information of the corresponding road section by the edge computing module according to the speed limit data packet combined with the preset map database, obtaining the updated speed limit information, and uploading it to the cloud platform includes: Obtaining speed limit information and road section information according to the speed limit data packet; Based on a preset map database and the road section information, obtaining map speed limit information corresponding to the road section information; Comparing the speed limit information with the map speed limit information to obtain a comparison result; When the comparison result is different, taking the speed limit information as the target speed limit information, updating the map speed limit information corresponding to the road section information, and obtaining updated speed limit information; The speed limit information is uploaded to the cloud platform.

8. The method according to claim 7, characterized in that The step of obtaining the map speed limit information corresponding to the road section information based on the preset map database and the road section information comprises: Obtaining link information and tile information corresponding to a plurality of map business maps based on the plurality of map business map data according to the road section information; Obtaining intersection information according to the plurality of LINK information and tile information; According to the intersection information, the plurality of LINK information or tile information are interrupted and merged to obtain unified LINK information or tile information; The map speed limit information is obtained from the unified LINK information or tile information.

9. A map speed limit information updating device based on V2X, characterized in that: The device includes: a memory, a processor, and a V2X-based map speed limit information update program stored in the memory and executable on the processor, wherein the V2X-based map speed limit information update program is configured to implement the steps of the V2X-based map speed limit information update method as described in any one of claims 4 to 8.

10. A medium, characterized in that The medium stores a V2X-based map speed limit information update program, and when the V2X-based map speed limit information update program is executed by the processor, the steps of the V2X-based map speed limit information update method according to any one of claims 4 to 8 are implemented.

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