V2x-based map speed limit information updating system, method, device and medium

Abstract

The application discloses a kind of map speed limit information updating system, method, equipment and medium based on V2X, belong to map updating technical field.The application obtains real-time traffic information by the vehicle calibration updating device, judges by real-time traffic information to the vehicle calibration updating device, obtains speed limit information, and sends to road test module;Limit speed information is integrated by road test module, and limit speed data packet is obtained, and is sent to edge computing module, and limit speed data packet is combined according to limit speed data packet by edge computing module, and the speed limit information of corresponding section is updated according to preset map database, and the updated speed limit information is obtained, and is uploaded to cloud platform;The updated speed limit information is published to networked vehicle by cloud platform, to ensure that all vehicles obtain updated speed limit information.V2X is used to update high-precision map, and cloud platform distribution ensures that vehicles obtain the latest speed limit, to improve the real-time performance and accuracy of speed limit information updating.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a V2X-based map speed limit information update device, method, equipment, and medium. Background Technology

[0002] With the development of intelligent transportation systems, high-definition maps have become an indispensable foundational component of autonomous and intelligent driving. These maps not only provide detailed geographical information but also contain dynamic information such as road structure and traffic rules, which are crucial for ensuring the safe operation of autonomous vehicles. However, in reality, speed limit information may change frequently due to construction, temporary traffic control, and other reasons, which places higher demands on the real-time performance and accuracy of high-definition maps.

[0003] Currently, high-precision map updates rely on regular map data collection and manual annotation. While this method ensures a certain level of accuracy, it falls short in responding to emergencies and frequently changing speed limit information. Traditional high-precision map update methods often suffer from lag, failing to reflect actual speed limit changes on roads in a timely manner, especially in busy urban traffic with complex road conditions, where this lag is even more pronounced.

[0004] The main problem with existing high-precision map updating technologies is insufficient real-time performance. When speed limits on roads change, traditional methods cannot quickly capture these changes and update them on the map in a timely manner. Furthermore, relying on manual methods is not only time-consuming and labor-intensive, but also prone to information omissions or errors. These shortcomings mean that autonomous vehicles may not be able to make the most appropriate decisions when faced with temporary changes in speed limits, increasing the risk of traffic accidents. Therefore, developing a system and method capable of updating speed limit information in high-precision maps in real time is particularly urgent. Summary of the Invention

[0005] The main objective of this 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 objectives, the present invention provides a V2X-based map speed limit information update system, which includes at least: a vehicle verification and update device, a road test module, an edge computing module, and a cloud platform. 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.

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

[0008] The vehicle verification and update 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 road 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 segment based on the speed limit data packet and a preset map database, obtain the 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 connected vehicles to ensure that all vehicles receive the updated speed limit information.

[0012] In one embodiment, the vehicle verification and update device includes a sensing 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 acquire speed limit sign information and obtain first speed limit information based on the speed limit sign information;

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

[0015] The high-precision map unit is used to obtain 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 and 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 period;

[0020] The acquisition unit is also used to acquire the consistency rate of multiple speed limit information sets;

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

[0022] Furthermore, to achieve the above objectives, the present invention also provides a V2X-based map speed limit information update method, the method comprising:

[0023] Real-time traffic information is obtained through the vehicle's calibration and update device;

[0024] The vehicle verification and update device verifies and judges the real-time traffic information to obtain speed limit information, which is then sent to the road test module.

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

[0026] The edge computing module updates the speed limit information of the corresponding road segment based on the speed limit data packet and the preset map database, obtains the updated speed limit information, and uploads it to the cloud platform.

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

[0028] In one embodiment, the step of verifying and judging the real-time traffic information through the vehicle verification and update device to obtain 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] The speed limit sign information is identified to obtain the first speed limit information;

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

[0032] The third speed limit information is obtained based on the high-precision map;

[0033] Obtain speed limit information for surrounding vehicles to obtain the 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, the verification is successful and the speed limit information is obtained.

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

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

[0037] After receiving the speed limit information, the road test module receives feedback through V2I communication to obtain the road segment and the corresponding road segment speed limit information;

[0038] Obtain speed limit information for the road segment uploaded by multiple vehicles that pass through the road segment within a preset time period;

[0039] The speed limit information for multiple road sections is evaluated to obtain the evaluation result;

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

[0041] The rate-limited 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 segment by the edge computing module based on the speed limit data packet and a preset map database, obtaining the updated speed limit information, and uploading it to the cloud platform includes:

[0043] Speed ​​limit information and road segment information are obtained from the speed limit data packet;

[0044] Based on a preset map database and the road segment information, map speed limit information corresponding to the road segment information is obtained;

[0045] The speed limit information and the map speed limit information are compared to obtain a comparison result;

[0046] When the comparison results are different, the speed limit information is used as the target speed limit information, and the map speed limit information corresponding to the road segment information is updated to obtain the updated speed limit information.

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

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

[0049] Based on the road segment information and map data from multiple map providers, the Link information and tile information corresponding to the maps from multiple map providers are obtained;

[0050] Based on the multiple LINK information and tile information, the intersection information is obtained;

[0051] Based on the intersection information, multiple LINK information or tile information are broken and merged to obtain unified LINK information or tile information;

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

[0053] Furthermore, to achieve the above objectives, 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 the steps of any of the V2X-based map speed limit information update methods described above.

[0054] In addition, to achieve the above objectives, the present invention also provides a medium storing a V2X-based map speed limit information update program, wherein when the V2X-based map speed limit information update program is executed by a processor, it implements the steps of any of the V2X-based map speed limit information update methods described above.

[0055] This invention acquires real-time traffic information through a vehicle-mounted verification and update device. This device verifies and judges the real-time traffic information to obtain speed limit information, which is then sent to a road test module. The road test module collects and integrates the speed limit information to obtain a speed limit data packet, which is sent to an edge computing module. The edge computing module updates the speed limit information for the corresponding road segment based on the speed limit data packet and a pre-set map database, obtaining updated speed limit information, which is then uploaded to a cloud platform. The cloud platform then distributes the updated speed limit information to connected vehicles to ensure that all vehicles receive the updated speed limit information. By acquiring and verifying traffic speed limit information in real time through V2X technology, updating high-precision maps through edge computing, and distributing the information through the cloud platform, this invention ensures that vehicles receive the latest speed limits, improving the real-time performance and accuracy of speed limit information updates and enhancing driving safety. Attached Figure Description

[0056] 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;

[0057] Figure 2 This is a flowchart illustrating the first embodiment of the map speed limit information update method based on V2X of the present invention.

[0058] Figure 3 This is a flowchart illustrating the second embodiment of the V2X-based map speed limit information update method of the present invention.

[0059] Figure 4 This is a flowchart illustrating the third embodiment of the V2X-based map speed limit information update method of the present invention.

[0060] Figure 5 This is a flowchart illustrating the fourth embodiment of the V2X-based map speed limit information update method of the present invention.

[0061] Figure 6This is a schematic diagram of the device structure of the hardware operating environment involved in the V2X-based map speed limit information update method in this application embodiment;

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

[0063] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the 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. 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 update device 10 is used to obtain real-time traffic information.

[0067] It should be noted that the vehicle speed limit update device 10 can receive real-time image data captured by the vehicle's cameras, such as speed limit sign images and temporary speed limit notifications. Simultaneously, the device can utilize the vehicle's own sensors, such as visual or laser perception systems, to identify speed limit information in the surrounding environment and cross-verify it with Vehicle-to-Everything (V2X) communication to ensure the accuracy of the information. While the vehicle is in motion, the vehicle speed limit update device 10 first refers to the road-level speed limit value provided by the navigation map and combines it with the location information provided by the vehicle's own high-precision positioning system to determine the lane-level speed limit information for the current location. Subsequently, the device performs preliminary processing on the received traffic information, extracts speed limit-related information, and uploads this information to the roadside unit via V2X. Furthermore, the device also exchanges information with other vehicles to mutually verify the speed limit information of the current road segment, increasing the reliability of the data.

[0068] The vehicle verification and update device 10 is also used to verify and judge real-time traffic information, obtain 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 compares the speed limit information output by the vehicle map module with the results captured by the vehicle perception system to ensure the matching degree between the two. Once the verification is completed, the verification and update module will package a full information packet 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 the verification packet containing LINK information and speed limit information during subsequent vehicle-to-vehicle interactions. After the verification between vehicles is completed, all vehicles participating in the verification will upload the complete full information packet to the road test module 20 for further verification and aggregation.

[0070] Furthermore, the aforementioned vehicle verification and update 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 acquire speed limit sign information and obtain first speed limit information based on the speed limit sign information. Specifically, the sensing unit 101 is typically equipped with visual sensing devices, such as cameras or lidar, which can capture images of speed limit signs on the road. The sensing unit 101 utilizes image recognition technology to read the digital information on these signs and convert it into first speed limit information that can be understood by the vehicle system. While the vehicle is in motion, the sensing unit 101 continuously scans the surrounding environment, searching for and identifying any information related to speed limits. Once a speed limit sign is detected, the sensing unit 101 uses image processing algorithms to identify the numerical value on the speed limit sign and converts this information into digital signals for verifying and updating the speed limit data in the vehicle navigation map or high-precision map.

[0071] Furthermore, the aforementioned navigation map unit 102 is used to obtain second speed limit information based on the navigation map. Through interaction with the in-vehicle terminal, the navigation map unit 102 can access navigation map data pre-installed on the vehicle. This data includes road information, including but not limited to road names, road classifications, number of lanes, and preset speed limits. After the vehicle starts, the navigation map unit 102 locates the road segment where the vehicle is located on the navigation map based on the vehicle's current location information and extracts the preset speed limit from the attributes of that road segment, i.e., the so-called second speed limit information. This information is typically used as a basic reference for vehicle operation, for setting cruise speed, reminding the driver of the current road segment's speed limit regulations, etc. When the vehicle is moving, the navigation map unit 102 monitors the vehicle's position changes in real time and continuously updates the second speed limit information based on changes in the vehicle's travel route.

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

[0073] Furthermore, the aforementioned 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, 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 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 marked 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 finally determines the validity of the speed limit information. For example, when a vehicle is traveling on a road with a speed limit of 80 km / h, if the vehicle's perception system recognizes that the speed limit sign ahead shows 80 km / h, the navigation map also shows that the speed limit for this road segment is 80 km / h, and the high-precision map also confirms that the speed limit for this lane is 80 km / h, and surrounding vehicles also report the same speed limit information, then the first verification unit 105 will determine that 80 km / h is the valid speed limit for the current road segment 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 speed limit information to obtain speed limit data packets, and send them 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 first performs preliminary aggregation and integration of this information. During this process, the module compares and verifies the speed limit information on the same or similar road segments (LINKs) to eliminate any possible errors or redundant data. Once the consistency of the information reaches a predetermined threshold, the road test module packages all the standard-compliant information within this time period into a speed limit data package and uploads it along with the vehicle's pseudo-VIN (Vehicle Identification Number) information to the edge computing module 30. The pseudo-VIN information is a substitute identifier used to identify the vehicle, protecting the real vehicle identity information and also facilitating the edge computing module to track the information source when processing data, ensuring the authenticity and validity of the data.

[0076] Furthermore, the aforementioned road test module 20 includes an acquisition unit 201 and a second verification unit 202. The acquisition unit 201 is used to acquire speed limit information uploaded by multiple vehicles within a preset time period and also to acquire the consistency rate of the multiple speed limit information entries. When a vehicle uploads speed limit information to a roadside unit (RSU) via V2X technology, the acquisition unit 201 collects this information and performs preliminary processing and aggregation. Specifically, it records the speed limit information uploaded by each vehicle and calculates the proportion of identical speed limit values ​​among these entries, i.e., it calculates the consistency rate of these speed limit information entries. For example, if 100 vehicles upload speed limit information within a certain period, and 80 of them report the same speed limit value, then the acquisition unit 201 will calculate the consistency rate of these speed limit information entries to be 80%. This process helps to identify the credibility of the speed limit information because a high consistency rate indicates that most vehicles reported the same speed limit value, thereby improving the reliability of the information. In addition, the acquisition unit 201 is also responsible for sending this aggregated information and its consistency rate to the edge computing module 30.

[0077] Furthermore, the aforementioned second verification unit 202 is used to determine successful verification and obtain a speed limit data packet when the consistency rate reaches a preset threshold. This speed limit data packet includes at least one of road segment information, speed limit information, and vehicle pseudo-VIN information. Specifically, when the consistency rate of speed limit information uploaded by multiple vehicles collected by the acquisition unit 201 reaches a 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 this information and determine successful verification. At this time, the second verification unit 202 will create a speed limit data packet, which includes at least one of road segment information, speed limit information, and vehicle pseudo-VIN information. The road segment information identifies the specific road segment or location to which the speed limit information belongs, so as to update the corresponding road segment 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, 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 is then 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 segment based on the speed limit data package and 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 first parses these data packets to extract key data such as road segment information, speed limit values, timestamps, and pseudo-VINs. Next, the module compares this information with a locally stored preset map database, using algorithms to evaluate the consistency and rationality of the data. If the information in the data packets is consistent with or close to existing information, the edge computing module 30 updates the speed limit value for the corresponding road segment based on this information. During this process, the edge computing module 30 also applies advanced algorithms to handle data conflicts and anomalies. For example, when the received speed limit information is inconsistent with the records in the database, the module decides whether to adopt the new speed limit value based on the data timestamp, the reliability of the data source, and other auxiliary information (such as vehicle type and speed). Furthermore, the edge computing module 30 records each update operation to allow for historical review of changes when needed. Once the speed limit information update is complete, the edge computing module 30 packages the updated information, attaches necessary metadata (such as update time and version number), and then uploads it to the cloud platform 40.

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

[0081] It should be noted that after the edge computing module 30 uploads the updated speed limit information to the cloud platform 40, the cloud platform 40 first performs consistency checks and formatting on this information to ensure its integrity and standardization. Next, based on the vehicle's location information, vehicle type, and other relevant factors, the cloud platform 40 selects the most suitable communication protocol and path to efficiently transmit the updated speed limit information to each connected vehicle. During this process, the cloud platform 40 utilizes data compression and transmission optimization technologies to achieve rapid information distribution with minimal bandwidth consumption.

[0082] Furthermore, the cloud platform 40 also features data management and historical record functions. It can store details of each update, including the time, location, affected road sections, and speed limits before and after the update. This data can be used not only for subsequent auditing and statistical analysis but also to help identify potential problem areas for further optimization of 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 crucial for ensuring road traffic safety and improving traffic efficiency. Drivers can adjust their driving behavior based on the latest speed limit information to avoid fines or accidents caused by speeding or delayed information.

[0083] This embodiment acquires real-time traffic information through a vehicle-to-everything (V2X) verification and update device. The device verifies and judges this information to obtain speed limit information, which is then sent to the road test module. The road test module aggregates and integrates the speed limit information to obtain a speed limit data packet, which is sent to the edge computing module. The edge computing module updates the speed limit information for the corresponding road segment based on the speed limit data packet and a pre-set map database, obtaining updated speed limit information, which is then uploaded to the cloud platform. The cloud platform then distributes the updated speed limit information to connected vehicles to ensure all vehicles receive the updated information. By acquiring and verifying traffic speed limit information in real time using V2X technology, updating high-precision maps via edge computing, and distributing the information through the cloud platform, vehicles receive the latest speed limits, improving the real-time performance and accuracy of speed limit updates and enhancing driving safety.

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

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

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

[0087] It's important to understand that this vehicle speed limit update device can receive real-time image data captured by the vehicle's cameras, such as speed limit sign images and temporary speed limit notifications. Simultaneously, the device can utilize the vehicle's own sensors, such as visual or laser perception systems, to identify speed limit information in the surrounding environment and cross-verify it via V2X communication to ensure accuracy. While the vehicle is in motion, the device first refers to the road-level speed limit values ​​provided by the navigation map and combines this with location information provided by the vehicle's high-precision positioning system to determine the lane-level speed limit information for the current location. Subsequently, the device performs preliminary processing on the received traffic information, extracts speed limit-related information, and uploads this information to the roadside unit via V2X. Furthermore, the device exchanges information with other vehicles to cross-verify the speed limit information for the current road segment, increasing the reliability of the data.

[0088] Step S20: The vehicle verification and update device verifies and judges the real-time traffic information, obtains the speed limit information, and sends it to the road test module.

[0089] It should be noted that during the verification process, the vehicle verification and update device compares the speed limit information output by the onboard map module with the results captured by the onboard perception system to ensure a high degree of matching. Once verification is complete, the verification and update module packages a full data packet containing intersection information (LINK information), speed limit information, perceived speed limit sign image information, perceived speed limit sign location information, and perceived timestamp information. This packet, containing LINK information and speed limit information, is then sent during subsequent vehicle-to-vehicle interactions. After verification between vehicles is completed, all participating vehicles upload the complete data packet to the road test module 20 for further verification and aggregation.

[0090] Furthermore, the aforementioned vehicle verification and update device includes a sensing unit, a navigation map unit, a high-precision map unit, a vehicle interaction unit, and a first verification unit. Specifically, the vehicle verification and update device acquires speed limit sign information, a navigation map, and a high-precision map. The sensing unit identifies the speed limit sign information to obtain the first speed limit information. Specifically, the sensing unit is typically equipped with visual sensing devices, such as cameras or lidar, which can capture images of speed limit signs on the road. The sensing 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. While the vehicle is in motion, the sensing unit continuously scans the surrounding environment, searching for and identifying any information related to speed limits. Once a speed limit sign is detected, the sensing unit uses image processing algorithms to identify the value on the speed limit sign and converts this information into a digital signal for verifying and updating the speed limit data in the vehicle navigation map or high-precision map.

[0091] Furthermore, the navigation map unit obtains second speed limit information based on the navigation map. Through interaction with the in-vehicle terminal, the navigation map unit can access pre-installed navigation map data, which includes road information, including but not limited to road names, road classifications, number of lanes, and preset speed limits. After the vehicle starts, the navigation map unit locates the road segment on the navigation map based on the vehicle's current location and extracts the preset speed limit from the attributes of that road segment—the so-called second speed limit information. This information typically serves as the vehicle's basic reference for setting cruising speed and reminding the driver of the current speed limit. As the vehicle travels, the navigation map unit monitors the vehicle's position changes in real time and continuously updates the second speed limit information based on changes in the vehicle's route. Third speed limit information is obtained through the high-precision map unit based on the high-precision map. Compared to ordinary navigation maps, high-precision maps provide more detailed and accurate road information, including but not limited to lane-level speed limits, lane widths, road gradients, and curvatures. The high-precision map unit, through deep integration with the in-vehicle system, can acquire real-time lane information of the vehicle's current location and extract the speed limit information for that lane from the high-precision map database, i.e., the third speed limit information. It then obtains the fourth speed limit information by acquiring the speed limit information of surrounding vehicles through the vehicle interaction unit. This is achieved through V2V communication technology, enabling information exchange with surrounding vehicles to obtain their speed limit information, thus yielding the fourth speed limit information.

[0092] Furthermore, the speed limit information is verified by the first verification unit. If the first speed limit information matches the third speed limit information, the second speed limit information matches the third speed limit information, and the first speed limit information matches the fourth speed limit information, the verification is successful, and the speed limit information is obtained. The first verification unit is responsible for integrating 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 built-in perception system), the second speed limit information obtained from the navigation map unit (i.e., the standard speed limit information marked 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 with a speed limit of 80 km / h, if the vehicle's perception system recognizes that the speed limit sign ahead shows 80 km / h, the navigation map also shows that the speed limit for this road segment is 80 km / h, and the high-precision map also confirms that the speed limit for this lane is 80 km / h, and surrounding vehicles also report the same speed limit information, then the first verification unit will determine that 80 km / h is the valid speed limit for the current road segment and provide this information to the vehicle control system to ensure that the vehicle travels at the correct speed limit. Finally, the speed limit information is sent 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, which is then sent to the edge computing module.

[0094] It's important to understand that after collecting speed limit information uploaded by various vehicles, the road test module first performs preliminary aggregation and integration. During this process, the module compares and verifies speed limit information on the same or similar road sections to eliminate potentially erroneous or redundant data. Once the consistency of the information reaches a predetermined threshold, the road test module packages all compliant information within that time period into a speed limit data package and uploads it along with the vehicle's pseudo-VIN information to the edge computing module. The pseudo-VIN information is a substitute identifier used to identify the vehicle, protecting the real vehicle identity information and also facilitating the edge computing module to track the information source when processing data, ensuring the authenticity and validity of the data.

[0095] Step S40: The edge computing module updates the speed limit information of the corresponding road segment based on the speed limit data packet and the preset map database, obtains the updated speed limit information, and uploads it to the cloud platform.

[0096] It's important to note that when the edge computing module receives speed limit data packets uploaded by the road testing module, it first parses these packets, extracting key data such as road segment information, speed limit values, timestamps, and pseudo-VINs. Next, the module compares this information with a locally stored pre-defined map database, using algorithms to evaluate the consistency and reasonableness of the data. If the information in the data packet is consistent with or close to existing information, the edge computing module updates the speed limit value for the corresponding road segment based on this information. During this process, the edge computing module also applies advanced algorithms to handle data conflicts and anomalies. For example, when the received speed limit information is inconsistent with the record in the database, the module decides whether to adopt the new speed limit value based on the data's timestamp, the reliability of the data source, and other auxiliary information (such as vehicle type and speed). Furthermore, the edge computing module records each update operation to allow for historical revisions when needed. Once the speed limit information update is complete, the edge computing module packages the updated information, attaches necessary metadata (such as update time and version number), and then uploads it to the cloud platform.

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

[0098] It's important to note that after the edge computing module uploads the updated speed limit information to the cloud platform, the cloud platform first performs consistency checks and formatting to ensure the information's integrity and standardization. Next, based on the vehicle's location, vehicle type, and other relevant factors, the cloud platform selects the most suitable communication protocol and path to efficiently transmit the updated speed limit information to every connected vehicle. During this process, the cloud platform utilizes data compression and transmission optimization technologies to achieve rapid information distribution with minimal bandwidth consumption.

[0099] Furthermore, the cloud platform also features data management and historical record functions. It can store details of each update, including the time, location, affected road sections, and speed limits before and after the update. This data can be used not only for subsequent auditing and statistical analysis but also to help identify potential problem areas for further optimization of 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 crucial for ensuring road traffic safety and improving traffic efficiency. Drivers can adjust their driving behavior based on the latest speed limit information to avoid fines or accidents caused by speeding or delayed information.

[0100] This embodiment acquires real-time traffic information through a vehicle-to-everything (V2X) verification and update device. The device verifies and judges this information to obtain speed limit information, which is then sent to the road test module. The road test module aggregates and integrates the speed limit information to obtain a speed limit data packet, which is sent to the edge computing module. The edge computing module updates the speed limit information for the corresponding road segment based on the speed limit data packet and a pre-set map database, obtaining updated speed limit information, which is then uploaded to the cloud platform. The cloud platform then distributes the updated speed limit information to connected vehicles to ensure all vehicles receive the updated information. By acquiring and verifying traffic speed limit information in real time using V2X technology, updating high-precision maps via edge computing, and distributing the information through the cloud platform, vehicles receive the latest speed limits, improving the real-time performance and accuracy of speed limit updates and enhancing driving safety.

[0101] refer to Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the V2X-based map speed limit information update method of the present invention.

[0102] Step S30 in the first embodiment described above further includes:

[0103] Step S301: After the road test module receives the speed limit information, it uses V2I communication to get the road segment and the corresponding road segment speed limit information.

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

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

[0106] It should be noted that when vehicles pass through a certain road segment within a preset time period (e.g., within a few minutes), they will upload the perceived speed limit information to the road test module via the onboard terminal. This information may come from various sources, including images of speed limit signs captured by onboard cameras, speed limit values ​​identified by the onboard perception system, and speed limit information provided by navigation maps. The road test module will collect this uploaded speed limit information and perform preliminary processing, including data cleaning and format standardization, to ensure the consistency and usability of the information, obtaining multiple speed limit information for that road segment.

[0107] Step S303: Judge the speed limit information of multiple road sections and obtain the judgment result.

[0108] It should be noted that the road test module calculates the consistency rate of these speed limit information entries, that is, what percentage of the speed limit information uploaded within a preset time is identical, and obtains a judgment result between this consistency rate and a preset consistency rate threshold. Specifically, after requesting verification of the LINK's speed limit information, at least 'a' sample responses are received, and at least 'η' of the responses received have the same result. If the proportion of responses inconsistent with the requested LINK speed limit information is 'θ' and all are identical, this verification procedure ends and the result is reported to the RSU. When the number of sample discards reaches 'E', the system reports 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 is only confirmed when a majority of vehicles report the same speed limit information, and performs timely system checks when frequent anomalies occur to improve data reliability and driving safety.

[0109] Step S304: When the judgment result reaches the preset consistency rate threshold, perform data packaging operation to obtain speed limit data package. The speed limit data package includes at least one of road segment information, speed limit information and vehicle pseudo VIN information.

[0110] It should be noted that when the consistency rate reaches a preset consistency rate threshold, the verification is considered successful, and a speed limit data packet is obtained. This speed limit data packet includes at least one of road segment information, speed limit information, and vehicle pseudo-VIN information. Specifically, when the consistency rate of speed limit information uploaded by multiple vehicles collected by the acquisition unit reaches a 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 includes at least one of road segment information, speed limit information, and vehicle pseudo-VIN information. The road segment information identifies the specific road segment or location to which the speed limit information belongs, so as to update the corresponding road segment 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, used to update the speed limit data in the high-precision map. The vehicle pseudo-VIN information identifies the vehicle that uploaded the speed limit information. The generated speed limit data packet is then sent to the edge computing module for further processing.

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

[0112] It should be noted that the road test module will upload the speed limit data packet to the edge computing module via wired or wireless communication. After receiving the speed limit data packet, the edge computing module will perform 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, it obtains the road segment and its corresponding speed limit information via V2I communication. It also acquires speed limit information uploaded by multiple vehicles passing through the road segment within a preset time period. The module judges the speed limit information from these multiple segments to obtain a judgment result. When the judgment result reaches a preset consistency rate threshold, it performs a data packaging operation to obtain a speed limit data packet, which is then uploaded to the edge computing module. By receiving speed limit information via V2I feedback, integrating and judging the consistency rate, and then packaging and uploading the data packet, real-time and accurate speed limit updates are achieved.

[0114] refer to Figure 4 , Figure 4 This is a flowchart illustrating the third embodiment of the V2X-based map speed limit information update method of the present invention.

[0115] Step S40 of the first embodiment described above further includes:

[0116] Step S401: Obtain speed limit information and road segment information based on the speed limit data packet.

[0117] It should be noted that after receiving these speed limit data packets, the edge computing module first extracts the road segment information and speed limit information from the data packets. The road segment information clarifies the specific road segment or location corresponding to the speed limit information, while the speed limit information is the actual speed limit value. The edge computing module then uses this information to update the corresponding road segments in the high-precision map.

[0118] Step S402: Based on the preset map database and road segment information, obtain the map speed limit information for the corresponding road segment.

[0119] It is important to understand that when the edge computing module receives a speed limit data packet containing road segment information, it will use a preset map database to extract the map speed limit information of the corresponding road segment by matching the road segment information in the data packet.

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

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

[0122] It's important to note that once the edge computing module obtains speed limit information, it compares it with the map speed limit information in the preset map database. Specifically, the edge computing module checks whether the speed limit information obtained from different sources matches the speed limit value marked in the map database. If the newly obtained speed limit information matches the map speed limit information, or falls within a preset error range, the system considers the information reliable. Otherwise, the edge computing module will mark the inconsistency and may trigger further verification or update processes.

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

[0124] It should be noted that if the edge computing module detects a discrepancy between the speed limit information perceived by the current vehicle and the speed limit information in the preset map database, and after verifying the reliability of the new information, the system will adopt the newly acquired speed limit information as the target speed limit information. Subsequently, the system will update the speed limit information for that road segment in the high-precision map, replacing the old speed limit value with the new one to ensure that the information on the map is the latest and most 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 uploads the updated speed limit information to the cloud platform. The cloud platform is responsible for receiving this updated speed limit information and storing it in a central database. Subsequently, the cloud platform distributes this updated information to all connected vehicles via V2X technology or other communication methods.

[0127] In this embodiment, speed limit information and road segment information are obtained based on the speed limit data package; map speed limit information for the corresponding road segment is obtained based on a preset map database and the road segment 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 segment information is updated to obtain the updated speed limit information; the speed limit information is then uploaded to the cloud platform. Updating the map speed limit information based on the speed limit data package ensures real-time accuracy and improves driving safety.

[0128] refer to Figure 5 , Figure 5 This is a flowchart illustrating the fourth embodiment of the V2X-based map speed limit information update method of the present invention.

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

[0130] Step S501: Based on the road segment information and multiple map providers' map data, obtain the Link information and tile information corresponding to the multiple map providers' maps.

[0131] It's important to note that the cloud platform determines the location of a road segment within the map data of different map providers based on the received road segment information (such as latitude and longitude coordinates, road name, etc.). Since different map providers use different map divisions, the cloud platform needs to identify the Link information corresponding to the road segment in each map provider's data. Link information refers to the data entry on the map representing a specific road segment, including the segment's start and end points, as well as related attributes (such as speed limits). In addition to Link information, the system also needs to determine the tile information where the road segment is located. A tile is a small area divided into on a map, used for map data storage and transmission. Different map providers may have different tile division methods, therefore it's necessary to find the tile containing the corresponding road segment.

[0132] Step S502: Obtain the intersection information based on multiple LINK information and tile information.

[0133] It's important to note that the cloud platform determines the link and tile information in the map data of various map providers based on road segment information. Since different map providers may have different map divisions, the system needs to identify the common parts of these links and tiles, i.e., the intersection information. Specifically, the cloud platform finds all links and tiles representing the same geographical location in the map data of various map providers and extracts the overlapping parts. This process ensures that information representing the same location can be correctly matched and compared even in map data from different map providers.

[0134] Step S503: Break and merge multiple LINK information or tile information based on the intersection information to obtain unified LINK information or tile information.

[0135] It's important to understand that the cloud platform first identifies all link and tile information representing the same geographical location from the intersection information obtained from map data from different map providers. Then, the platform breaks down this link or tile information into smaller segments. Next, the platform merges these segments to form unified link or tile information. Through this series of operations, the cloud platform ensures consistency and accuracy when representing the same location, even with map data from different providers.

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

[0137] It should be noted that the cloud platform uses this unified information to extract map speed limit information for the corresponding road segments. This process involves comparing the unified LINK information or tile information with a pre-set map database to obtain the latest speed limit value. In this way, even if the data formats of different map providers differ, the system can ensure the accuracy and consistency of the speed limit information.

[0138] This embodiment obtains link and tile information corresponding to multiple map providers' maps based on road segment information; it then obtains intersection information based on the multiple link and tile information; finally, it breaks and merges the multiple link or tile information based on the intersection information to obtain unified link or tile information; and finally, it obtains map speed limit information from the unified link or tile information. By integrating multi-map provider data based on road segment information to obtain unified link or tile information, the accuracy and consistency of speed limit information are ensured.

[0139] This 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 to enable the at least one processor to execute the V2X-based map speed limit information update method in the first embodiment described above.

[0140] The following is for reference. Figure 6 This document illustrates a structural diagram of a V2X-based map speed limit information update device suitable for implementing embodiments of this application. The V2X-based map speed limit information update device in this application embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 6 The V2X-based map speed limit information update device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0141] like Figure 6As shown, the V2X-based map speed limit information update device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1003 into random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the V2X-based map speed limit information update device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the V2X-based map speed limit information update device to communicate wirelessly or wiredly 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 possess all the systems shown. More or fewer systems can be implemented alternatively.

[0142] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0143] The V2X-based map speed limit information update device provided in this application, employing the V2X-based map speed limit information update method described in the above embodiments, 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 in this application are the same as those of the V2X-based map speed limit information update method provided in the above embodiments, and other technical features in this V2X-based map speed limit information update device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0144] It should be understood that the various parts disclosed in this application can be implemented using 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 suitable manner in one or more embodiments or examples.

[0145] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0146] This application provides a computer-readable medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the V2X-based map speed limit information update method in the above embodiments.

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

[0148] The aforementioned computer-readable medium may be included in a V2X-based map speed limit information update device; or it may exist independently and not be assembled into a V2X-based map speed limit information update device.

[0149] The aforementioned computer-readable medium carries one or more programs that, when executed by a V2X-based map speed limit information update device, enable the V2X-based map speed limit information update device to write computer program code for performing the operations of this application in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "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 a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0150] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0151] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0152] The readable medium provided in this application is a computer-readable medium, which stores computer-readable program instructions (i.e., a computer program) for executing the above-described V2X-based map speed limit information update method. This solves 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 those of the V2X-based map speed limit information update method provided in the above embodiments, and will not be repeated here.

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

[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 speed limit information on high-precision maps. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the V2X-based map speed limit information updating method provided in the above embodiments, and will not be repeated here.

[0155] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this 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 includes at least: a vehicle verification and update device, a road test module, an edge computing module, and a cloud platform. 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 update device is used to obtain real-time traffic information; The vehicle verification and update 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 road test module is used to acquire speed limit information uploaded by multiple vehicles within a preset time period, and to acquire the consistency rate of the multiple speed limit information. When the consistency rate reaches a preset consistency rate threshold, the verification is deemed successful, a speed limit data packet is obtained, and it is sent to the edge computing module. The speed limit data packet includes at least one of road segment information, speed limit information, and vehicle pseudo VIN information. The consistency rate is the proportion of identical information among the speed limit information uploaded within the preset time period. The edge computing module is used to update the speed limit information of the corresponding road segment based on the speed limit data packet and a preset map database, to obtain updated speed limit information, and to 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 receive the updated speed limit information. The vehicle verification and update device includes a sensing 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 acquire speed limit sign information and obtain first speed limit information based on the speed limit sign information; The navigation map unit is used to obtain the second speed limit information based on the navigation map; The high-precision map unit is used to obtain third speed limit information based on the high-precision map; The vehicle interaction unit is used to obtain speed limit information of surrounding vehicles and 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.

2. 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 as described in claim 1, and the method includes: Real-time traffic information is obtained through the vehicle's calibration and update device; The vehicle verification and update device verifies and judges the real-time traffic information to obtain speed limit information, which is then sent to the road test module. The speed limit information is collected and integrated by the road test module to obtain a speed limit data packet, which is then sent to the edge computing module. Specifically, the road test module obtains speed limit information uploaded by multiple vehicles within a preset time period and obtains the consistency rate of the multiple speed limit information. When the consistency rate reaches a preset consistency rate threshold, the verification is deemed successful, a speed limit data packet is obtained, and sent to the edge computing module. The speed limit data packet includes at least one of road segment information, speed limit information, and vehicle pseudo VIN information. The consistency rate is the proportion of identical information among the speed limit information uploaded within the preset time period. The edge computing module updates the speed limit information of the corresponding road segment based on the speed limit data packet and the preset map database, obtains the updated speed limit information, and uploads it to the cloud platform. The updated speed limit information is published to connected vehicles via V2X through the cloud platform to ensure that all vehicles receive the updated speed limit information; The step of verifying and judging the real-time traffic information through the vehicle verification and update device to obtain speed limit information and sending it to the road test module includes: Obtain speed limit sign information, navigation maps, and high-precision maps; The speed limit sign information is identified to obtain the first speed limit information; Obtain the second speed limit information based on the navigation map; The third speed limit information is obtained based on the high-precision map; Obtain speed limit information for surrounding vehicles to obtain the 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, the verification is successful and the speed limit information is obtained. The speed limit information is sent to the road test module.

3. The method as described in claim 2, characterized in that, The step of updating the speed limit information of the corresponding road segment using the edge computing module based on the speed limit data packet and a preset map database, obtaining the updated speed limit information, and uploading it to the cloud platform includes: Speed ​​limit information and road segment information are obtained from the speed limit data packet; Based on a preset map database and the road segment information, map speed limit information corresponding to the road segment information is obtained; The speed limit information and the map speed limit information are compared to obtain a comparison result; When the comparison results are different, the speed limit information is used as the target speed limit information, and the map speed limit information corresponding to the road segment information is updated to obtain the updated speed limit information. The speed limit information is uploaded to the cloud platform.

4. The method as described in claim 3, characterized in that, The step of obtaining map speed limit information corresponding to the road segment information based on a preset map database and the road segment information includes: Based on the road segment information and map data from multiple map providers, LINK information and tile information corresponding to multiple map providers' maps are obtained; Based on the multiple LINK information and tile information, the intersection information is obtained; Based on the intersection information, multiple LINK information or tile information are broken and merged to obtain unified LINK information or tile information; Map speed limit information is obtained from the unified LINK information or tile information.

5. A V2X-based map speed limit information update device, 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, the V2X-based map speed limit information update program being configured to implement the steps of the V2X-based map speed limit information update method as described in any one of claims 2 to 4.

6. A storage medium, characterized in that, The medium stores a V2X-based map speed limit information update program, which, when executed by a processor, implements the steps of the V2X-based map speed limit information update method as described in any one of claims 2 to 4.

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