Local driving map construction method and system, electronic equipment and storage medium

Abstract

The invention provides a local driving map construction method and system, electronic equipment and a storage medium. The method comprises the following steps: generating an initial driving map according to a lane line sensed by a vehicle-mounted sensor bev; obtaining a medium-precision map in a preset range according to the GPS positioning of the current vehicle; matching the lane lines of the medium-precision map with the lane lines in the initial driving map, and calculating the GPS position correction of the vehicle; vehicle GPS positioning is compensated according to the vehicle GPS position correction, GPS positioning estimation is carried out based on the vehicle speed and imu sensing data, and a projection point of the planned path in the initial driving map is updated based on a GPS positioning estimation result; and projecting the obstacle, traffic light and signboard information sensed by the vehicle-mounted sensor to the initial driving map to obtain a local driving map. According to the scheme, the automatic driving cost can be reduced, the vehicle positioning precision and sensing precision can be guaranteed, and secondary route planning can be realized without depending on a high-precision map.

Description

Technical Field

[0001] The present invention belongs to the technical field of autonomous driving, and in particular relates to a method, system, electronic device and storage medium for constructing a local driving map. Background Art

[0002] As autonomous driving technology matures, its practical application in various types of vehicles is becoming more and more common. Autonomous driving technology usually relies on high-precision maps and fusion perception technology. The local driving map formed based on high-precision maps and obstacle perception can provide a reference for driving decision planning, making it easier for vehicles to make more accurate and intelligent driving decisions.

[0003] However, in the process of commercialization of autonomous driving technology, one type of solution requires the use of high-precision maps, inertial navigation RTK equipment, etc., which are usually expensive and highly dependent on the accuracy of the positioning equipment. The error is large when the signal is poor. In another type of solution that relies on visual perception BEV, the perception stability is easily affected by the external environment, and due to the lack of a global map, navigation and secondary route planning cannot be performed, and only basic functions such as lane keeping can be performed. Summary of the invention

[0004] In view of this, embodiments of the present invention provide a local driving map construction method, system, electronic device and storage medium, which are used to solve the problems that existing autonomous driving solutions are high in cost, rely on high-precision positioning, and cannot perform secondary route planning.

[0005] In a first aspect of an embodiment of the present invention, a method for constructing a local driving map is provided, comprising:

[0006] Generate an initial driving map based on the lane lines perceived by the onboard sensor BEV;

[0007] Acquire a medium-precision map within a predetermined range according to the current vehicle GPS positioning, wherein the medium-precision map is a map with an error within a predetermined range;

[0008] Match the lane lines in the medium-precision map with the lane lines in the initial driving map and calculate the vehicle GPS position correction;

[0009] The vehicle's GPS positioning is compensated according to the vehicle's GPS position correction, and the GPS positioning is estimated based on the vehicle's speed and imu sensing data. The projection point of the planned path in the initial driving map is updated based on the GPS positioning estimation result;

[0010] The obstacle, traffic light and sign information perceived by the vehicle's sensors are projected onto the initial driving map to obtain a local driving map.

[0011] In a second aspect of an embodiment of the present invention, a local driving map construction system is provided, comprising:

[0012] A map generation module is used to generate an initial driving map based on lane lines sensed by the vehicle-mounted sensor BEV;

[0013] A map acquisition module, used to acquire a medium-precision map within a predetermined range according to the current vehicle GPS positioning, wherein the medium-precision map is a map with an error within a predetermined range;

[0014] The matching correction module is used to match the lane lines in the medium-precision map with the lane lines in the initial driving map and calculate the vehicle GPS position correction;

[0015] A positioning compensation module is used to compensate the vehicle GPS positioning according to the vehicle GPS position correction amount;

[0016] The positioning estimation module is used to perform GPS positioning estimation based on the vehicle speed and imu sensing data, and update the projection point of the planned path in the initial driving map based on the GPS positioning estimation result;

[0017] The fusion projection module is used to project the obstacle, traffic light and sign information perceived by the vehicle-mounted sensors into the initial driving map to obtain a local driving map.

[0018] In a third aspect of an embodiment of the present invention, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the first aspect of the embodiment of the present invention when executing the computer program.

[0019] In a fourth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method provided in the first aspect of the embodiment of the present invention are implemented.

[0020] In the embodiment of the present invention, a local driving map is constructed based on vehicle BEV perception, vehicle GPS positioning and medium-precision map, which can not only realize low-cost automatic driving and route planning, but also ensure the vehicle positioning accuracy and vehicle perception accuracy, and avoid the influence of GPS signals. The local driving map constructed based on fusion has both navigation data for primary planning and can realize secondary route planning of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A schematic diagram of a flow chart of a method for constructing a local driving map provided by an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the structure of a local driving map construction system provided by an embodiment of the present invention;

[0024] Figure 3 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should be understood that the term "including" and other similar expressions in the specification or claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions, such as a process, method, system, or device including a series of steps or units is not limited to the listed steps or units. In addition, "first" and "second" are used to distinguish different objects, not to describe a specific order.

[0027] See also Figure 1 , a flow chart of a method for constructing a local driving map provided by an embodiment of the present invention includes:

[0028] S101, generating an initial driving map according to the lane lines sensed by the vehicle-mounted sensor bev;

[0029] The vehicle-mounted sensors may include cameras, radars (such as millimeter-wave radars, laser radars), etc. The vehicle-mounted sensors can output information such as the position and distance of objects around the vehicle through visual fusion perception. For example, lane lines, vehicles, pedestrians, traffic signs and other objects can be perceived by the vehicle-mounted sensors. Bev (Bird's-Eye-View) perception refers to converting the perception data of the vehicle-mounted sensors into a bird's-eye view representation.

[0030] Among them, the lane lines perceived by the on-board sensor bev are obtained, and the lane line curves in the driving map are obtained through polynomial fitting; the topological relationship of each lane line is obtained, and the lane center line in the vehicle coordinate system is generated according to the lane line curve and the lane line topological relationship to form an initial driving map.

[0031] For example, the vehicle obtains lane lines c0, c1, c2, and c3 through BEV perception by fitting a cubic polynomial to obtain multiple lane line curves, and generates the lane center line based on the lane line topological relationship.

[0032] S102, acquiring a medium-precision map within a predetermined range according to the current vehicle GPS positioning, wherein the medium-precision map is a map with an error within a predetermined range;

[0033] The utm (Universal Transverse Mercator Grid System) coordinates of the vehicle's GPS positioning data are matched with the utm coordinates in the medium-precision map to obtain a medium-precision map within a predetermined range near the vehicle positioning point, that is, map data within a certain range (e.g., 40m) around the vehicle positioning point is obtained.

[0034] Compared with ordinary maps, medium-precision maps have higher accuracy and more road details (such as traffic lights, lines, lane directions, interchange directions, etc.), but lower than high-precision maps (with an error of several centimeters) and fewer details. The predetermined range corresponding to medium-precision maps is usually within 50cm error.

[0035] Among them, the lane topology relationship of the medium-precision map, the lane line index of the lane where the vehicle is located in the same-direction lane, and the lateral distance between the vehicle and the center line of the lane are obtained.

[0036] S103, matching the lane lines in the medium-precision map with the lane lines in the initial driving map, and calculating the vehicle GPS position correction;

[0037] The vehicle GPS position correction may include lateral and longitudinal distance correction and heading difference. Lane line matching is performed based on the lane line index in the medium-precision map and the lane line index in the driving map, and the matched lane lines and vehicle positioning points are converted and projected, and the GPS position correction is calculated on the driving map.

[0038] Specifically, after matching the lane line index of the medium-precision map with the lane line index of the initial driving map, the lane line coordinates of the medium-precision map and the GPS positioning coordinates are converted to the vehicle body coordinate system and projected into the initial driving map, and the lateral and longitudinal distance corrections and heading differences between the positioning point perceived by the ego vehicle BEV and the GPS positioning projection point are calculated.

[0039] S104, compensating the vehicle's GPS positioning according to the vehicle's GPS position correction amount, and performing GPS positioning estimation based on the vehicle's speed and imu sensing data, and updating the projection point of the planned path in the initial driving map based on the GPS positioning estimation;

[0040] Since there is a deviation between the positioning output by the vehicle GPS and the actual positioning of the vehicle, the vehicle GPS positioning needs to be supplemented and corrected to ensure the accuracy of the vehicle GPS positioning.

[0041] Specifically, the yaw difference in the GPS position correction is obtained, and the deviation difference is compensated to the yaw angle of the vehicle's GPS positioning; the lateral compensation value of the lateral distance correction in the utm (universal transverse mercator grid system) coordinate system is calculated based on the corrected yaw angle, and the lateral compensation value is compensated to the vehicle's GPS positioning point; the longitudinal compensation value of the longitudinal distance correction in the utm coordinate system is calculated based on the lane stop line or lane line curvature, and the longitudinal compensation value is compensated to the vehicle's GPS positioning point.

[0042] When the vehicle is sensed to be near the stop line at the intersection, the longitudinal distance of the GPS positioning point is corrected according to the distance from the vehicle to the stop line perceived by the vehicle bev and the distance from the GPS positioning point to the stop line in the medium-precision map. When there is no stop line, the curvature feature points of multiple lane lines ahead identified by the bev are extracted and matched with the corresponding lane line curvature on the map (such as curved urban roads, curves, divergence and confluence scenes), so as to calculate the longitudinal distance error compensation value, and continue to compensate for the lateral distance error when it is a straight road without a stop line, until the longitudinal distance error compensation value is calculated and updated when encountering a curve or other road where curvature matching can be performed. The compensated GPS positioning is a utm coordinate, which needs to be converted to the vehicle body coordinate system.

[0043] Preferably, the positioning point is corrected every 1 second based on the frequency of GPS positioning, and the GPS position correction amount is applied to the positioning output by the GPS.

[0044] Among them, the vehicle position change and heading change per second are calculated based on the vehicle speed and imu perception data, and the vehicle position change and heading change are converted into compensation values ​​in the utm coordinate system to perform interpolation compensation and estimation on the GPS positioning.

[0045] Based on the angular rate and acceleration output by the imu (Inertial Measurement Unit) sensor, combined with the vehicle's current speed and current GPS positioning, the vehicle's GPS position can be estimated to update the planned path in real time, and then update the projection point of the planned path on the driving map.

[0046] Optionally, when it is detected that the GPS signal strength is lower than a preset threshold, the vehicle GPS position in the local driving map is continuously updated based on the estimated GPS position.

[0047] When the GPS signal is poor, GPS positioning estimation can ensure the stability of the GPS signal and keep the GPS signal updated.

[0048] S105: Projecting obstacles, traffic lights and sign information sensed by the vehicle-mounted sensors into the initial driving map to obtain a local driving map.

[0049] The obstacles are generally common objects on the road, which can be motor vehicles, non-motor vehicles, pedestrians, etc., and are not specifically limited here. In addition to BEV sensing of lane lines, vehicle-mounted sensors can also sense obstacles, traffic lights, and traffic signs on the road.

[0050] Among them, the center point coordinates and length, width and height of the obstacle perceived and output are used to form a bounding box in the driving map. The speed and heading determine the direction of the bounding box, and the relative coordinate values ​​of the obstacle prediction trajectory are projected into the local driving map. The coordinates of the signboards and traffic lights are projected into the driving map, and the semantic information and status information are saved.

[0051] In this embodiment, based on the GPS module signal of Tianjue domain control and the low-cost medium-precision map, the primary planning of the medium-precision map is combined with the bev perception information to generate a local map to achieve secondary planning. This not only has a low implementation cost, but also can ensure the GPS positioning accuracy and bev perception accuracy. At the same time, when the GPS signal is poor, local driving map construction and vehicle autonomous driving can still be achieved.

[0052] It should be understood that the serial numbers of the steps in the above embodiments do not imply a sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0053] Figure 2 A schematic diagram of a local driving map construction system provided by an embodiment of the present invention, the system comprising:

[0054] A map generation module 210 is used to generate an initial driving map according to lane lines sensed by the vehicle-mounted sensor bev;

[0055] The map generation module 210 includes:

[0056] The lane line generation unit is used to obtain the lane line perceived by the vehicle-mounted sensor bev and obtain the lane line curve in the driving map through polynomial fitting;

[0057] The lane centerline generation unit is used to obtain the lane line topology relationship and generate the lane centerline in the vehicle coordinate system according to the lane line curve and the lane line topology relationship.

[0058] A map acquisition module 220 is used to acquire a medium-precision map within a predetermined range according to the current vehicle GPS positioning, wherein the medium-precision map is a map with an error within a predetermined range;

[0059] Among them, the lane topology relationship of the medium-precision map, the lane line index of the lane where the vehicle is located in the same-direction lane, and the lateral distance between the vehicle and the center line of the lane are obtained.

[0060] A matching correction module 230 is used to match the lane lines of the medium-precision map with the lane lines in the initial driving map and calculate the vehicle GPS position correction amount;

[0061] Specifically, after matching the lane line index of the medium-precision map with the lane line index of the initial driving map, the lane line coordinates of the medium-precision map and the GPS positioning coordinates are converted to the vehicle body coordinate system and projected into the initial driving map, and the lateral and longitudinal distance corrections and heading differences between the positioning point perceived by the ego vehicle BEV and the GPS positioning projection point are calculated.

[0062] A positioning compensation module 240 is used to compensate the vehicle GPS positioning according to the vehicle GPS position correction amount;

[0063] Wherein, the positioning compensation module 240 includes:

[0064] A yaw angle compensation unit is used to obtain the yaw difference in the GPS position correction and compensate the deviation difference to the yaw angle of the vehicle GPS positioning;

[0065] A lateral distance compensation unit is used to calculate a lateral compensation value of the lateral distance correction amount in the UTM coordinate system based on the corrected yaw angle, and compensate the lateral compensation value to the vehicle GPS positioning point;

[0066] The longitudinal distance compensation unit is used to calculate the longitudinal compensation value of the longitudinal distance correction amount in the UTM coordinate system based on the lane stop line or lane line curvature, and compensate the longitudinal compensation value to the vehicle GPS positioning point

[0067] A positioning estimation module 250 is used to perform GPS positioning estimation based on the vehicle speed and imu sensing data, and to update the projection point of the planned path in the initial driving map based on the GPS positioning estimation result;

[0068] Wherein, the GPS positioning estimation based on vehicle speed and imu sensing data includes:

[0069] Based on the vehicle speed and IMU sensing data, the vehicle position change and heading change per second are calculated, and the vehicle position change and heading change are converted into compensation values ​​in the UTM coordinate system to perform interpolation compensation and estimation on the GPS positioning.

[0070] Optionally, when it is detected that the GPS signal strength is lower than a preset threshold, the vehicle GPS position in the local driving map is continuously updated based on the estimated GPS position.

[0071] The fusion projection module 260 is used to project the obstacle, traffic light and sign information sensed by the vehicle-mounted sensor into the initial driving map to obtain a local driving map.

[0072] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0073] Figure 3 1 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device is used to construct a local driving map. Figure 3 As shown, the electronic device 3 of this embodiment includes: a memory 310, a processor 320 and a system bus 330, wherein the memory 310 includes an executable program 3101 stored thereon, and those skilled in the art can understand that Figure 3 The electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0074] Combine the following Figure 3 A detailed introduction to the various components of electronic equipment:

[0075] The memory 310 can be used to store software programs and modules, and the processor 320 executes various functional applications and data processing of the electronic device by running the software programs and modules stored in the memory 310. The memory 310 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device (such as cache data), etc. In addition, the memory 310 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0076] The memory 310 includes an executable program 3101 of the network request method, and the executable program 3101 can be divided into one or more modules / units, which are stored in the memory 310 and executed by the processor 320 to realize driving map construction, etc. The one or more modules / units can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 3101 in the electronic device 3. For example, the computer program 3101 can be divided into functional modules such as a map generation module, a map acquisition module, a matching correction module, a positioning compensation module, a positioning estimation module, and a fusion projection module.

[0077] The processor 320 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 310, and calling data stored in the memory 310, it performs various functions of the electronic device and processes data, thereby monitoring the overall status of the electronic device. Optionally, the processor 320 may include one or more processing units; preferably, the processor 320 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, application programs, etc., and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 420.

[0078] The system bus 330 is used to connect the various functional components inside the computer, and can transmit data information, address information, and control information. Its types can be, for example, PCI bus, ISA bus, CAN bus, etc. The instructions of the processor 320 are transmitted to the memory 310 through the bus, and the memory 310 feeds back data to the processor 320. The system bus 330 is responsible for the data and instruction exchange between the processor 320 and the memory 310. Of course, the system bus 330 can also be connected to other devices, such as network interfaces, display devices, etc.

[0079] In the embodiment of the present invention, the executable program executed by the processor 320 included in the electronic device includes:

[0080] Generate an initial driving map based on the lane lines sensed by the onboard sensor bev;

[0081] Obtain medium-precision maps within a predetermined range based on the current vehicle GPS positioning;

[0082] Match the lane lines in the medium-precision map with the lane lines in the initial driving map and calculate the vehicle GPS position correction;

[0083] The vehicle's GPS positioning is compensated according to the vehicle's GPS position correction, and the GPS positioning is estimated based on the vehicle's speed and imu sensing data. The projection point of the planned path in the initial driving map is updated based on the GPS positioning estimation result;

[0084] The obstacle, traffic light and sign information perceived by the vehicle's sensors are projected onto the initial driving map to obtain a local driving map.

[0085] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0086] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0087] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for constructing a local driving map, characterized in that: include: Generate an initial driving map based on the lane lines sensed by the onboard sensor bev; Acquire a medium-precision map within a predetermined range according to the current vehicle GPS positioning, wherein the medium-precision map is a map with an error within a predetermined range; Match the lane lines in the medium-precision map with the lane lines in the initial driving map and calculate the vehicle GPS position correction; The vehicle's GPS positioning is compensated according to the vehicle's GPS position correction, and the GPS positioning is estimated based on the vehicle's speed and imu sensing data. The projection point of the planned path in the initial driving map is updated based on the GPS positioning estimation result; The obstacle, traffic light and sign information perceived by the vehicle's sensors are projected onto the initial driving map to obtain a local driving map.

2. The method according to claim 1, characterized in that The generating of the initial driving map by sensing the lane line through the vehicle-mounted sensor BEV comprises: Get the lane line sensed by the vehicle sensor bev, and get the lane line curve in the driving map through polynomial fitting; The topological relationship of each lane line is obtained, and the lane center line in the vehicle coordinate system is generated according to the lane line curve and the lane line topological relationship.

3. The method according to claim 1, characterized in that The method of obtaining a medium-precision map within a predetermined range according to the current vehicle GPS positioning includes: Obtain the lane topology of the medium-precision map, the lane line index of the lane where the vehicle is located in the same-direction lane, and the lateral distance between the vehicle and the center line of the lane.

4. The method according to claim 1, characterized in that: The matching of the lane lines in the medium-precision map with the lane lines in the initial driving map and the calculation of the vehicle GPS position correction amount includes: After matching the lane line index of the medium-precision map with the lane line index of the initial driving map, the lane line coordinates of the medium-precision map and the GPS positioning coordinates are converted to the vehicle body coordinate system and projected into the initial driving map. The lateral and longitudinal distance corrections and heading differences between the positioning point perceived by the ego vehicle BEV and the GPS positioning projection point are calculated.

5. The method according to claim 1, characterized in that The compensating the vehicle GPS positioning according to the vehicle GPS position correction amount includes: Obtain the yaw difference in the GPS position correction, and compensate the deviation difference to the yaw angle of the vehicle GPS positioning; Calculate the lateral compensation value of the lateral distance correction amount in the UTM coordinate system based on the corrected yaw angle, and compensate the lateral compensation value to the vehicle GPS positioning point; The longitudinal compensation value of the longitudinal distance correction amount in the UTM coordinate system is calculated based on the lane stop line or the lane line curvature, and the longitudinal compensation value is compensated to the vehicle GPS positioning point.

6. The method according to claim 1, characterized in that The GPS positioning estimation based on vehicle speed and imu sensing data includes: Based on the vehicle speed and IMU sensing data, the vehicle position change and heading change per second are calculated, and the vehicle position change and heading change are converted into compensation values ​​in the UTM coordinate system to perform interpolation compensation and estimation on the GPS positioning.

7. The method according to claim 1, characterized in that The GPS positioning estimation based on vehicle speed and imu sensing data also includes: When the GPS signal strength is detected to be below a preset threshold, the vehicle GPS position in the local driving map is continuously updated based on the estimated GPS position.

8. A local driving map construction system, characterized in that: include: A map generation module is used to generate an initial driving map based on lane lines sensed by the onboard sensor BEV; A map acquisition module, used to acquire a medium-precision map within a predetermined range according to the current vehicle GPS positioning, wherein the medium-precision map is a map with an error within a predetermined range; The matching correction module is used to match the lane lines in the medium-precision map with the lane lines in the initial driving map and calculate the vehicle GPS position correction; A positioning compensation module, used to compensate the vehicle GPS positioning according to the vehicle GPS position correction amount; The positioning estimation module is used to perform GPS positioning estimation based on the vehicle speed and imu sensing data, and update the projection point of the planned path in the initial driving map based on the GPS positioning estimation result; The fusion projection module is used to project the obstacle, traffic light and sign information perceived by the vehicle-mounted sensors into the initial driving map to obtain a local driving map.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of a local driving map construction method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed, the steps of a local driving map construction method as described in any one of claims 1 to 7 are implemented.

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