Map data updating system, map data layered transmission method and product

Abstract

The invention discloses a map data updating system, a map data hierarchical transmission method and a product, and the system comprises an electronic horizon provider (EHP), an electronic horizon reconstructor (EHR), a map data updating system, a map data hierarchical transmission method and a map data hierarchical transmission product, and the map data updating system comprises an electronic horizon provider (EHP), an electronic horizon reconstructor (EHR), an electronic horizon reconstructor (EHR), an electronic horizon reconstructor (EHR), an electronic horizon reconstructor (EHR) and an electronic horizon reconstructor (EHR), the EHP sends the first electronic horizon to the EHR; sending the second electronic horizon to the EHR; the geographic coverage corresponding to the first electronic horizon is larger than and includes the geographic coverage corresponding to the second electronic horizon, and the map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon. After the vehicle runs out of the geographic coverage area corresponding to the second electronic horizon line, the vehicle can drive based on the first electronic horizon line; the problem that no map data is available after the vehicle drives out of the geographic coverage area corresponding to the second electronic horizon line can be solved.

Description

Technical Field

[0001] The present application relates to the field of smart cars, and in particular to a map data updating system, a map data layered transmission method and a product. Background Art

[0002] The realization of intelligent driving applications such as navigation and planning and control (referred to as planning and control) requires the support of map data. The map data provided by map manufacturers are usually organized based on different formats, and there is a strong coupling relationship between the elements, which cannot be directly input into intelligent driving modules such as navigation and planning and control for their use. At present, the interaction between map data and applications is generally realized through the electric horizon provider (EHP) and the electric horizon reconstructor (EHR). EHP is responsible for reading global map data, integrating (reorganizing map elements in a specific format) and outputting map data in a certain range in front of and around the vehicle according to the current vehicle position, that is, electronic horizon data. EHR is responsible for parsing the map data (electronic horizon data) sent by EHP, and then sending the map data to intelligent driving modules such as navigation and planning and control for their use.

[0003] If the vehicle deviates from the original planned route for some reason, the EHR will send its offset on the new route and request the EHP to reset (or update) the electronic horizon data. However, within a limited time, the EHP may not be able to publish the updated electronic horizon data in a timely manner. In other words, when the vehicle drives out of the range of the original electronic horizon data, the vehicle will have no electronic horizon data available before the EHP publishes the updated electronic horizon data. When the vehicle has no electronic horizon data available, one of the current solutions is as follows: remind the driver to take over or temporarily use sensor data for regulation and control, which will affect the user experience and bring challenges to the realization of safe driving. Summary of the invention

[0004] The present application discloses a map data updating system, a map data layered transmission method and a product, which can solve the problem that no map data is available after a vehicle deviates from an originally planned route.

[0005] In a first aspect, an embodiment of the present application provides a map data updating system, the system comprising: an electric horizon provider (EHP) and an electric horizon reconstructor (EHR); the EHP sends a first electronic horizon to the EHR; the EHP sends a second electronic horizon to the EHR; wherein the geographic coverage corresponding to the first electronic horizon is greater than and includes the geographic coverage corresponding to the second electronic horizon, the map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than the accuracy of the second electronic horizon. In this article, map elements can be replaced by attributes or attribute information or attribute objects.

[0006] In the embodiment of the present application, the geographical coverage area corresponding to the first electronic horizon is greater than and includes the geographical coverage area corresponding to the second electronic horizon. After the vehicle travels out of the geographical coverage area corresponding to the second electronic horizon, the vehicle can be driven based on the first electronic horizon; the problem that no map data is available after the vehicle travels out of the geographical coverage area corresponding to the second electronic horizon can be solved. For example, the vehicle plans a driving path based on the first electronic horizon, and navigates the vehicle to an area where it can be parked or drives to the destination of the vehicle according to the driving path.

[0007] In one possible implementation, the applications that the first electronic horizon supports the vehicle to execute are different from the applications that the second electronic horizon supports the vehicle to execute, and the vehicle is deployed with the EHR. For example, the applications that the second electronic horizon supports the vehicle to execute include regulation and control, while the applications that the first electronic horizon supports the vehicle to execute do not include regulation and control. In other words, the applications that the vehicle can execute based on the second electronic horizon are different from the applications that the vehicle can execute based on the first electronic horizon. For example, the vehicle can execute a regulation and control algorithm based on the second electronic horizon and the first electronic horizon (optionally) to implement regulation and control of the vehicle, and the vehicle cannot execute a regulation and control algorithm based on the first electronic horizon. In this article, regulation and control can be the execution of a regulation and control algorithm.

[0008] In this implementation, the application that the first electronic horizon supports the vehicle to execute is different from the application that the second electronic horizon supports the vehicle to execute, and different applications can be executed using the first electronic horizon and the second electronic horizon.

[0009] In one possible implementation, the second electronic horizon supports applications for the vehicle to execute including regulation and control, that is, the vehicle can execute regulation and control algorithms based on the second electronic horizon, and the vehicle is deployed with the EHR; the first electronic horizon supports applications for the vehicle to execute including positioning and / or navigation. Exemplarily, the first electronic horizon supports applications for the vehicle to execute that do not include regulation and control, that is, the vehicle cannot execute regulation and control algorithms based only on the first electronic horizon.

[0010] In this implementation, the first electronic horizon supports applications executed by the vehicle including positioning and / or navigation. When the vehicle drives out of the geographical coverage area corresponding to the second electronic horizon, the vehicle can perform positioning and / or navigation based on the first electronic horizon, which can improve driving safety and user experience.

[0011] In a possible implementation, the map elements included in the first electronic horizon are map elements required for the vehicle to execute a first application, and the map elements included in the second electronic horizon are map elements required for the vehicle to execute a second application, the first application includes positioning and / or navigation, and the second application includes regulation and control. Exemplarily, the first application does not include regulation and control.

[0012] In this implementation, the map elements included in the first electronic horizon are map elements required for the vehicle to execute the first application, so that the vehicle executes the first application based on the first electronic horizon. The map elements included in the second electronic horizon are map elements required for the vehicle to execute the second application, so that the vehicle executes the second application based on the second electronic horizon.

[0013] In a possible implementation, the map elements included in the first electronic horizon include at least one of the following: road topology information, road driving rules, and traffic flow information; the map elements included in the second electronic horizon include at least one of the following: lane information, marker information, obstacle information, traffic light information, traffic signs, real-time traffic flow speed, speed limit information, weather information, road type information, road surface information, map database corresponding to road sections, and road condition information. The first electronic horizon and the second electronic horizon may include one or more identical map elements, that is, the map elements included in the first electronic horizon overlap with the map elements included in the second electronic horizon; the first electronic horizon and the second electronic horizon may also include different map elements, that is, the map elements included in the first electronic horizon do not overlap with the map elements included in the second electronic horizon.

[0014] In this implementation, the map elements included in the first electronic horizon include at least one of the following: road topology information, road driving rules, and traffic flow information, so that the vehicle can perform positioning and / or navigation based on the first electronic horizon. The map elements included in the second electronic horizon include at least one of the following: lane information, information on markers, information on obstacles, information on traffic lights, traffic signs, real-time traffic flow speed, speed limit information, weather information, road type information, road surface information, and a map database corresponding to a road section so that the vehicle can perform regulation based on the second electronic horizon, etc.

[0015] In a second aspect, an embodiment of the present application provides a method for layered transmission of map data, which is applied to EHR, and the method includes: receiving a first electronic horizon from EHP; receiving a second electronic horizon from the EHP; wherein the geographical coverage corresponding to the first electronic horizon is greater than and includes the geographical coverage corresponding to the second electronic horizon, the map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than the accuracy of the second electronic horizon.

[0016] In the embodiment of the present application, the geographical coverage area corresponding to the first electronic horizon is greater than and includes the geographical coverage area corresponding to the second electronic horizon. After the vehicle drives out of the geographical coverage area corresponding to the second electronic horizon, the vehicle can be driven based on the first electronic horizon; the problem that no map data is available after the vehicle drives out of the geographical coverage area corresponding to the first electronic horizon can be solved. For example, the vehicle plans a driving path based on the first electronic horizon, and navigates the vehicle to an area where it can be parked or drives to the destination of the vehicle according to the driving path.

[0017] In one possible implementation, the application that the first electronic horizon supports the vehicle to execute is different from the application that the second electronic horizon supports the vehicle to execute, and the vehicle is deployed with the EHR.

[0018] In this implementation, the application that the first electronic horizon supports the vehicle to execute is different from the application that the second electronic horizon supports the vehicle to execute. The first electronic horizon and the second electronic horizon can be used to execute different applications to avoid EHP sending map data with the same function.

[0019] In one possible implementation, the second electronic horizon supports applications for the vehicle to execute including regulation and control, that is, the vehicle can execute regulation and control algorithms based on the second electronic horizon, and the vehicle is deployed with the EHR; the first electronic horizon supports applications for the vehicle to execute including positioning and / or navigation. Exemplarily, the first electronic horizon supports applications for the vehicle to execute that do not include regulation and control, that is, the vehicle cannot execute regulation and control algorithms based only on the first electronic horizon.

[0020] In this implementation, the first electronic horizon supports applications executed by the vehicle including positioning and / or navigation. When the vehicle drives out of the geographical coverage area corresponding to the second electronic horizon, the vehicle can perform positioning and / or navigation based on the first electronic horizon, which can improve driving safety and user experience.

[0021] In a possible implementation, the map elements included in the first electronic horizon are map elements required for the vehicle to execute a first application, and the map elements included in the second electronic horizon are map elements required for the vehicle to execute a second application, the first application includes positioning and / or navigation, and the second application includes regulation and control. Exemplarily, the first application does not include regulation and control.

[0022] In this implementation, the map elements included in the first electronic horizon are map elements required for the vehicle to execute the first application, so that the vehicle executes the first application based on the first electronic horizon. The map elements included in the second electronic horizon are map elements required for the vehicle to execute the second application, so that the vehicle executes the second application based on the second electronic horizon.

[0023] In one possible implementation, the map elements included in the first electronic horizon include at least one of the following: road topology information, road driving rules, and traffic flow information; the map elements included in the second electronic horizon include at least one of the following: lane information, marker information, obstacle information, traffic light information, traffic signs, real-time traffic flow speed, speed limit information, weather information, road type information, road surface information, a map database corresponding to the road section, and road condition information.

[0024] In this implementation, the map elements included in the first electronic horizon include at least one of the following: road topology information, road driving rules, and traffic flow information, so that the vehicle can perform positioning and / or navigation based on the first electronic horizon. The map elements included in the second electronic horizon include at least one of the following: lane information, information on markers, information on obstacles, information on traffic lights, traffic signs, real-time traffic flow speed, speed limit information, weather information, road type information, road surface information, and a map database corresponding to a road section so that the vehicle can perform regulation based on the second electronic horizon, etc.

[0025] In one possible implementation, the method also includes: sending a first message to the EHP, the first message being used to request the first electronic horizon and / or the second electronic horizon; wherein the first message includes at least one of the vehicle's location information and range information, the range information being used to indicate the geographical coverage corresponding to the first electronic horizon and / or the geographical coverage corresponding to the second electronic horizon, and the vehicle being deployed with the EHR.

[0026] In this implementation, the first message includes at least one of the location information and the range information of the vehicle, so that the EHP sends the first electronic horizon and / or the second electronic horizon to the EHR based on at least one of the location information and the range information of the vehicle.

[0027] In a possible implementation, the first message is an initialization request message, and the first message is used to request the first electronic horizon and the second electronic horizon.

[0028] In this implementation, the first message is an initialization request message, and the EHR sends the first message to request the first electronic horizon and the second electronic horizon.

[0029] In a possible implementation, the first message also includes at least one of the following: first map element information, the first map element information is used to indicate the map element corresponding to the first electronic horizon; first restriction information, the first restriction information is used to limit or indicate the data size of the first electronic horizon; second map element information, the second map element information is used to indicate the map element corresponding to the second electronic horizon; second restriction information, the second restriction information is used to limit or indicate the data size of the second electronic horizon.

[0030] In this implementation, the first message also includes: at least one of: first map element information, second map element information, first restriction information, or second restriction information, by further limiting the map data requested by the EHR so that the EHP provides the map data required by the EHR.

[0031] In one possible implementation, sending the first message to the EHP includes: sending the first message to the EHP before the vehicle drives out of the geographical coverage range corresponding to the third electronic horizon, the first message is an update request message, the first message is used to request the second electronic horizon, the types of map elements included in the third electronic horizon are the same as the types of map elements included in the second electronic horizon, some geographical coverage areas in the geographical coverage range corresponding to the second electronic horizon are not included in the geographical coverage range corresponding to the third electronic horizon, and the geographical coverage range corresponding to the first electronic horizon is larger than and includes the geographical coverage range corresponding to the third electronic horizon.

[0032] In this implementation, a first message is sent to the EHP before the vehicle leaves the geographical coverage area corresponding to the third electronic horizon; the second electronic horizon can be obtained before the vehicle leaves the geographical coverage area corresponding to the third electronic horizon, so that the second electronic horizon can be used after the vehicle leaves the geographical coverage area corresponding to the third electronic horizon.

[0033] In a possible implementation, before sending the first message, the method further includes: determining an incremental range of the second-layer geographic coverage based on the second-layer geographic coverage expected by the EHR and the second-layer geographic coverage already existing by the EHR, the second-layer geographic coverage already existing by the EHR being the geographic coverage corresponding to the third electronic horizon; generating the first message based on the incremental range, the range information included in the first message being used to indicate the incremental range. Exemplarily, the third electronic horizon is the upper-layer map data already existing by the EHR, the second electronic horizon is the upper-layer map data expected by the EHR, the second-layer geographic coverage is the geographic coverage corresponding to the upper-layer map data expected by the EHR, and the second-layer geographic coverage already existing by the EHR is the geographic coverage corresponding to the upper-layer map data already existing by the EHR.

[0034] In this implementation, a first message is generated based on the incremental range; and required map data may be acquired by sending the first message.

[0035] In a possible implementation, the first message also includes at least one of the following: second map element information, the second map element is used to indicate the map element corresponding to the second electronic horizon; second restriction information, the second restriction information is used to limit or indicate the data size of the second electronic horizon; second path identification information, the second path identification information is used to indicate the path contained in the second electronic horizon.

[0036] In this implementation, the first message further includes at least one of second map element information, second path identification information, or second restriction information, so that the EHP provides the map data required by the EHR by further limiting the map data requested by the EHR.

[0037] In one possible implementation, sending the first message to the EHP includes: after the vehicle drives out of the geographical coverage range corresponding to the third electronic horizon, sending the first message to the EHP, the first message being an update request message, the first message being used to request the second electronic horizon, the types of map elements included in the third electronic horizon being the same as the types of map elements included in the second electronic horizon, and some geographical coverage areas in the geographical coverage range corresponding to the second electronic horizon being not included in the geographical coverage range corresponding to the third electronic horizon.

[0038] In this implementation, after the vehicle drives out of the geographical coverage area corresponding to the third electronic horizon, a first message is sent to the EHP; the second electronic horizon can be obtained in time.

[0039] In a possible implementation, the first message also includes at least one of the following: second map element information, the second map element information is used to indicate the map element corresponding to the second electronic horizon; second restriction information, the second restriction information is used to limit or indicate the data size of the second electronic horizon; second path identification information, the second path identification information is used to indicate the path included in the second electronic horizon; information on the planned driving path of the vehicle.

[0040] In this implementation, the first message further includes at least one of second map element information, second path identification information, or second restriction information, so that the EHP provides the map data required by the EHR by further limiting the map data requested by the EHR.

[0041] In a third aspect, an embodiment of the present application provides another method for layered transmission of map data, which is applied to EHP, and the method includes: sending a first electronic horizon to EHR; sending a second electronic horizon to the EHR; wherein the geographical coverage corresponding to the first electronic horizon is greater than and includes the geographical coverage corresponding to the second electronic horizon, the map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than the accuracy of the second electronic horizon.

[0042] In the embodiment of the present application, the geographical coverage area corresponding to the first electronic horizon is greater than and includes the geographical coverage area corresponding to the second electronic horizon. After the vehicle drives out of the geographical coverage area corresponding to the second electronic horizon, the vehicle can be driven based on the first electronic horizon; the problem that no map data is available after the vehicle drives out of the geographical coverage area corresponding to the first electronic horizon can be solved. For example, after the vehicle drives out of the geographical coverage area corresponding to the second electronic horizon, the driving path is planned based on the first electronic horizon, and the vehicle is navigated to an area where it can be parked or driven to the destination of the vehicle according to the driving path.

[0043] In one possible implementation, the application that the first electronic horizon supports the vehicle to execute is different from the application that the second electronic horizon supports the vehicle to execute, and the vehicle is deployed with the EHR.

[0044] In this implementation, the application that the first electronic horizon supports the vehicle to execute is different from the application that the second electronic horizon supports the vehicle to execute. The first electronic horizon and the second electronic horizon can be used to execute different applications to avoid EHP sending map data with the same function.

[0045] In one possible implementation, the second electronic horizon supports applications for the vehicle to execute including regulation and control, that is, the vehicle can execute regulation and control algorithms based on the second electronic horizon, and the vehicle is deployed with the EHR; the first electronic horizon supports applications for the vehicle to execute including positioning and / or navigation. Exemplarily, the first electronic horizon supports applications for the vehicle to execute that do not include regulation and control, that is, the vehicle cannot execute regulation and control algorithms based only on the first electronic horizon.

[0046] In this implementation, the first electronic horizon supports applications executed by the vehicle including positioning and / or navigation. When the vehicle drives out of the geographical coverage area corresponding to the second electronic horizon, the vehicle can perform positioning and / or navigation based on the first electronic horizon, which can improve driving safety and user experience.

[0047] In a possible implementation, the map elements included in the first electronic horizon are map elements required for the vehicle to execute a first application, and the map elements included in the second electronic horizon are map elements required for the vehicle to execute a second application, the first application includes positioning and / or navigation, and the second application includes regulation and control. Exemplarily, the first application does not include regulation and control.

[0048] In this implementation, the map elements included in the first electronic horizon are map elements required for the vehicle to execute the first application, so that the vehicle executes the first application based on the first electronic horizon. The map elements included in the second electronic horizon are map elements required for the vehicle to execute the second application, so that the vehicle executes the second application based on the second electronic horizon.

[0049] In one possible implementation, the map elements included in the first electronic horizon include at least one of the following: road topology information, road driving rules, and traffic flow information; the map elements included in the second electronic horizon include at least one of the following: lane information, marker information, obstacle information, traffic light information, traffic signs, real-time traffic flow speed, speed limit information, weather information, road type information, road surface information, a map database corresponding to the road section, and road condition information.

[0050] In this implementation, the map elements included in the first electronic horizon include at least one of the following: road topology information, road driving rules, and traffic flow information, so that the vehicle can perform positioning and / or navigation based on the first electronic horizon. The map elements included in the second electronic horizon include at least one of the following: lane information, information on markers, information on obstacles, information on traffic lights, traffic signs, real-time traffic flow speed, speed limit information, weather information, road type information, road surface information, and a map database corresponding to a road section so that the vehicle can perform regulation based on the second electronic horizon, etc.

[0051] In one possible implementation, the method also includes: receiving a first message from the EHR, the first message being used to request the first electronic horizon and / or the second electronic horizon, the first message comprising at least one of the vehicle's location information and range information, the range information being used to indicate the geographical coverage corresponding to the first electronic horizon and / or the geographical coverage corresponding to the second electronic horizon, and the vehicle being deployed with the EHR; based on the first message, sending the first electronic horizon and / or the second electronic horizon to the EHR.

[0052] In this implementation, the first message includes at least one of the location information and range information of the vehicle, and the EHP sends the first electronic horizon and / or the second electronic horizon to the EHR based on at least one of the location information and range information of the vehicle.

[0053] In a possible implementation, the first message is an initialization request message, the first message is used to request the first electronic horizon and the second electronic horizon, and the first message includes the location information of the vehicle; before sending the first electronic horizon and / or the second electronic horizon to the EHR based on the first message, the method also includes: determining the driving path of the vehicle based on the location information of the vehicle; constructing the second electronic horizon based on the information of the driving path and the information of the sub-paths of the driving path; constructing the first electronic horizon based on the topology information of the roads connected to the driving path of the vehicle.

[0054] In this implementation, a first electronic horizon and a second electronic horizon are constructed with different corresponding geographic coverages, so as to avoid a situation where no map data is available after the vehicle goes out of the geographic coverage corresponding to the second electronic horizon.

[0055] In a possible implementation, the first message also includes at least one of the following: first map element information, the first map element information is used to indicate the map element corresponding to the first electronic horizon; first restriction information, the first restriction information is used to limit or indicate the data size of the first electronic horizon; second map element information, the second map element information is used to indicate the map element corresponding to the second electronic horizon; second restriction information, the second restriction information is used to limit or indicate the data size of the second electronic horizon.

[0056] In this implementation, the first message also includes: at least one of: first map element information, second map element information, first restriction information, or second restriction information. By further limiting the map data requested by the EHR, the EHP can provide the map data required by the EHR.

[0057] In one possible implementation, the first message is an update request message, and the first message is used to request the second electronic horizon; before sending the first electronic horizon and / or the second electronic horizon to the EHR based on the first message, the method also includes: constructing the second electronic horizon based on the information of the vehicle's driving path and the information of the sub-paths of the driving path.

[0058] In this implementation, a second electronic horizon is constructed based on information about the vehicle's driving path and information about sub-paths of the driving path, so that the vehicle can be regulated based on the second electronic horizon.

[0059] In one possible implementation, the first message also includes the driving path of the vehicle; before forming the second electronic horizon based on the information of the driving path of the vehicle and the information of the sub-paths of the driving path, the method also includes: determining the geographical coverage corresponding to the second electronic horizon based on the driving path of the vehicle.

[0060] In this implementation, the geographical coverage corresponding to the second electronic horizon is determined based on the vehicle's driving path; the geographical coverage corresponding to the second electronic horizon can be reasonably determined to avoid the geographical coverage corresponding to the second electronic horizon being too large or too small.

[0061] In one possible implementation, the first message also includes the driving path of the vehicle; before forming the second electronic horizon based on the information of the driving path of the vehicle and the information of the sub-paths of the driving path, the method also includes: determining the path included in the second electronic horizon based on the driving path of the vehicle.

[0062] In this implementation, the paths included in the second electronic horizon are determined based on the vehicle's driving path; the paths included in the determined second electronic horizon can be made paths associated with the driving path, thereby preventing the second electronic horizon from including paths unrelated to the driving path.

[0063] In one possible implementation, the range information is used to indicate the incremental range of the second-layer geographic coverage expected by the EHR relative to the existing second-layer geographic coverage of the EHR, the existing second-layer geographic coverage of the EHR is the geographic coverage corresponding to the existing third electronic horizon of the EHR, and the types of map elements included in the third electronic horizon are the same as the types of map elements included in the second electronic horizon; the second electronic horizon is constituted based on the information of the vehicle's driving path and the information of the sub-paths of the driving path, including: the second electronic horizon is constituted based on the information of the vehicle's driving path and the information of the sub-paths of the driving path within the incremental range.

[0064] In this implementation, the geographical coverage corresponding to the constructed second electronic horizon is what is expected by the EHR.

[0065] In a possible implementation, the first message also includes at least one of the following: second map element information, the second map element is used to indicate the map element corresponding to the second electronic horizon; second restriction information, the second restriction information is used to limit or indicate the data size of the second electronic horizon; second path identification information, the second path identification information is used to indicate the path contained in the second electronic horizon.

[0066] In this implementation, the first message also includes at least one of second map element information, second path identification information, or second restriction information. By further limiting the map data requested by the EHR, the EHP can provide the map data required by the EHR.

[0067] In a fourth aspect, an embodiment of the present application provides another method for layered transmission of map data, which is applied to a vehicle, and the method includes: determining whether the vehicle has driven out of the geographical coverage corresponding to the second electronic horizon; when the vehicle drives out of the geographical coverage corresponding to the second electronic horizon, performing path planning based on the first electronic horizon and perception data, and the perception data is data obtained by sensing the surrounding environment of the vehicle; wherein the geographical coverage corresponding to the first electronic horizon is greater than and includes the geographical coverage corresponding to the second electronic horizon, the map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than the accuracy of the second electronic horizon.

[0068] In an embodiment of the present application, when the vehicle leaves the geographical coverage area corresponding to the second electronic horizon, path planning is performed based on the first electronic horizon and perception data; this can solve the problem of no map data available after the vehicle leaves the geographical coverage area corresponding to the second electronic horizon.

[0069] In a possible implementation, the method further includes: when the vehicle does not go out of the geographical coverage area corresponding to the second electronic horizon, performing path planning based on the second electronic horizon and the sensing data. Exemplarily, the path planning is performed based on the second electronic horizon, the first electronic horizon and the sensing data.

[0070] In this implementation, path planning based on the second electronic horizon and perception data is more reasonable and safer than path planning based on the first electronic horizon.

[0071] In a possible implementation, the method further includes: navigating the vehicle to a destination based on the second electronic horizon when the vehicle has not left a geographical coverage area corresponding to the second electronic horizon. Exemplarily, navigating the vehicle to a destination based on the first electronic horizon and the second electronic horizon.

[0072] In this implementation, the vehicle is navigated to the destination based on the second electronic horizon, which can improve the safety of vehicle driving.

[0073] In a possible implementation, the method further includes: when the vehicle goes out of a geographical coverage area corresponding to the second electronic horizon, navigating the vehicle to a safe parking area based on the first electronic horizon.

[0074] In this implementation, the vehicle is navigated to a safe parking area based on the first electronic horizon to ensure the safety of the vehicle and passengers.

[0075] In a possible implementation manner, the method further includes: when the vehicle goes out of a geographical coverage area corresponding to the second electronic horizon, determining the position of the vehicle based on the first electronic horizon.

[0076] In this implementation, the position of the vehicle is determined based on the first electronic horizon, which can solve the problem that the position of the vehicle cannot be determined after the vehicle goes out of the geographical coverage area corresponding to the second electronic horizon.

[0077] In a possible implementation, the method further includes: before the vehicle drives out of a geographical coverage area corresponding to the second electronic horizon, regulating and controlling the vehicle based on the second electronic horizon.

[0078] In a fifth aspect, an embodiment of the present application provides a data processing device, which has the function of implementing the behavior in the above-mentioned second aspect method embodiment. The data processing device may also be a terminal device, or a component of a terminal device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can implement all or part of the functions of the terminal device. For example, the data processing device is an EHR deployed on a vehicle. The function of the data processing device can be implemented by hardware, or by hardware executing corresponding software, and the hardware or software includes one or more modules or units corresponding to the above functions. In a possible implementation, the data processing device includes a transceiver module and a processing module, wherein: the transceiver module is used to receive a first electronic horizon from the EHP; receive a second electronic horizon from the EHP; wherein the geographical coverage corresponding to the first electronic horizon is greater than and includes the geographical coverage corresponding to the second electronic horizon, the map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than the accuracy of the second electronic horizon; the processing module is used to parse the first electronic horizon. The processing module is also used to parse the second electronic horizon.

[0079] In one possible implementation, the transceiver module is also used to send a first message to the EHP, and the first message is used to request the first electronic horizon and / or the second electronic horizon; wherein the first message includes at least one item of the vehicle's location information and range information, and the range information is used to indicate the geographical coverage corresponding to the first electronic horizon and / or the geographical coverage corresponding to the second electronic horizon, and the vehicle is deployed with the EHR.

[0080] In one possible implementation, the transceiver module is specifically used to send the first message to the EHP before the vehicle drives out of the geographical coverage range corresponding to the third electronic horizon, the first message is an update request message, the first message is used to request the second electronic horizon, the types of map elements included in the third electronic horizon are the same as the types of map elements included in the second electronic horizon, some geographical coverage areas in the geographical coverage range corresponding to the second electronic horizon are not included in the geographical coverage range corresponding to the third electronic horizon, and the geographical coverage range corresponding to the first electronic horizon is larger than and includes the geographical coverage range corresponding to the third electronic horizon.

[0081] In one possible implementation, the processing module is also used to determine the incremental range of the second layer geographic coverage based on the expected second layer geographic coverage of the EHR and the existing second layer geographic coverage of the EHR, where the existing second layer geographic coverage of the EHR is the geographic coverage corresponding to the third electronic horizon; based on the incremental range, the first message is generated, and the range information included in the first message is used to indicate the incremental range.

[0082] In a possible implementation, the transceiver module is specifically used to send the first message to the EHP after the vehicle drives out of the geographical coverage range corresponding to the third electronic horizon, the first message is an update request message, the first message is used to request the second electronic horizon, the types of map elements included in the third electronic horizon are the same as the types of map elements included in the second electronic horizon, and some geographical coverage areas in the geographical coverage range corresponding to the second electronic horizon are not included in the geographical coverage range corresponding to the third electronic horizon.

[0083] Possible implementations of the data processing device of the fifth aspect may refer to various possible implementations of the second aspect.

[0084] For the technical effects brought about by various possible implementation methods of the fifth aspect, reference may be made to the introduction to the technical effects of various possible implementation methods of the second aspect.

[0085] In a sixth aspect, an embodiment of the present application provides a data processing device, which has the function of implementing the behavior in the method embodiment of the third aspect above. The data processing device may be a network device, or a component of a network device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can implement all or part of the functions of the network device. For example, the data processing device is a cloud server or a processor, a chip, or a chip system in a cloud server. The data processing device may be a terminal device, or a component of a terminal device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can implement all or part of the functions of the terminal device. For example, the data processing device is an EHP deployed on a vehicle. The functions of the data processing device may be implemented by hardware, or by hardware executing corresponding software, and the hardware or software includes one or more modules or units corresponding to the above functions. In one possible implementation, the data processing device includes a transceiver module and a processing module, wherein: the processing module is used to construct a first electronic horizon; to construct a second electronic horizon; the transceiver module is used to send the first electronic horizon to the EHR; and to send the second electronic horizon to the EHR; wherein the geographical coverage corresponding to the first electronic horizon is greater than and includes the geographical coverage corresponding to the second electronic horizon, the map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than the accuracy of the second electronic horizon.

[0086] In one possible implementation, the transceiver module is also used to receive a first message from the EHR, the first message is used to request the first electronic horizon and / or the second electronic horizon, the first message includes at least one of the vehicle's location information and range information, the range information is used to indicate the geographical coverage corresponding to the first electronic horizon and / or the geographical coverage corresponding to the second electronic horizon, and the vehicle is deployed with the EHR; the processing module is also used to send the first electronic horizon and / or the second electronic horizon to the EHR through the transceiver module based on the first message.

[0087] In a possible implementation, the first message is an initialization request message, the first message is used to request the first electronic horizon and the second electronic horizon, and the first message includes the location information of the vehicle; the processing module is also used to determine the driving path of the vehicle based on the location information of the vehicle; construct the second electronic horizon based on the information of the driving path and the information of the sub-paths of the driving path; and construct the first electronic horizon based on the topological information of the roads connected to the driving path of the vehicle.

[0088] In a possible implementation, the first message is an update request message, and the first message is used to request the second electronic horizon; the processing module is also used to construct the second electronic horizon based on the information of the vehicle's driving path and the information of the sub-paths of the driving path.

[0089] In a possible implementation, the first message also includes the driving path of the vehicle; and the processing module is further used to determine the geographical coverage corresponding to the second electronic horizon based on the driving path of the vehicle.

[0090] In a possible implementation, the first message also includes the driving path of the vehicle; and the processing module is further used to determine the path included in the second electronic horizon based on the driving path of the vehicle.

[0091] In one possible implementation, the range information is used to indicate the incremental range of the second-layer geographic coverage expected by the EHR relative to the existing second-layer geographic coverage of the EHR, the existing second-layer geographic coverage of the EHR is the geographic coverage corresponding to the existing third electronic horizon of the EHR, and the types of map elements included in the third electronic horizon are the same as the types of map elements included in the second electronic horizon; the processing module is specifically used to construct the second electronic horizon based on the information of the vehicle's driving path and the information of the sub-paths of the driving path within the incremental range.

[0092] Possible implementations of the data processing device of the sixth aspect may refer to various possible implementations of the third aspect.

[0093] Regarding the technical effects brought about by various possible implementation methods of the sixth aspect, reference may be made to the introduction to the technical effects of various possible implementation methods of the third aspect.

[0094] In the seventh aspect, an embodiment of the present application provides a data processing device, which has the function of implementing the behavior in the method embodiment of the fourth aspect above. The data processing device can be a terminal device, or a component of a terminal device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can implement all or part of the functions of the terminal device. For example, the data processing device is a car. The functions of the data processing device can be implemented by hardware, or by hardware executing corresponding software, and the hardware or software includes one or more modules or units corresponding to the above functions. In one possible implementation, the data processing device includes a transceiver module and a processing module, wherein: the transceiver module is used to receive a first electronic horizon and a second electronic horizon; the processing module is used to determine whether the vehicle has driven out of the geographical coverage corresponding to the second electronic horizon; when the vehicle drives out of the geographical coverage corresponding to the second electronic horizon, path planning is performed based on the first electronic horizon and perception data, and the perception data is data obtained by sensing the surrounding environment of the vehicle; wherein the geographical coverage corresponding to the first electronic horizon is greater than and includes the geographical coverage corresponding to the second electronic horizon, the map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than the accuracy of the second electronic horizon.

[0095] In a possible implementation, the processing module is further used to perform path planning based on the second electronic horizon and the perception data when the vehicle does not go out of the geographical coverage corresponding to the second electronic horizon.

[0096] In a possible implementation, the processing module is further configured to navigate the vehicle to a destination based on the second electronic horizon when the vehicle does not depart from a geographical coverage area corresponding to the second electronic horizon.

[0097] In a possible implementation, the processing module is further configured to navigate the vehicle to a safe parking area based on the first electronic horizon when the vehicle goes out of a geographical coverage area corresponding to the second electronic horizon.

[0098] In a possible implementation, the processing module is further configured to determine the position of the vehicle based on the first electronic horizon when the vehicle goes out of a geographical coverage area corresponding to the second electronic horizon.

[0099] In a possible implementation, the processing module is further configured to regulate and control the vehicle based on the second electronic horizon before the vehicle drives out of a geographical coverage area corresponding to the second electronic horizon.

[0100] In an eighth aspect, an embodiment of the present application provides another data processing device, which includes one or more processors, and the one or more processors are used to process data or signaling so that the method of any one of the second aspect to the fourth aspect mentioned above is implemented.

[0101] Optionally, the data processing device further includes a memory storing a program or instruction, and when the program or instruction is executed by the processor, the data processing device executes the method as shown in any one of the second aspect to the fourth aspect. Exemplarily, the data processing device may be a chip, the processor may be a processing circuit in the chip, and the memory may be a random access memory or a cache in the chip.

[0102] In a possible implementation, in the process of executing the above method, the process of sending information (or signal) in the above method can be understood as a process of outputting information based on the instructions of the processor. When outputting information, the processor outputs the information to the transceiver so that it can be transmitted by the transceiver. After the information is output by the processor, it may be processed in other ways before reaching the transceiver. Similarly, when the processor receives input information, the transceiver receives the information and inputs it into the processor. Furthermore, after the transceiver receives the information, the information may be processed in other ways before being input into the processor.

[0103] For operations such as sending and / or receiving involved by the processor, unless otherwise specified or unless they conflict with the actual function or internal logic in the relevant description, they can be generally understood as instructions output based on the processor.

[0104] In the implementation process, the processor may be a processor specifically used to execute these methods, or may be a processor that executes computer instructions in a memory to execute these methods, such as a general-purpose processor, etc. For example, the processor may also be used to execute a program stored in the memory, and when the program is executed, the data processing device executes the method as shown in the first aspect or any possible implementation of the first aspect.

[0105] In a possible implementation, the memory is located outside the data processing device. In a possible implementation, the memory is located inside the data processing device.

[0106] In a possible implementation, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0107] In a possible implementation, the data processing device further includes a transceiver, and the transceiver is used to receive a signal or send a signal.

[0108] In a ninth aspect, the present application provides another data processing device, which includes a processing circuit and an interface circuit, wherein the interface circuit is used to acquire or output data; the processing circuit is used to execute the method shown in any one of the second to fourth aspects above.

[0109] In a tenth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored. The computer program includes program instructions, which, when executed, enable the computer to execute the method shown in any one of the second to fourth aspects above.

[0110] In an eleventh aspect, the present application provides a computer program product, which includes a computer program, and the computer program includes program instructions, which, when executed, enable a computer to execute a method as shown in any one of the second to fourth aspects above.

[0111] In the twelfth aspect, the present application provides a chip, including a communication interface and a processor; the communication interface is used for sending and receiving signals of the chip; the processor is used to execute computer program instructions so that a data processing device including the chip executes a method as described in any one of the second to fourth aspects above.

[0112] In a thirteenth aspect, an embodiment of the present application provides a map data updating system, comprising the data processing device described in the fifth aspect or any possible implementation of the fifth aspect, and the data processing device described in the sixth aspect or any possible implementation of the sixth aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0113] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0114] Figure 1A A schematic diagram of the architecture of a map data updating system provided in an embodiment of the present application;

[0115] Figure 1B A schematic diagram of the architecture of another map data updating system provided in an embodiment of the present application;

[0116] Figure 2 A schematic diagram of two-layer map data provided in an embodiment of the present application;

[0117] Figure 3 A flowchart of a method for layered transmission of map data provided in an embodiment of the present application;

[0118] Figure 4A flowchart of another method for layered transmission of map data provided in an embodiment of the present application;

[0119] Figure 5 A flowchart of another method for layered transmission of map data provided in an embodiment of the present application;

[0120] Figure 6 A flowchart of another method for layered transmission of map data provided in an embodiment of the present application;

[0121] Figure 7 A schematic diagram of determining an incremental range corresponding to a second electronic horizon provided in an embodiment of the present application;

[0122] Figure 8 A flowchart of another method for layered transmission of map data provided in an embodiment of the present application;

[0123] Fig. 9 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0124] Fig.10 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0125] Fig.11 A schematic diagram of the structure of a data processing device 1100 provided in an embodiment of the present application;

[0126] Fig.12 A schematic diagram of the structure of another data processing device 120 provided in an embodiment of the present application;

[0127] Fig.13 A schematic diagram of the structure of another intelligent driving device 130 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0128] The terms "first" and "second" in the specification, claims and drawings of the present application are only used to distinguish different objects, rather than to describe a specific order. It is understood that the various digital numbers involved in the embodiments of the present application are only for the convenience of description and are not used to limit the scope of the embodiments of the present application. The size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and inherent logic. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or equipment, etc., comprising a series of steps or units, is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, etc., or optionally also includes other steps or units inherent to these processes, methods, products or equipment, etc. In this article, the naming of each information (or message) is to distinguish between unused information, and the naming of each information (or message) is not limited.

[0129] The "embodiment" mentioned in this article means that the specific features, structures or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It can be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. One or more steps herein can be an embodiment.

[0130] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and the appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear contrary indication in its context. It should also be understood that the term "and / or" used in the present application refers to and includes any or all possible combinations of one or more listed items. For example, "A and / or B" can represent: only A exists, only B exists, and A and B exist at the same time, wherein A, B can be singular or plural. The term "multiple" used in the present application refers to two or more. In the textual description of the present application, the character " / " generally indicates that the front and back associated objects are a kind of "or" relationship.

[0131] It can be understood that in each embodiment of the present application, "A corresponds to B" means that there is a corresponding relationship between A and B, and B can be determined according to A. However, it should also be understood that determining (or generating) B according to (or based on) A does not mean that B is determined (or generated) only according to (or based on) A, and B can also be determined (or generated) according to (or based on) A and / or other information.

[0132] It should be understood that in the present application, indication includes direct indication (also called explicit indication) and implicit indication. Wherein, direct indication of information A means including the information A; implicit indication of information A means indicating information A through the correspondence between information A and information B and direct indication of information B. Wherein, the correspondence between information A and information B can be predefined, pre-stored, pre-burned, or pre-configured.

[0133] It should be understood that in the present application, information C is used to determine information D, which includes information D being determined based only on information C, and information D being determined based on information C and other information. In addition, information C is used to determine information D, and it can also be indirectly determined, for example, information D is determined based on information E, and information E is determined based on information C.

[0134] In addition, "network element A sends information A to network element B" in each embodiment of the present application can be understood as the destination end of the information A or the intermediate network element in the transmission path between the destination end and the network element B, which may include directly or indirectly sending information to network element B. "Network element B receives information A from network element A" can be understood as the source end of the information A or the intermediate network element in the transmission path between the source end and the network element A, which may include directly or indirectly receiving information from network element A. The information may be processed as necessary between the source end and the destination end of the information transmission, such as format changes, etc., but the destination end can understand the valid information from the source end. Similar expressions in the present application can be understood similarly and will not be repeated here.

[0135] First, the terms involved in this application are introduced and explained.

[0136] Advanced driver assistance system (ADAS): Through various sensors installed on the car, such as single and binocular cameras, millimeter-wave radars, lidars, etc., it continuously senses the environment around the car and collects data, identifies, detects and tracks static and dynamic objects, and combines map data to perform real-time system fusion operations and analysis, so that it can actively remind the driver while the vehicle is driving, or take over partial control of the vehicle to some extent, allowing the driver to be aware of possible dangers in advance, effectively increasing the comfort and safety of car driving.

[0137] Autonomous driving system: An autonomous driving system is a driving system that achieves real-time and continuous control of a vehicle. For example, the autonomous driving device continuously senses the environment around the vehicle and collects data through various sensors installed on the vehicle, such as single and binocular cameras, millimeter-wave radars, and lidars, etc., to identify, detect, and track static and dynamic objects, and combines map data to perform real-time system fusion operations and analysis, thereby achieving real-time and continuous control of the vehicle. The autonomous driving system can control the vehicle equipped with the autonomous driving system to perform corresponding driving behaviors according to different driving scenarios on the driving route. For example, at the bend of the driving route, the autonomous driving system can adjust the driving behavior of the vehicle according to the curvature of the road. For example, the autonomous driving system can adjust the turning direction, turning angle, and speed of the vehicle to ensure smooth and safe driving of the vehicle.

[0138] EHP: Responsible for reading global map data, integrating (reorganizing map elements in a specific format, such as the format specified by ADASIS) and outputting map data in a certain range in front of and around the vehicle, i.e., electronic horizon data, based on the current vehicle position. EHP can be named as an electronic horizon providing unit or an electronic horizon providing module. EHP can be used to provide ADAS applications with road and data information ahead beyond visual range. ADASIS is the abbreviation for Advanced Driver Assistant Systems Interface Specifications. ADASIS is an industry international standard developed by the ADAS Forum, which is used to regulate the standard interface protocol for exchanging map data between map data and vehicle ADAS applications.

[0139] EHR: Responsible for parsing and reconstructing the map data (electronic horizon data) sent by EHP, and then sending the reconstructed (or rebuilt) map data to the intelligent driving application, that is, inputting it into the intelligent driving modules such as navigation and regulation for use. EHR can be named electronic horizon reconstruction unit or electronic horizon reconstruction module. EHR can be used to parse the messages sent by EHP and reconstruct the map data for use by the vehicle's ADAS application module. In other words, EHR can be used to parse the messages sent by EHP and reconstruct the map data into a data format that can be used by the autonomous driving system or ADAS, and convert it into the corresponding data format for transmission to the application layer.

[0140] High definition map (HD-map): refers to an electronic map with high precision and multiple data dimensions. Specifically, HD-maps have centimeter-level accuracy and are richer in road elements and traffic-related dynamic elements, such as detailed lane lines, road signs, traffic signs, traffic lights, lane curvature, slope, and lane-level real-time traffic dynamic information, which mainly serve the judgment, decision-making, and control of machine autonomous driving environments.

[0141] The following is the architecture of the map data updating system to which the technical solution of the present application is applicable. Figure 1A This is a schematic diagram of the architecture of a map data updating system provided in an embodiment of the present application. Figure 1A As shown, EHR is deployed on the vehicle side (i.e., the vehicle), for example, one or more processors in the vehicle side implement the functions of EHR, and EHP is deployed on a server (e.g., a cloud server); EHR can send a request message to EHP to request to update or initialize map data, and EHR is responsible for parsing (i.e., data parsing) and reconstructing the map data (electronic horizon data) sent by EHP, and then sending the reconstructed map data to the intelligent driving application through the application interface, for example Figure 1AThe smart driving application 1 and the smart driving application 2 shown; the EHP sends a response message to the EHR based on the request message sent by the EHR to provide the EHR with corresponding map data. For example, the EHP reads the global map data and integrates and outputs the map data of a certain range in front of and around the vehicle according to the current position of the vehicle. Figure 1A This is only an example of the map data updating system provided in this application, wherein the number of EHRs and EHPs is not limited. Figure 1B This is a schematic diagram of another architecture of a map data updating system provided in an embodiment of the present application. Figure 1B As shown in FIG. 1 , both EHR and EHP are deployed on the vehicle side (i.e., the vehicle); EHR can send a request message to EHP to request an update or initialization of map data. EHR is responsible for parsing and reconstructing the map data (electronic horizon data) sent by EHP, and then sending the reconstructed map data to the intelligent driving application through the application interface, for example Figure 1B The smart driving application 1 and the smart driving application 2 shown; the EHP sends a response message to the EHR based on the request message sent by the EHR to provide corresponding map data to the EHR.

[0142] Need to explain, Figure 1A and Figure 1B This is only a schematic diagram of the architecture of the map data update system provided for this application. The technical solution of this application is applicable to any map data update system including EHR and EHP, and is also applicable to the exchange of map data between different devices, and is also applicable to the exchange of map data between two components on the same device (such as an autonomous driving device).

[0143] As described in the background technology section, when the vehicle drives out of the range of the original electronic horizon data, before the EHP releases the updated electronic horizon data, the vehicle will have no electronic horizon data available. In order to solve the problem that the vehicle has no electronic horizon data available after the vehicle drives out of the range of the original electronic horizon data and before the EHP releases the updated electronic horizon data, the present application provides a map data layered transmission scheme. The main idea of ​​the map data layered transmission scheme provided by the present application is: EHP divides the map data into two or more layers of map data, wherein the map elements in different layers of map data are not completely the same; EHP can send a certain layer of map data to EHR alone, or send two or more layers of map data to EHR at the same time, wherein at least two layers of map data correspond to different geographical coverages; EHR can obtain two or more layers of map data corresponding to different geographical coverages; when the vehicle drives out of the geographical coverage corresponding to a certain layer of map data (for example, corresponding to the existing electronic horizon data) with a smaller geographical coverage, the vehicle can navigate, locate, park, etc. based on other layers of map data with a larger geographical coverage, which can solve the problem that the vehicle has no map data available. Assume that EHP sends the first electronic horizon and the second electronic horizon to EHR, and the geographical coverage corresponding to the first electronic horizon is greater than and includes the geographical coverage corresponding to the second electronic horizon; when the vehicle drives out of the geographical coverage corresponding to the second electronic horizon, the vehicle can navigate, locate, etc. based on the first electronic horizon; the problem that no map data is available after the vehicle drives out of the geographical coverage corresponding to the second electronic horizon can be solved.

[0144] The way in which EHP divides map data into three or more layers of map data is similar to the way in which EHP divides map data into two layers of map data. The following description is made by taking the way in which EHP divides map data into two layers of map data (i.e., the first electronic horizon and the second electronic horizon) as an example. The geographical coverage corresponding to the first electronic horizon is greater than and includes the geographical coverage corresponding to the second electronic horizon, and the map elements contained in the first electronic horizon are not completely the same as the map elements contained in the second electronic horizon. The map elements contained in the first electronic horizon are not completely the same as the map elements contained in the second electronic horizon, which may be that the first electronic horizon and the second electronic horizon do not contain the same map elements, or that some map elements in the first electronic horizon are the same as some map elements in the second electronic horizon. Exemplarily, the first electronic horizon and the second electronic horizon are both electronic horizon data, for example, the first electronic horizon is the upper electronic horizon data, and the second electronic horizon is the bottom electronic horizon data.

[0145] Exemplarily, the first electronic horizon can be used for at least one of the following: providing a priori road information to the vehicle so that the vehicle can fuse the first electronic horizon with sensor data (i.e., data collected by the vehicle through deployed sensors) to enhance the reliability of intelligent driving or assisted driving; vehicle navigation, i.e., the vehicle navigates based on the first electronic horizon; vehicle positioning, for example, the vehicle obtains its own path and offset information on the path based on the first electronic horizon, thereby achieving rapid positioning. The first electronic horizon can also have other uses (or functions), which are not limited in this application.

[0146] Exemplarily, the map elements (or attributes) included in the first electronic horizon include at least one of the following:

[0147] 1) Road topology information

[0148] Road geometry: contains the road reference line (usually the road centerline), for example, expressed in the form of a polyline (the position coordinates of the breakpoints are stored in order);

[0149] Node: at least one of the identity (ID), turning angle, or right of way of the sub-path connected to the node.

[0150] 2) Road driving rules

[0151] Traffic restrictions: whether the road is passable, traffic conditions (including types of vehicles that can pass, passable time, vehicle load, vehicle height, weather conditions, etc.);

[0152] Overtaking restriction: a sign indicating whether overtaking is allowed on the road;

[0153] Turn restriction: a sign indicating whether a road can turn;

[0154] The priority of the road during route planning.

[0155] Special road conditions: Special road conditions that occur relatively rarely, such as dead-end roads, toll booths, speed bumps, etc.

[0156] 3) Traffic flow

[0157] the speed limit of the road;

[0158] Traffic flow speed (average traffic flow speed derived from historical data).

[0159] The first electronic horizon also includes other map elements, and this application does not limit the types of map elements included in the first electronic horizon.

[0160] Exemplarily, the initialization request message or update request message sent by the EHR carries first map element information, and the first map element information is used to indicate the map element corresponding to the first electronic horizon; the EHP sends the first electronic horizon containing the corresponding map element to the EHR based on the initialization request message or the update request message.

[0161] Exemplarily, the second electronic horizon can be used for at least one of the following: vehicle regulation and control, autonomous driving, or other applications that require a high-precision map to be implemented. In one possible implementation, the second electronic horizon is a high-precision map, and the geographical coverage corresponding to the high-precision map is the geographical coverage corresponding to the second electronic horizon; before the vehicle leaves the geographical coverage corresponding to the second electronic horizon, the vehicle can implement applications that require a high-precision map to be implemented. In a possible implementation, the second electronic horizon and the first electronic horizon together constitute a high-precision map, and the first electronic horizon can be used alone as a non-high-precision map (i.e., a low-precision map). The geographical coverage corresponding to the high-precision map is the geographical coverage corresponding to the second electronic horizon, and the geographical coverage corresponding to the non-high-precision map is the geographical coverage corresponding to the first electronic horizon. Before the vehicle leaves the geographical coverage corresponding to the second electronic horizon, the vehicle can implement applications that require high-precision maps. After the vehicle leaves the geographical coverage corresponding to the second electronic horizon and before leaving the geographical coverage corresponding to the first electronic horizon, the vehicle cannot implement applications that require high-precision maps, but can implement some driving-related applications based on the first electronic horizon that do not require high-precision maps, such as navigation and positioning. Exemplarily, the first electronic horizon is published in a large-scale form in the form of map sheets / paths; the second electronic horizon is published in a small-scale form in the form of paths and updated according to the vehicle's location.

[0162] Exemplarily, the map elements included in the second electronic horizon include at least one of the following:

[0163] 1) Lane information

[0164] Lane geometry: linear objects such as lane lines, for example, expressed in the form of polylines (the position coordinates of the vertices are stored in order);

[0165] Lane model (lanemodel): number of lanes, lane type, driving direction, left and right lane lines associated with the vehicle, and lane center line;

[0166] Lane connectivity: the connection between lanes at the diverging and merging points.

[0167] 2) Positioning information

[0168] Information about the landmark: e.g. type and / or location of pole or sign;

[0169] Obstacle information: shape and location of the obstacle.

[0170] 3) Traffic related information

[0171] Speed ​​limit information: speed limits for different types of vehicles;

[0172] Real-time traffic flow speed;

[0173] Traffic light information: location, cycle, and current status of traffic lights;

[0174] Traffic sign (traffic sign).

[0175] 4) Features

[0176] Is it a complex intersection?

[0177] Map database corresponding to specific road sections;

[0178] Road type information: road type, such as tunnel, bridge, etc.;

[0179] Are there any buildings on the roadside?

[0180] Whether the road is an urban road;

[0181] Road surface information: road surface material and quality;

[0182] Weather information;

[0183] Road condition information (roadcondition): real-time road and weather conditions.

[0184] The second electronic horizon also includes other map elements, and the present application does not limit the types of map elements included in the second electronic horizon. The types of map elements included in the second electronic horizon may overlap with or not overlap with the types of map elements included in the first electronic horizon. Exemplarily, the EHP and the EHR may pre-negotiate the map elements included in each layer of map data. Exemplarily, the user can set the map elements included in each layer of map data based on the application. For example, in order to enable the first electronic horizon to support vehicle navigation, the user sets the first electronic horizon to include map elements such as road topology information, road driving rules, and traffic flow; in order to enable the second electronic horizon to support vehicle regulation, the user sets the second electronic horizon to include lane geometry, positioning information, traffic-related information, and characteristics. Exemplarily, the initialization request message sent by the EHR carries the first map element information and the second map element information, the first map element information is used to indicate the map elements included in the first electronic horizon, and the second map element information is used to indicate the map elements included in the second electronic horizon; the EHP sends the first electronic horizon and the second electronic horizon containing the corresponding map elements to the EHR according to the initialization request message. Exemplarily, the update request message sent by the EHR carries second map element information, and the second map element information is used to indicate the map element corresponding to the second electronic horizon; the EHP sends the second electronic horizon containing the corresponding map element to the EHR according to the update request message.

[0185] The difference between the first electronic horizon and the second electronic horizon mainly includes at least one of the following: the map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon; when the data volume of the first electronic horizon and the data volume of the second electronic horizon are equal, the geographical coverage corresponding to the first electronic horizon is greater than the geographical coverage corresponding to the second electronic horizon; the map elements included in the first electronic horizon are the map elements required for the vehicle to execute (implement) the first application, and the map elements included in the second electronic horizon are the map elements required for the vehicle to execute the second application, the above-mentioned first application includes positioning and / or navigation, and the above-mentioned second application includes regulation and control. Exemplarily, the map elements included in the first electronic horizon are the map elements required for the vehicle to execute the first application, and the map elements included in the second electronic horizon are the map elements required for the vehicle to execute the second application; before the vehicle leaves the geographical coverage corresponding to the second electronic horizon, the vehicle can execute the second application based on the second electronic horizon and the first electronic horizon (optionally); after the vehicle leaves the geographical coverage corresponding to the second electronic horizon, the vehicle can execute the first application based on the first electronic horizon, and the second application cannot be executed based on the first electronic horizon. For example, before the vehicle exits the geographical coverage corresponding to the second electronic horizon, it can execute application #1, application #2, ..., application N, a total of N applications, based on the second electronic horizon and the first electronic horizon (optional), where N is an integer greater than 1; after the vehicle exits the geographical coverage corresponding to the second electronic horizon, it can execute some of the N applications based on the first electronic horizon.

[0186] In some possible implementations, the EHR may send a request message (or a request instruction) to the EHP to request the required first electronic horizon and / or second electronic horizon. For example, the EHR sends an initialization request message to the EHP to request the first electronic horizon and the second electronic horizon. For another example, the EHR sends an update request message to the EHP to request the second electronic horizon and then update the second electronic horizon. In order for the map data returned by the EHP to be organized in layers according to the requirements of the EHR, the EHR should also include layering information in the request message sent to the EHP. The following are possible structures of the initialization request message (InitializationMessage) and update request message (UpdateMessage) sent by the EHR, as well as the possible structures of the path control message (PathControlMessage), the attribute control message (ProfileControlMessage), and the attribute message (ProfileMessage) sent by the EHP in response to the request message from the EHR.

[0187] Exemplarily, the initialization request message (InitializationMessage) sent by the EHR includes one or more of the following fields:

[0188] ServerID: the ID or address of the server (i.e. EHP);

[0189] ClientID: ID or address of the client (i.e. EHR);

[0190] CurrentVehiclePosition: current vehicle position, including, for example, the absolute position of the vehicle (the vehicle's coordinates in the global positioning system (GPS)), the vehicle's orientation (the angle in a clockwise direction from due north);

[0191] Level: level ID array, for example, {0,1}, where 0 represents the first level (corresponding to the first electronic horizon) and 1 represents the second level (corresponding to the second electronic horizon);

[0192] StorageLimit (data volume limit): the data volume limit of each layer of map data, the unit can be KB;

[0193] HorizonRange: The geographical coverage range corresponding to each layer of map data, for example, can be expressed by polygons (in the vehicle coordinate system, the polygon vertices are expressed as a sequence of point coordinates relative to the vehicle) or path lengths (the ID of each path and its start offset and end offset). It can be arranged in the order of the layer IDs. The layer ID order refers to the order of the layers in the layer ID array.

[0194] ProfileDataFilter: includes multiple attribute filters (profile filters), which are used to set the types (or types) of map elements contained in each layer of map data, arranged in order of layer ID.

[0195] Exemplarily, the update request message (UpdateMessage) includes one or more of the following fields:

[0196] ServerID: server (i.e. EHP) ID or address;

[0197] ClientID: client (i.e. EHR) ID or address;

[0198] CurrentVehiclePosition: current vehicle position, including, for example, relative position (the ID of the vehicle's path and the vehicle's offset on the path), vehicle orientation (the angle clockwise from due north), and absolute position (the vehicle's coordinates in GPS);

[0199] Level: level ID array, for example, {0,1}, where 0 represents the first level (corresponding to the first electronic horizon) and 1 represents the second level (corresponding to the second electronic horizon);

[0200] StorageLimit: The data size limit of each layer of map data, the unit can be KB;

[0201] HorizonRange: The incremental range of each layer of map data, which can be expressed by polygons (in the vehicle coordinate system, the polygon vertices are expressed as a sequence of point coordinates relative to the vehicle) or path ranges (the ID of each path and the start offset and end offset of its incremental fragments), and can be arranged in order of layer IDs;

[0202] ProfileDataFilter: includes multiple attribute filters (profile filters) (used to set the types of map elements contained in each layer of map data, arranged in the order of layer ID), multiple path filters (PathFilter) (set the paths contained in each layer of map data, expressed as an array of IDs of multiple paths, arranged in the order of layer ID).

[0203] Exemplarily, a path control message (PathControlMessage) carries all paths in the map data and their parent-child relationships. The vehicle end may delete the paths that are not in the path control message. The path control message includes one or more of the following fields:

[0204] Level: level ID;

[0205] PathIDFirst: The ID of the first path recorded in this path control message;

[0206] PathIDLast: The ID of the last path recorded in this path control message;

[0207] PathControls: An array of path control (PathControl) structures, which stores the ID of each path's parent path and the offset of its starting position on the parent path in the order of the path ID. An example of a PathControl structure is as follows:

[0208] struct PathControl{

[0209] PathID id

[0210] ParentID id

[0211] Offset offset

[0212] }

[0213] Among them, PathID id is the ID of a path, ParentID id is the ID of the parent path of the path, and Offsetoffset is the offset of the starting position of the path on the parent path.

[0214] Exemplarily, the ProfileControlMessage carries the starting offset of the electronic horizon on all paths, and the ProfileControlMessage includes one or more of the following fields:

[0215] Level: level ID;

[0216] ProfileControls: An array of ProfileControl structures that stores the starting offsets of the electronic horizon on all paths in order of path IDs. An example of a ProfileControl structure is as follows:

[0217] struct ProfileControl{

[0218] PathID id

[0219] Offset offset

[0220] }

[0221] Among them, PathID id is the ID of a path, and Offset offset is the starting offset of the electronic horizon on the path.

[0222] Exemplarily, the attribute message (ProfileMessage) includes detailed information of some or all map elements in the map data, and the attribute message includes one or more of the following fields:

[0223] Level: level ID;

[0224] ProfileEntrys: An array of ProfileEntry structures that stores the locations and values ​​of some or all map features. An example of a ProfileEntry structure is as follows:

[0225] struct ProfileEntry{

[0226] InstanceID id

[0227] PathID id

[0228] StartOffset offset

[0229] EndOffset offset

[0230] ProfileType type

[0231] PrfileValue value

[0232] }

[0233] Among them, InstanceID id is the ID of a map element, PathID id is the ID of the path corresponding to the map element, StartOffset offset indicates the starting offset of the map element on the path, that is, the offset of the map element relative to the starting position of the path, EndOffset offset indicates the ending offset of the map element on the path, that is, the offset of the map element relative to the ending position of the path, ProfileType type indicates the type of the map element, and PrfileValue value indicates the value of the map element.

[0234] Send as EHR request and EHP as follows Figure 2 Taking the two layers of map data (or two layers of electronic horizon) shown as an example, examples of the above messages are introduced. Figure 2 A schematic diagram of two-layer map data provided in an embodiment of the present application. Figure 2 As shown, the dotted line is the second electronic horizon (i.e. Figure 2 The upper electronic horizon in the second electronic horizon contains a map element called real-time traffic flow speed FlowSpeed. The first electronic horizon (i.e. Figure 2 The bottom layer electronic horizon in the EHR contains a map element called average traffic flow speed AverageSpeed, P1 represents a path with ID 1, and P2 represents a path with ID 2. The following is an example of a request message used by EHR and a message sent by EHP.

[0235] An example of an initialization request message (InitializationMessage) sent by EHR is as follows:

[0236] ServerID1, 1 is the ID of EHR;

[0237] ClientID2, 2 is the ID of EHP;

[0238] CurrentVehiclePosition{51.65,5.91,89.43}#Longitude, latitude, direction; where {51.65,5.91,89.43} is the current vehicle position, 51.65 is the longitude of the vehicle, 5.91 is the latitude of the vehicle, and 89.43 indicates the direction of the front of the vehicle;

[0239] Level{0,1}#0: first level, 1: second level;

[0240] StorageLimit{0.5,0.5}, where the data size of the first electronic horizon is limited to less than or equal to 0.5KB, and the data size of the second electronic horizon is limited to less than or equal to 0.5KB;

[0241] HorizonRange{[1,0,300],[2,0,150]},{[1,50,200],[2,0,50]}#Expressed by path range; where {[1,0,300],[2,0,150]} represents the geographical coverage corresponding to the first electronic horizon, and {[1,50,200],[2,0,50]} represents the geographical coverage corresponding to the second electronic horizon;

[0242] ProfileDataFilter{AverageSpeed},{FlowSpeed}, where AverageSpeed ​​is an example of a map element included in the first electronic horizon, and FlowSpeed ​​is an example of a map element included in the second electronic horizon. ProfileDataFilter is used to set the types of map elements included in each layer of map data. In a possible implementation, ProfileDataFilter contains all the types of map elements that need to be included in the first electronic horizon, and all the types of map elements that need to be included in the second electronic horizon. Exemplarily, the ProfileDataFilter in the initialization request message is: {information #1, information #2, information #3, ..., information #M}, {information #N, information #(N+1), information #(N+2), ..., information #(N+K)}, wherein each of information #1, information #2, information #3, ..., information #M represents a map element that needs to be included in the first electronic horizon, and each of information #N, information #(N+1), information #(N+2), ..., information #(N+K) represents a map element that needs to be included in the second electronic horizon, and N, M, and K are all integers greater than 0, and the size relationship between M and N is not limited. Exemplarily, ProfileDataFilter also includes the paths that need to be included in the first electronic horizon and the paths that need to be included in the second electronic horizon.

[0243] Among them, some or all of StorageLimit{0.5,0.5}, Level{0,1}, HorizonRange{[1,0,300],[2,0,150]},{[1,50,200],[2,0,50]} or ProfileDataFilter{AverageSpeed},{FlowSpeed} are optional. In this example, the geographical coverage corresponding to the first electronic horizon and the geographical coverage corresponding to the second electronic horizon are expressed by path range. In the initialization request message, the geographical coverage corresponding to the first electronic horizon and the geographical coverage corresponding to the second electronic horizon can also be expressed in other ways, which is not limited in this application. For example, the geographical coverage corresponding to the first electronic horizon is expressed by a group of polygon vertices, and the geographical coverage corresponding to the second electronic horizon is expressed by another group of polygon vertices. CurrentVehiclePosition can also include the relative position of the vehicle, the ID of the path where the vehicle is located, and the offset of the vehicle on the path. Exemplarily, CurrentVehiclePosition only includes the relative position of the vehicle, such as the ID of the path where the vehicle is located and the offset of the vehicle on the path, rather than the absolute position of the vehicle (such as the longitude and latitude in the example).

[0244] An example of an update request message (UpdateMessage) sent by EHR is as follows:

[0245] ServerID1, 1 is the ID of EHR;

[0246] ClientID2, 2 is the ID of EHP;

[0247] CurrentVehiclePosition{1,0,89.43}#Path ID, offset, direction, where 1 in {1,0,89.43} represents the ID of the path where the vehicle is located, 0 in {1,0,89.43} represents the offset of the vehicle on the path, and 89.43 represents the direction of the vehicle's front (the angle turned clockwise from due north);

[0248] Level{0,1}#0: first level, 1: second level;

[0249] StorageLimit{0.5,0.5}, where the data size of the first electronic horizon is limited to less than or equal to 0.5KB, and the data size of the second electronic horizon is limited to less than or equal to 0.5KB;

[0250] HorizonRange{(0,0),(300,0),(300,150),(0,150)},{(50,0),(200,0),(200,50),(50,50)}#Expressed by polygon vertices, where {(0,0),(300,0),(300,150),(0,150)} represents the incremental geographic coverage corresponding to the first electronic horizon (i.e., the newly added geographic coverage based on the original geographic coverage corresponding to the first electronic horizon), and {(50,0),(200,0),(200,50),(50,50)} represents the incremental geographic coverage corresponding to the second electronic horizon;

[0251] ProfileDataFilter{AverageSpeed},{FlowSpeed},{1,2}#1,{1,2}#2, where AverageSpeed ​​is an example of a map element included in the first electronic horizon, FlowSpeed ​​is an example of a map element included in the second electronic horizon, {1,2}#1 indicates that the first electronic horizon needs to include a path with ID 1 and a path with ID 2, and {1,2}#2 indicates that the second electronic horizon needs to include a path with ID 1 and a path with ID 2. In a possible implementation, ProfileDataFilter includes all the types of map elements that need to be included in the first electronic horizon, and all the types of map elements that need to be included in the second electronic horizon.

[0252] An example of a path control message (PathControlMessage) sent by EHP is as follows:

[0253] Level0, indicating the first level;

[0254] PathIDFirst1, indicating that the ID of the first path recorded in this path control message is 1;

[0255] PathIDLast2, indicating that the ID of the last path recorded in this path control message is 2;

[0256] PathControls{2,1,100}, which indicates the offset of the starting position of the path with ID 1 on its parent path (with ID 2);

[0257] Level1, indicating the second level;

[0258] PathIDFirst1, indicating that the ID of the first path recorded in this path control message is 1;

[0259] PathIDLast2, indicating that the ID of the last path recorded in this path control message is 2;

[0260] PathControls{2,1,100} indicates the offset of the starting position of the path with ID 1 on its parent path (with ID 2).

[0261] The path control message sent by the EHP can store the ID of the parent path of each path and the offset of its starting position on the parent path in the order of the path ID. The number of paths stored in the path control message is not limited.

[0262] An example of a ProfileControlMessage sent by EHP is as follows:

[0263] Level 0, indicating the first level;

[0264] ProfileControls{1,0},{2,0}, where {1,0} means that the offset of the electronic horizon on the path with ID 1 is 0, and {2,0} means that the offset of the electronic horizon on the path with ID 2 is 0;

[0265] Level 1, indicating the second level;

[0266] ProfileControls{1,50},{2,0}, where {1,50} means that the offset of the electronic horizon on the path with ID 1 is 50, and {2,0} means that the offset of the electronic horizon on the path with ID 2 is 0.

[0267] An example of a ProfileMessage sent by EHP is as follows:

[0268] Level0, indicating the first level;

[0269] ProfileEntrys{1,1,0,300,AverageSpeed,30},{1,2,0,150,AverageSpeed,30}, where {1,1,0,300,AverageSpeed,30} indicates that the valid data range of the attribute with attribute ID 1 (i.e., average speed) is 0-300m on the path with ID 1, and the value of the attribute with attribute ID 1 is 30kph; {1,2,0,150,AverageSpeed,30} indicates that the valid data range of the attribute with attribute ID 1 (i.e., average speed) is 0-150m on the path with ID 2, and the value of the attribute with attribute ID 1 is 30kph;

[0270] Level 1, indicating the second level;

[0271] ProfileEntrys{2,1,50,200,FlowSpeed,40},{2,2,0,50,FlowSpeed,40}, where {2,1,50,200,FlowSpeed,40} indicates that the valid data range of the attribute with attribute ID 2 (i.e., the real-time speed of the traffic flow) is 50-200m on the path with ID 1, and the value of the attribute with attribute ID 2 is 40kph, and {2,2,0,50,FlowSpeed,40} indicates that the valid data range of the attribute with attribute ID 2 (i.e., the real-time speed of the traffic flow) is 0-50m on the path with ID 2, and the value of the attribute with attribute ID 2 is 40kph.

[0272] Note that the above hierarchical expression is not limited to "Level id = 0, id = 1 or id = 2", and the name of the level can also be customized, such as "Level string = upper (corresponding to the second layer), string = lower (corresponding to the first layer)". Or expressed in the form of a bit mask, such as "Level bitmask = 001, bitmask = 010, bitmask = 100", each of 001, 010, 100 represents a layer of map data, for example, 001 represents the first electronic horizon, and 010 represents the second electronic horizon.

[0273] The previous section introduces the map elements included in different layers of map data and the possible structure of messages exchanged between EHR and EHP. Figure 3 Introduce the technical solution provided by this application.

[0274] Figure 3 A flowchart of a method for layered transmission of map data provided in an embodiment of the present application. Figure 3 As shown, the method includes:

[0275] 301. EHP sends the first electronic horizon to EHR.

[0276] Accordingly, the EHR receives the first electronic horizon from the EHP.

[0277] 302. The EHP sends a second electronic horizon to the EHR.

[0278] Accordingly, the EHR receives a second electronic horizon from the EHP. The geographical coverage corresponding to the first electronic horizon is greater than and includes the geographical coverage corresponding to the second electronic horizon. The map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than the accuracy of the second electronic horizon. In a possible implementation, after the EHR learns the location of the vehicle on which the EHR is deployed, the EHR sends the first electronic horizon and the second electronic horizon to the EHR based on the location. The present application does not limit the manner in which the EHR learns the location of the vehicle. Exemplarily, the EHR deployed on the vehicle sends a message carrying the location information of the vehicle to the EHP; the EHP determines the geographical coverage corresponding to the first electronic horizon and the geographical coverage corresponding to the second electronic horizon based on the location information of the vehicle, and sends the first electronic horizon and the second electronic horizon to the EHP. In a possible implementation, after the EHR learns the location and driving path of the vehicle on which the EHR is deployed, the EHR sends the first electronic horizon and the second electronic horizon to the EHR based on the location and driving path. The present application does not limit the manner in which the EHR learns the location and driving path of the vehicle. Exemplarily, the EHR deployed on the vehicle sends a message carrying the location information of the vehicle and the driving path of the vehicle to the EHP; the EHP determines the geographical coverage corresponding to the first electronic horizon and the geographical coverage corresponding to the second electronic horizon based on the location information and driving path of the vehicle, and sends the first electronic horizon and the second electronic horizon to the EHP.

[0279] 303. The EHR parses and reconstructs the first electronic horizon and the second electronic horizon from the EHP.

[0280] In one possible implementation, the map elements included in the first electronic horizon include at least one of the following: road topology information, road driving rules, and traffic flow information; the map elements included in the above-mentioned second electronic horizon include at least one of the following: lane information, marker information, obstacle information, traffic light information, traffic signs, real-time traffic flow speed, speed limit information, weather information, road type information, road surface information, map database corresponding to the road section, and road condition information.

[0281] In a possible implementation, after the EHR parses and reconstructs the first electronic horizon and the second electronic horizon from the EHP, the vehicle can be regulated based on the first electronic horizon and the second electronic horizon. In other words, after the EHR parses and reconstructs the first electronic horizon and the second electronic horizon from the EHP, the vehicle can perform operations that require a high-precision map based on the first electronic horizon and the second electronic horizon, wherein the first electronic horizon and the second electronic horizon together constitute a high-precision map.

[0282] 304. After the vehicle drives out of the geographical coverage area corresponding to the second electronic horizon, the vehicle plans a driving path based on the first electronic horizon, and navigates the vehicle to an area where it can be parked or drives to the destination of the vehicle according to the driving path.

[0283] Step 303 and step 304 are optional. In this article, the vehicle can be deployed with an autonomous driving system or ADAS. In one possible implementation, the EHR receives the first electronic horizon and the second electronic horizon from the EHP, and can form a high-precision map based on the second electronic horizon and the first electronic horizon, or can use the first electronic horizon alone as a non-high-precision map (i.e., a low-precision map). The geographical coverage corresponding to the high-precision map is the geographical coverage corresponding to the second electronic horizon, and the geographical coverage corresponding to the non-high-precision map is the geographical coverage corresponding to the first electronic horizon; before the vehicle leaves the geographical coverage corresponding to the second electronic horizon, the vehicle can implement applications that require high-precision maps; after the vehicle leaves the geographical coverage corresponding to the second electronic horizon and before leaving the geographical coverage corresponding to the first electronic horizon, the vehicle cannot implement applications that require high-precision maps, but can implement some driving-related applications that do not require high-precision maps based on the first electronic horizon, such as navigation, positioning, etc.

[0284] In the embodiment of the present application, the geographical coverage area corresponding to the first electronic horizon is greater than and includes the geographical coverage area corresponding to the second electronic horizon. After the vehicle travels out of the geographical coverage area corresponding to the second electronic horizon, the vehicle can be driven based on the first electronic horizon; the problem that no map data is available after the vehicle travels out of the geographical coverage area corresponding to the second electronic horizon can be solved. For example, the vehicle plans a driving path based on the first electronic horizon, and navigates the vehicle to an area where it can be parked or drives to the destination of the vehicle according to the driving path.

[0285] Figure 4 A flowchart of another method for layered transmission of map data provided in an embodiment of the present application. Figure 4 In the method flow, the EHR sends a first message to the EHP to request the first electronic horizon and / or the second electronic horizon; the EHR can obtain the required map data. Figure 4 As shown, the method includes:

[0286] 401. EHR sends a first message to EHP.

[0287] Correspondingly, the EHP receives a first message from the EHR. The first message is used to request the first electronic horizon and / or the second electronic horizon.

[0288] The first message includes at least one of the location information and range information of the vehicle, the range information is used to indicate the geographical coverage corresponding to the first electronic horizon and / or the geographical coverage corresponding to the second electronic horizon, and the vehicle is deployed with the EHR.

[0289] 402. The EHP determines a geographic coverage range corresponding to the first electronic horizon and / or a geographic coverage range corresponding to the second electronic horizon based on at least one of the location information and the range information of the vehicle.

[0290] In one possible implementation, the EHP determines the geographic coverage corresponding to the first electronic horizon and / or the geographic coverage corresponding to the second electronic horizon based on the vehicle's location information. For example, the EHP determines that the geographic coverage corresponding to the first electronic horizon is a circular area (with a predefined radius) with the vehicle's location as the center point, and determines that the geographic coverage corresponding to the first electronic horizon is a preset range in front of and around the vehicle. For another example, the EHP determines that the geographic coverage corresponding to the first electronic horizon is a square area centered on the vehicle's location (that is, the vehicle is located at the intersection of the diagonals of the square area), and determines that the geographic coverage corresponding to the first electronic horizon is a preset range in front of and around the vehicle. For another example, the EHP determines the driving path of the vehicle based on the vehicle's location information; determines the geographic coverage corresponding to the second electronic horizon based on the driving path and the sub-paths of the driving path; and determines the geographic coverage corresponding to the first electronic horizon based on the topological information of the driving path and the roads connected to the driving path.

[0291] In a possible implementation, the EHP determines the geographic coverage corresponding to the first electronic horizon and / or the geographic coverage corresponding to the second electronic horizon based on the range information. For example, the range information is used to indicate the geographic coverage corresponding to each layer of map data, for example, the geographic coverage corresponding to each layer of map data can be expressed by polygons (in the vehicle coordinate system, the polygon vertices are expressed as a sequence of point coordinates relative to the vehicle) or path lengths (the ID of each path and its starting offset and ending offset); the EHP determines the geographic coverage corresponding to the first electronic horizon and the geographic coverage corresponding to the second electronic horizon based on the range information.

[0292] 403. Based on the first message, the EHP sends the first electronic horizon and / or the second electronic horizon to the EHR.

[0293] In a possible implementation, the first message is used to request the first electronic horizon, and the first message includes the location information of the vehicle. Before executing step 403, the EHP performs the following operations: the EHP determines the driving path of the vehicle based on the location information of the vehicle; and constructs the first electronic horizon based on the topological information of the road connected to the driving path of the vehicle. In step 403, based on the first message, the EHP sends the first electronic horizon to the EHR.

[0294] In one possible implementation, the first message is used to request the first electronic horizon, and the first message includes the above-mentioned range information, and the range information is used to indicate the geographical coverage range corresponding to the above-mentioned first electronic horizon. Before executing step 403, the EHP performs the following operations: based on the information of the roads within the geographical coverage range corresponding to the first electronic horizon, the above-mentioned first electronic horizon is constructed. In step 403, based on the first message, the EHP sends the first electronic horizon to the above-mentioned EHR.

[0295] In a possible implementation, the first message is used to request the second electronic horizon, and the first message includes the location information of the vehicle. Before executing step 403, the EHP performs the following operations: the EHP determines the driving path of the vehicle based on the location information of the vehicle; and constructs the second electronic horizon based on the information of the driving path and the information of the sub-paths of the driving path. In step 403, based on the first message, the EHP sends the second electronic horizon to the EHR.

[0296] In one possible implementation, the first message is used to request the second electronic horizon, and the first message includes the above-mentioned range information, and the range information is used to indicate the geographical coverage range corresponding to the above-mentioned second electronic horizon. Before executing step 403, the EHP performs the following operations: based on the information of the path within the geographical coverage range corresponding to the second electronic horizon, the above-mentioned second electronic horizon is constructed. In step 403, based on the first message, the EHP sends the second electronic horizon to the above-mentioned EHR.

[0297] In a possible implementation, the first message is used to request the first electronic horizon and the second electronic horizon. The first message includes the location information of the vehicle. Before executing step 403, the EHP performs the following operations: the EHP determines the driving path of the vehicle based on the location information of the vehicle; constructs the second electronic horizon based on the information of the driving path and the information of the sub-paths of the driving path; and constructs the first electronic horizon based on the topological information of the roads connected to the driving path of the vehicle. In step 403, based on the first message, the EHP sends the first electronic horizon and the second electronic horizon to the EHR.

[0298] In a possible implementation, the first message is used to request the first electronic horizon and the second electronic horizon. The first message contains the range information, which is used to indicate the geographical coverage corresponding to the first electronic horizon and the geographical coverage corresponding to the second electronic horizon. Before executing step 403, the EHP performs the following operations: based on the information of the roads within the geographical coverage corresponding to the first electronic horizon, the first electronic horizon is constructed; based on the information of the paths within the geographical coverage corresponding to the second electronic horizon, the second electronic horizon is constructed. In step 403, based on the first message, the EHP sends the first electronic horizon and the second electronic horizon to the EHR.

[0299] 404. The EHR parses and reconstructs the first electronic horizon and / or the second electronic horizon from the EHP.

[0300] In a possible implementation, after the EHR parses and reconstructs the first electronic horizon and the second electronic horizon from the EHP, the vehicle can be regulated based on the first electronic horizon and the second electronic horizon. In other words, after the EHR parses and reconstructs the first electronic horizon and the second electronic horizon from the EHP, the vehicle can perform operations that require a high-precision map based on the first electronic horizon and the second electronic horizon, wherein the first electronic horizon and the second electronic horizon together constitute a high-precision map.

[0301] In one possible implementation, after the vehicle drives out of the geographical coverage area corresponding to the second electronic horizon, the vehicle plans a driving path based on the first electronic horizon, and navigates the vehicle to an area where it can be parked or drives to the vehicle's destination according to the driving path.

[0302] In an embodiment of the present application, based on the first message, the EHP sends the first electronic horizon and / or the second electronic horizon to the EHR. When the EHP sends the first electronic horizon and the second electronic horizon to the EHR, after the vehicle drives out of the geographical coverage corresponding to the second electronic horizon, the vehicle can drive based on the first electronic horizon; the problem that no map data is available after the vehicle drives out of the geographical coverage corresponding to the second electronic horizon can be solved. When the EHP sends the first electronic horizon or the second electronic horizon to the EHR, it can enable the EHR to obtain the required data and reduce the amount of data transmitted.

[0303] Figure 5 A flowchart of another method for layered transmission of map data provided in an embodiment of the present application. Figure 5 The method flow in this section is applicable to the scenario of initializing map data. Figure 5 The method flow in is Figure 4A possible implementation of the method described is as follows. In this implementation, the EHR sends an initialization request message to the EHP to request the first electronic horizon and the second electronic horizon; the EHR can obtain the required map data. Figure 5 As shown, the method includes:

[0304] 501. EHR sends an initialization request message to EHP.

[0305] Correspondingly, the EHP receives an initialization request message from the EHR. The initialization request message is an example of the above-mentioned first message. The initialization request message is used to request the above-mentioned first electronic horizon and the above-mentioned second electronic horizon. The initialization request message includes the location information of the vehicle. Optionally, the initialization request message also includes range information, and the above-mentioned range information is used to indicate the geographical coverage corresponding to the above-mentioned first electronic horizon and / or the geographical coverage corresponding to the above-mentioned second electronic horizon, and the above-mentioned vehicle is deployed with the above-mentioned EHR.

[0306] In one possible implementation, after the vehicle leaves the geographic coverage corresponding to the existing first electronic horizon, the EHR sends an initialization request message to the EHP. For example, after the vehicle leaves the geographic coverage corresponding to the existing first electronic horizon, the EHR sends an initialization request message to the EHP based on the location of the vehicle. In one possible implementation, after the vehicle is started, when the EHR requests the EHP for the electronic horizon around the location of the vehicle, the EHR sends an initialization request message to the EHP.

[0307] In a possible implementation, after the EHR learns that the EHP has updated the map data, it sends an initialization request message to the EHP. An example of the EHR learning that the EHP has updated the map data is as follows: the EHR receives a map update message from the EHP, where the map update message is used to indicate that the EHP has updated the map data.

[0308] In a possible implementation, the initialization request message further includes at least one of the following: first map element information, the first map element information is used to indicate the map element corresponding to the first electronic horizon; first restriction information, the first restriction information is used to limit or indicate the data size of the first electronic horizon; second map element information, the second map element information is used to indicate the map element corresponding to the second electronic horizon; second restriction information, the second restriction information is used to limit or indicate the data size of the second electronic horizon. The first map element information and the second map element information may be included in ProfileDataFilter in the example of the initialization request message (InitializationMessage), the first restriction information and the second restriction information may be included in StorageLimit in the example, the vehicle position information may be included in CurrentVehiclePosition in the example, and the range information may be included in HorizonRange in the example.

[0309] 502. The EHP determines a driving path of the vehicle based on the location information of the vehicle.

[0310] In step 502, the driving path of the vehicle determined by the EHP may be recorded as the most preferred path (MPP).

[0311] In one possible implementation, the EHP determines the vehicle's driving path by matching the vehicle's position with a map. In one possible implementation, the initialization request message carries information indicating the vehicle's driving path, and the EHP can determine the vehicle's driving path based on the information. The EHP can also determine the vehicle's driving path by other means, which is not limited in this application.

[0312] 503. The EHP constructs a second electronic horizon based on the information of the driving path and the information of the sub-paths of the driving path.

[0313] In one possible implementation, the EHP constructs a second electronic horizon based on high-precision information of the vehicle's driving path and its sub-paths; wherein the high-precision information of the vehicle's driving path and its sub-paths refers to the map elements contained in the second electronic horizon.

[0314] 504. The EHP constructs a first electronic horizon based on topological information of roads connected to the driving path of the vehicle.

[0315] In a possible implementation, the EHP constructs a first electronic horizon based on topological information of roads connected to the vehicle's driving path and the above-mentioned first map element information.

[0316] 505. The EHP sends the first electronic horizon and the second electronic horizon to the EHR.

[0317] Accordingly, the EHR receives the first electronic horizon and the second electronic horizon from the EHP.

[0318] In one possible implementation, EHP packages the first electronic horizon and the second electronic horizon and sends them to EHR, wherein the data sent by EHP to EHR may include all paths and their parent-child relationships (PathControlMessage) in the map data (including the first electronic horizon and the second electronic horizon), the starting offset of the electronic horizon on all paths (ProfileControlMessage), and detailed information (ProfileMessage) of some or all map elements in the map data.

[0319] In one possible implementation, EHP packages the first electronic horizon separately and sends it to EHR, and packages the second electronic horizon separately and sends it to EHR, wherein the data sent by EHP to EHR may include all paths in the first electronic horizon or the second electronic horizon and their parent-child relationships (PathControlMessage), the starting offset of the electronic horizon on all paths (ProfileControlMessage), and detailed information of some or all map elements in the map data (ProfileMessage).

[0320] 506. The EHR parses and reconstructs the first electronic horizon and the second electronic horizon from the EHP.

[0321] Step 506 can be found at Figure 3 Step 303 in .

[0322] 507. After the vehicle drives out of the geographical coverage area corresponding to the second electronic horizon, the vehicle plans a driving path based on the first electronic horizon, and navigates the vehicle to an area where it can be parked or drives to the destination of the vehicle according to the driving path.

[0323] Step 507 can be found at Figure 3 Step 304 in . Step 506 and step 507 are optional.

[0324] In the embodiment of the present application, based on the initialization request message, the EHP sends the first electronic horizon and the second electronic horizon to the EHR. After the vehicle drives out of the geographical coverage corresponding to the second electronic horizon, the vehicle can drive based on the first electronic horizon; the problem of no map data available after the vehicle drives out of the geographical coverage corresponding to the second electronic horizon can be solved.

[0325] Figure 6A flowchart of another method for layered transmission of map data provided in an embodiment of the present application. Figure 6 The method flow is applicable to the scenario where the second electronic horizon is updated before the vehicle drives out of the geographical coverage area corresponding to the existing second electronic horizon. Figure 6 The method flow in is Figure 4 A possible implementation of the method described. In this implementation, the EHR sends an update request message to the EHP to request to update the second electronic horizon; the EHR can obtain the required second electronic horizon. Figure 6 As shown, the method includes:

[0326] 601. Before the vehicle drives out of the geographic coverage corresponding to the third electronic horizon, the EHR determines an incremental range of the second-layer geographic coverage based on the second-layer geographic coverage expected by the EHR and the second-layer geographic coverage already existing in the EHR.

[0327] The third electronic horizon is the second electronic horizon that the EHR already has. The second-layer geographic coverage that the EHR already has is the geographic coverage that corresponds to the third electronic horizon, that is, the geographic coverage that corresponds to the second electronic horizon that the EHR already has. The second-layer geographic coverage that the EHR expects is the geographic coverage that corresponds to the newly added second electronic horizon that the EHR expects. Figure 7 A schematic diagram of determining an incremental range corresponding to a second electronic horizon provided in an embodiment of the present application. Figure 7 As shown, the smaller dotted box in 7(a) represents the existing (or existing) second-layer geographic coverage of EHR, and the smaller dotted box in 7(b) represents the second-layer geographic coverage expected by EHR after the vehicle has traveled for a period of time; the vehicle travels 75 meters along P1 from 7(a) to 7(b), and when the vehicle is about to drive out of the geographic coverage corresponding to the second electronic horizon (that is, the vehicle drives to the position shown in 7(b)), EHR compares the expected second-layer geographic coverage (7(b)) with the existing second-layer geographic coverage (7(a)) of EHR, and determines that the incremental range of the second-layer geographic coverage is a section with an offset position of 200m to 275m on P1, that is, the shaded part in 7(c).

[0328] In one possible implementation, when the vehicle is about to exit the geographic coverage corresponding to the third electronic horizon, the EHR determines the incremental range of the second-layer geographic coverage based on the second-layer geographic coverage expected by the EHR and the second-layer geographic coverage already available in the EHR. Exemplarily, the EHR determines that the vehicle is about to exit the geographic coverage corresponding to the third electronic horizon by: the EHR predicts that the vehicle will exit the existing second-layer geographic coverage after a first duration based on the vehicle's current speed and the existing second-layer geographic coverage. The first duration may be 1 minute, 2 minutes, 5 minutes, 10 minutes, 30 minutes, etc., which is not limited in this application.

[0329] 602. The EHR generates an update request message based on the incremental range of the second-layer geographic coverage.

[0330] The update request message is used to request the above-mentioned second electronic horizon, that is, the newly added second electronic horizon. The update request message includes range information indicating the above-mentioned incremental range and the location information of the vehicle. For example, the first electronic horizon belongs to the upper-layer map data, the second electronic horizon belongs to the bottom-layer map data, and the third electronic horizon can be the upper-layer map data that the vehicle already has. The second electronic horizon requested by the update request message is the upper-layer map data that the vehicle needs to add. Since the geographical coverage range corresponding to the existing first electronic horizon of the EHR is relatively large during initialization, even if the vehicle drives out of the geographical coverage range corresponding to the second electronic horizon, there is still some time before the vehicle drives out of the geographical coverage range corresponding to the first electronic horizon. Therefore, in this embodiment, the incremental update of the first electronic horizon may not be performed for the time being.

[0331] Exemplarily, the update request message further includes at least one of the following: second map element information, the second map element is used to indicate the map element corresponding to the second electronic horizon; second restriction information, the second restriction information is used to limit or indicate the data size of the second electronic horizon; second path identification information, the second path identification information is used to indicate the path contained in the second electronic horizon.

[0332] An example of an update request message (UpdateMessage) sent by EHR is as follows:

[0333] ServerID1, the ID or address of the server (i.e. EHP);

[0334] ClientID2, the ID or address of the client (i.e., EHR);

[0335] CurrentVehiclePosition{1,125,89.43}, where 1 in {1,125,89.43} represents the ID of the path where the current vehicle is located, 125 in {1,125,89.43} represents the offset of the vehicle on the path, and 89.43 in {1,125,89.43} represents the direction of the vehicle (the angle turned clockwise from due north).

[0336] Level{1}#1: second level (corresponding to the second electronic horizon);

[0337] StorageLimit{0.5}, where the amount of data in the second electronic horizon is limited to less than or equal to 0.5KB;

[0338] HorizonRange{[1,200,275]}#Expressed by path range, [1,200,275] represents the incremental range of the second-layer geographic coverage, that is, the offset position on the path where the current vehicle is located (ID is 1) is 200m to 275m;

[0339] ProfileDataFilter{FlowSpeed},{1}, FlowSpeed ​​is an example of a map element included in the second electronic horizon, and {1} indicates that the second electronic horizon needs to include a path with ID 1.

[0340] In this example, {FlowSpeed} is an example of the second map element information, StorageLimit{0.5} is an example of the second restriction information, and {1} is an example of the second path identification information.

[0341] 603. The EHR sends an update request message to the EHP.

[0342] 604. The EHP determines a driving path of the vehicle based on the location information of the vehicle.

[0343] Step 604 may refer to step 502 .

[0344] 605. The EHP constructs a second electronic horizon based on the information of the driving path and the information of the sub-paths of the driving path.

[0345] In one possible implementation, the EHP forms a second electronic horizon based on the high-precision information of the vehicle's driving path and its sub-paths, namely, a newly added second electronic horizon (see Figure 7 , for example, a section on P1 with an offset position of 200m-275m); wherein the high-precision information of the vehicle's driving path and its sub-paths refers to the map elements contained in the second electronic horizon.

[0346] Step 605 may refer to step 503 .

[0347] 606. The EHP sends a second electronic horizon to the EHR.

[0348] Accordingly, the EHR receives a second electronic horizon from the EHP.

[0349] In one possible implementation, EHP packages the second electronic horizon separately and sends it to EHR, wherein the data sent by EHP to EHR may include all paths in the second electronic horizon and their parent-child relationships (PathControlMessage), the starting offset of the electronic horizon on all paths (ProfileControlMessage), and detailed information of some or all map elements in the second electronic horizon (ProfileMessage).

[0350] 607. EHR parses and reconstructs the second electronic horizon from EHP.

[0351] In actual applications, the EHR and the EHP may repeatedly execute steps 601 to 607, so that a newly added second electronic horizon may be continuously acquired before the vehicle drives out of the geographical coverage area corresponding to the existing second electronic horizon.

[0352] 608. The vehicle is regulated and controlled based on the second electronic horizon.

[0353] Step 608 and Figure 6 The order of the steps in the method is not limited. For example, step 608 may be performed before step 601.

[0354] In one possible implementation, the vehicle is regulated based on an existing first electronic horizon and an existing second electronic horizon. For example, before the vehicle leaves the geographic coverage area corresponding to the existing second electronic horizon, it can perform operations that require a high-precision map based on the first electronic horizon and the second electronic horizon, wherein the first electronic horizon and the second electronic horizon together constitute a high-precision map, or the second electronic horizon alone serves as a high-precision map.

[0355] In one possible implementation, the vehicle is regulated based on the existing second electronic horizon. For example, before the vehicle leaves the geographical coverage area corresponding to the existing second electronic horizon, it can perform operations that require a high-precision map based on the existing second electronic horizon, and the existing second electronic horizon serves as a high-precision map alone.

[0356] In an embodiment of the present application, before the vehicle drives out of the geographical coverage corresponding to the third electronic horizon, the EHR sends an update request message to the EHP to request an update of the second electronic horizon; being able to update the second electronic horizon alone can reduce the amount of data transmitted.

[0357] Figure 8 A flowchart of another method for layered transmission of map data provided in an embodiment of the present application. Figure 8 The method flow is applicable to the scenario where the second electronic horizon is updated after the vehicle drives out of the geographical coverage corresponding to the existing second electronic horizon. Figure 8 The method flow in is Figure 4 A possible implementation of the described method. In this implementation, the EHR sends an update request message to the EHP to request to update the second electronic horizon; the EHR can obtain the required second electronic horizon. Figure 8 Can be an independent method flow or can be combined with Figure 6 For example, before the vehicle leaves the geographical coverage area corresponding to the third electronic horizon, execute Figure 6 After the vehicle leaves the geographical coverage area corresponding to the third electronic horizon, execute Figure 8 The method flow in Figure 8 As shown, the method includes:

[0358] 801. After the vehicle goes out of the geographical coverage area corresponding to the third electronic horizon, the vehicle determines the location information of the vehicle based on the existing first electronic horizon.

[0359] An example of a vehicle going out of the geographical coverage area corresponding to the third electronic horizon is that the vehicle deviates, that is, it does not follow the planned driving route. The third electronic horizon is the second electronic horizon already available in EHR. In a possible implementation, after the vehicle goes out of the geographical coverage area corresponding to the third electronic horizon, the vehicle determines the relative position of the vehicle based on the existing first electronic horizon (expressed by the path ID + offset, so that EHP does not need to re-match the vehicle position with the map).

[0360] 802. The vehicle plans a driving path based on the existing first electronic horizon, and navigates the vehicle to an area where it can be parked or drives to the destination of the vehicle according to the driving path.

[0361] In one possible implementation, before updating the second electronic horizon, the vehicle uses the first electronic horizon as prior information and integrates it with the road information collected by the on-board sensors to perform temporary regulation.

[0362] 803. EHR sends an update request message to EHP.

[0363] Correspondingly, the EHP receives an update request message from the EHR. The update request message is used to request a second electronic horizon, that is, a newly added second electronic horizon. The update request message may include the location information of the vehicle and the driving path of the vehicle. Exemplarily, the above-mentioned update request message also includes at least one of the following: second map element information, the above-mentioned second map element information is used to indicate the map element corresponding to the above-mentioned second electronic horizon; second restriction information, the above-mentioned second restriction information is used to limit or indicate the data volume of the above-mentioned second electronic horizon; second path identification information, the above-mentioned second path identification information is used to indicate the path contained in the above-mentioned second electronic horizon.

[0364] In one possible implementation, after receiving the update request message, the EHP may determine the driving path of the vehicle by matching the vehicle position with the map, and then verify the driving path in the update request message. For example, when time and computing power permit, the EHP determines the driving path of the vehicle by matching the vehicle position with the map, and then verifies the driving path in the update request message. Exemplarily, when the driving path of the vehicle re-determined by the EHP is different from the driving path in the update request message, the driving path re-determined by the EHP may prevail.

[0365] 804. The EHP constructs a second electronic horizon based on the information of the driving path and the information of the sub-paths of the driving path.

[0366] In one possible implementation, the EHP constructs a second electronic horizon based on high-precision information of the vehicle's driving path and its sub-paths; wherein the high-precision information of the vehicle's driving path and its sub-paths refers to the map elements contained in the second electronic horizon.

[0367] 805. EHP sends a second electronic horizon to EHR.

[0368] Accordingly, the EHR receives the second electronic horizon from the EHP. Figure 6 Step 605 in .

[0369] In a possible implementation, when the vehicle is about to leave the geographic coverage corresponding to the existing first electronic horizon, the EHP constructs the first electronic horizon based on the topological information of the roads connected to the vehicle's driving path; step 805 may be: the EHP sends the first electronic horizon and the second electronic horizon to the EHR. The EHP determines that the vehicle is about to leave the geographic coverage corresponding to the existing first electronic horizon may be: the EHP predicts that the vehicle will leave the geographic coverage after a second time period based on the current driving speed of the vehicle and the geographic coverage corresponding to the existing first electronic horizon. The second time period may be 5 minutes, 10 minutes, 20 minutes or 30 minutes, etc., which is not limited in this application. Exemplarily, after the EHP receives the update request message from the EHR, the EHP may perform the following operations: construct the second electronic horizon based on the information of the driving path and the information of the sub-paths of the driving path; when the vehicle is about to leave the geographic coverage corresponding to the existing first electronic horizon, the EHP constructs the first electronic horizon based on the topological information of the roads connected to the vehicle's driving path; and sends the first electronic horizon and the second electronic horizon to the EHR.

[0370] 806. EHR parses and reconstructs the second electronic horizon from EHP.

[0371] In actual applications, the EHR and the EHP may repeatedly execute steps 601 to 606, so that a newly added second electronic horizon may be continuously acquired before the vehicle drives out of the geographical coverage area corresponding to the existing second electronic horizon.

[0372] 807. The vehicle is regulated and controlled based on the second electronic horizon.

[0373] Step 807 may refer to step 607 .

[0374] In the embodiment of the present application, after the vehicle leaves the geographical coverage area corresponding to the third electronic horizon, the vehicle plans a driving path based on the existing first electronic horizon, and navigates the vehicle to an area where it can be parked or to the destination of the vehicle according to the driving path; the problem that the vehicle has no map data available can be solved. In addition, the EHR sends an update request message to the EHP to request an update of the second electronic horizon; being able to update the second electronic horizon alone can reduce the amount of data transmitted.

[0375] Fig. 9 A flow chart of a vehicle control method provided in an embodiment of the present application. Fig. 9 The method flow in is an example of a process that the vehicle may perform after obtaining the first electronic horizon and the second electronic horizon. Fig. 9 Prior to the method flow in Figure 3 , Figure 4or Figure 5 The method flow in the above embodiment obtains the first electron horizon and the second electron horizon. Fig. 9 As shown, the method includes:

[0376] 901. When the vehicle does not go out of the geographical coverage area corresponding to the second electronic horizon, the vehicle performs path planning based on the second electronic horizon and the perception data.

[0377] The perception data is data obtained by perceiving the surrounding environment of the vehicle. Exemplarily, the vehicle performs path planning based on the second electronic horizon, the first electronic horizon, and the perception data. The vehicle can travel according to the driving path of the path planning.

[0378] 902. When the vehicle does not go out of the geographical coverage area corresponding to the second electronic horizon, the vehicle navigates to the destination based on the second electronic horizon.

[0379] Exemplarily, when the vehicle does not go out of the geographical coverage area corresponding to the second electronic horizon, the vehicle performs path planning based on the second electronic horizon and the perception data, and navigates to the destination according to the planned driving route.

[0380] In the embodiment of the present application, when the vehicle does not go out of the geographical coverage area corresponding to the second electronic horizon, the vehicle navigates to the destination based on the second electronic horizon, which can improve the safety of vehicle driving.

[0381] Fig.10 A flow chart of another vehicle control method provided in an embodiment of the present application. Fig.10 The method flow in is an example of a process that the vehicle may perform after obtaining the first electronic horizon and the second electronic horizon. Fig.10 Prior to the method flow in Figure 3 , Figure 4 or Figure 5 The method flow in obtains a first electronic horizon and a second electronic horizon. Fig.10 Can be a standalone process or integrated with Fig. 9 For example, when a vehicle is executing Fig.10 Before the process in Fig. 9 The process in Fig.10 As shown, the method includes:

[0382] 1001. The vehicle determines whether it has driven out of the geographical coverage corresponding to the second electronic horizon.

[0383] 1002. When the vehicle goes out of the geographical coverage area corresponding to the second electronic horizon, the vehicle performs path planning based on the first electronic horizon and the perception data.

[0384] The perception data is data obtained by perceiving the surrounding environment of the vehicle. If the vehicle does not leave the geographical coverage area corresponding to the second electronic horizon, the vehicle performs path planning based on the second electronic horizon and the perception data. Fig. 9 The process in .

[0385] 1003. When the vehicle goes out of the geographical coverage area corresponding to the second electronic horizon, the vehicle navigates to a safe parking area based on the first electronic horizon.

[0386] For example, when the vehicle goes out of the geographical coverage area corresponding to the second electronic horizon, the vehicle performs path planning based on the first electronic horizon and the sensing data, and navigates to a safe parking area according to the planned driving path. A safe parking area refers to an area where parking is possible safely, such as a garage, a parking lot, a planned parking area, etc.

[0387] 1004. EHR sends an update request message to EHP.

[0388] Accordingly, the EHP receives an update request message from the EHR.

[0389] 1005. The EHP constructs a new second electronic horizon based on the information of the driving path and the information of the sub-paths of the driving path.

[0390] The new second electronic horizon may be an updated second electronic horizon to be sent to the vehicle. The second electronic horizon in steps 1001 to 1003 is an old second electronic horizon, ie, the second electronic horizon already possessed by the vehicle.

[0391] 1006. EHP sends a new second electronic horizon to EHR.

[0392] 1007. EHR parses and reconstructs the new second electronic horizon from EHP.

[0393] Step 1007 may be to update the vehicle's existing second electronic horizon.

[0394] 1008. The vehicle is regulated based on the new second electronic horizon.

[0395] Steps 1004 to 1008 are optional. Figure 8 Steps 803 to 807 in the above embodiment. Steps 1004 to 1008 may be performed after the vehicle determines that it has driven out of the geographical coverage area corresponding to the second electronic horizon. The order of step 1004 and step 1002 is not limited, and the order of step 1004 and step 1003 is not limited.

[0396] In the embodiment of the present application, when the vehicle goes out of the geographical coverage area corresponding to the second electronic horizon, the vehicle navigates to a safe parking area based on the first electronic horizon to ensure the safety of the vehicle and passengers.

[0397] The following is a brief description of the data processing device for implementing the map data layered transmission method provided by the embodiment of the present application in conjunction with the accompanying drawings. The following only briefly describes the data processing device. For details of the implementation of the solution, please refer to the description of the method embodiment above, which will not be repeated below.

[0398] Fig.11 A structural diagram of a data processing device 1100 provided in an embodiment of the present application. The data processing device 1100 may correspond to the functions or steps implemented by the EHR in the above-mentioned various method embodiments, may correspond to the functions or steps implemented by the EHP in the above-mentioned various method embodiments, and may correspond to the functions or steps implemented by the vehicle in the above-mentioned various method embodiments. The data processing device may include a processing module 1110 and a transceiver module 1120. In a possible implementation, a storage unit may also be included, which may be used to store instructions (codes or programs) and / or data. The processing module 1110 and the transceiver module 1120 may be coupled to the storage unit, for example, the processing module 1110 may read the instructions (codes or programs) and / or data in the storage unit to implement the corresponding method. The above-mentioned units may be independently arranged or partially or fully integrated. For example, the transceiver module 1120 may include a sending module and a receiving module. The sending module may be a transmitter, and the receiving module may be a receiver. The entity corresponding to the transceiver module 1120 may be a transceiver circuit, such as a transceiver or a communication interface.

[0399] In some possible implementations, the data processing device 1100 can implement the behavior and functions of the EHR in the above method embodiments. For example, the data processing device 1100 can be a vehicle equipped with an EHR, or hardware (such as a chip or circuit) that implements the behavior and functions of the EHR, or a logic module or software that implements the behavior and functions of the EHR. The transceiver module 1120 can be used to execute Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 8 , Fig.10 The processing module 1110 can be used to perform all receiving or sending operations performed by the EHR in the embodiment of the present invention. Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 8, Fig.10 All operations performed by the EHR except for sending and receiving operations in the embodiment.

[0400] In some possible implementations, the data processing device 1100 can implement the behavior and function of the EHP in the above method embodiment. For example, the data processing device 1100 can be a vehicle equipped with an EHP, or a hardware entity (such as a chip or circuit) that implements the behavior and function of the EHP, or a logic module or software that implements the behavior and function of the EHP. The transceiver module 1120 can be used to execute Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 8 , Fig.10 The processing module 1110 may be used to perform, for example, all receiving or sending operations performed by the EHP. Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 8 , Fig.10 All operations except the sending and receiving operations performed by the EHP in the embodiment.

[0401] In some possible implementations, the data processing device 1100 can implement the behaviors and functions of the vehicle in the above method embodiments. For example, the data processing device 1100 can be a vehicle, or a component (such as a chip or circuit) used in a vehicle. The transceiver module 1120 can be used to execute Figure 6 , Figure 8 , Fig. 9 , Fig.10 The processing module 1110 can be used to perform all receiving or sending operations performed by the vehicle in the embodiment of Figure 6 , Figure 8 , Fig. 9 , Fig.10 All operations performed by the vehicle except the sending and receiving operations in the embodiment.

[0402] Fig.12 A schematic diagram of the structure of another data processing device 120 provided in an embodiment of the present application. Fig.11 The data processing device in the embodiment may be the entity of the EHR or a chip for realizing the behavior and function of the EHR, the entity of the EHP or a chip for realizing the behavior and function of the EHP, or a vehicle or a chip used in the vehicle. Fig.12 As shown, the data processing device 120 includes a processing circuit 1210 and a transceiver circuit 1220 .

[0403] In some embodiments of the present application, the processing circuit 1210 and the transceiver circuit 1220 may be used to execute functions or operations performed by the EHR. The transceiver circuit 1220 may be used to execute Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 8 , Fig.10 The processing circuit 1210 is used, for example, to perform all receiving or sending operations performed by the EHR. Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 8 , Fig.10 All operations performed by the EHR except for sending and receiving operations in the embodiment.

[0404] In some embodiments of the present application, the processing circuit 1210 and the transceiver circuit 1220 may be used to perform functions or operations performed by the EHP. The transceiver circuit 1220 may be used to perform Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 8 , Fig.10 The processing circuit 1210 is used, for example, to perform all receiving or sending operations performed by the EHP. Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 8 , Fig.10 All operations except the sending and receiving operations performed by the EHP in the embodiment.

[0405] In some embodiments of the present application, the processing circuit 1210 and the transceiver circuit 1220 may be used to execute functions or operations performed by the vehicle. For example, the transceiver circuit 1220 may be used to execute Figure 6 , Figure 8 , Fig. 9 , Fig.10 The processing circuit 1210 is used, for example, to perform all receiving or sending operations performed by the vehicle. Figure 6 , Figure 8 , Fig. 9 , Fig.10 All operations performed by the vehicle except the sending and receiving operations in the embodiment.

[0406] In a possible implementation, the transceiver circuit 1220 includes at least one transceiver, and the processing circuit 1210 includes at least one processor, or a circuit in at least one processor for processing or control.

[0407] The transceiver is used to communicate with other devices / apparatuses through a transmission medium. The processor uses the transceiver to send and receive data and / or signaling, and is used to implement the method in the above method embodiment. The processor can implement the function of the processing module 1110, and the transceiver can implement the function of the transceiver module 1120. Optionally, the transceiver may include a radio frequency circuit and an antenna, and the radio frequency circuit is mainly used for converting baseband signals and radio frequency signals and processing radio frequency signals. The antenna is mainly used to send and receive radio frequency signals in the form of electromagnetic waves. Input and output devices, such as touch screens, display screens, keyboards, etc. are mainly used to receive data input by users and output data to users.

[0408] Optionally, the data processing device 120 may also include at least one memory for storing program instructions and / or data. The memory is coupled to the processor. The coupling in the embodiment of the present application is an indirect coupling or communication connection between devices, units or modules, which may be electrical, mechanical or other forms, for information exchange between devices, units or modules. The processor may operate in conjunction with the memory. The processor may execute program instructions stored in the memory. At least one of the at least one memory may be included in the processor.

[0409] The processor can read the software program in the memory, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be sent wirelessly, the processor performs baseband processing on the data to be sent, and outputs the baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal and then sends the radio frequency signal outward in the form of electromagnetic waves through the antenna. When data is sent to the data processing device 120, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal into data and processes the data.

[0410] In another implementation, the above-mentioned RF circuit and antenna can be set independently of the processor performing baseband processing. For example, in a distributed scenario, the RF circuit and antenna can be arranged independently of the data processing device 120 in a remote manner.

[0411] The specific connection medium between the above-mentioned transceiver, processor and memory is not limited in the embodiments of the present application.

[0412] In the embodiments of the present application, the processor may be one of the following devices: a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or all or part of the circuits used for processing functions in the aforementioned devices, which may implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0413] In a possible implementation, the processing circuit 1210 includes at least one logic circuit, and the transceiver circuit 1220 includes at least one interface. Fig.11 The processing module 1110 in can be implemented by a logic circuit. Fig.11 The transceiver module 1120 in the embodiment can be implemented with an interface. The logic circuit can be a chip, a processing circuit, an integrated circuit or a system on chip (SoC) chip, etc., and the interface can be a communication interface, an input and output interface, etc. In the embodiment of the present application, the logic circuit and the interface can also be coupled to each other. The embodiment of the present application does not limit the specific connection method of the logic circuit and the interface.

[0414] Fig.13 A schematic diagram of the structure of another intelligent driving device 130 provided in an embodiment of the present application. The intelligent driving device 130 corresponds to the vehicle in the above-mentioned method embodiments, and can be a chip, a chip system, a processor, etc., or an on-board device. The intelligent driving device 130 can be used to implement the method described in the above-mentioned method embodiment, and the details can be referred to the description in the above-mentioned method embodiment. The intelligent driving device 130 is deployed with the above-mentioned EHR. Alternatively, the intelligent driving device 130 is deployed with the above-mentioned EHR and the above-mentioned EHP.

[0415] See also Fig.13, the intelligent driving device 130 may include one or more processors 1301. The processor 1301 may be a general-purpose processor or a dedicated processor, etc. The intelligent driving device 130 may also include a transceiver 1305. The transceiver 1305 may be referred to as a transceiver unit, a transceiver, or a transceiver circuit, etc., for implementing a transceiver function. The transceiver 1305 may include a receiver and a transmitter, the receiver may be referred to as a receiver or a receiving circuit, etc., for implementing a receiving function; the transmitter may be referred to as a transmitter or a transmitting circuit, etc., for implementing a transmitting function. Optionally, the intelligent driving device 130 may include one or more memories 1302, on which instructions 1304 may be stored, and the instructions 1304 may be a computer program, and the above-mentioned computer program may be run on the intelligent driving device 130, so that the intelligent driving device 130 executes the method described in the above-mentioned method embodiment. Optionally, data may also be stored in the above-mentioned memory 1302. The intelligent driving device 130 and the memory 1302 may be provided separately or integrated together.

[0416] For another example, the intelligent driving device 130 may be:

[0417] (1) Independent integrated circuit IC, or chip, or chip system or subsystem;

[0418] (2) Modules that can be embedded in other devices;

[0419] (3) Mobile units, vehicle-mounted devices, cloud devices, artificial intelligence devices, etc.

[0420] In a possible implementation, the processor 1301 may include a transceiver for implementing receiving and sending functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing the receiving and sending functions may be separate or integrated. The above-mentioned transceiver circuit, interface, or interface circuit may be used for reading and writing code / data, or the above-mentioned transceiver circuit, interface, or interface circuit may be used for transmitting or delivering signals.

[0421] In one implementation, the processor 1301 may store an instruction 1303, which may be a computer program. The instruction 1303 runs on the processor 1301, which may enable the intelligent driving device 130 to perform the method described in the above method embodiment. The instruction 1303 may be fixed in the processor 1301, in which case the processor 1301 may be implemented by hardware.

[0422] In one implementation, the intelligent driving device 130 may include a circuit that can implement the functions of sending, receiving, or communicating in the aforementioned method embodiments. The processor and transceiver described in the embodiments of the present application may be implemented in an integrated circuit (IC), an analog IC, a radio frequency integrated circuit (RFIC), a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), or an electronic device.

[0423] The present application also provides a computer-readable storage medium, in which a computer program or instruction is stored, and when the computer program or instruction is run on a computer, the computer executes the method of the above embodiment. The above-mentioned computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media integrated. The above-mentioned available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state drive (SSD)), etc. The above-mentioned computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0424] It should be noted that, those skilled in the art can see that all or part of the steps in the various methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium. Computer-readable storage media include read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electronically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0425] The present application also provides a chip, which includes: a communication interface and a processor; the communication interface is used for sending and receiving signals of the above-mentioned chip; the processor is used for executing computer program instructions so that a data processing device including the above-mentioned chip executes the method in the above-mentioned embodiment.

[0426] The present application also provides a map data updating system, comprising the above-mentioned EHR and the above-mentioned EHP.

[0427] The present application also provides a computer program product, which includes instructions or computer programs. When the instructions or computer programs are run on a computer, the method in the above embodiment is executed. The above computer program product includes one or more computer instructions. When the above computer program instructions are loaded and executed on a computer, the above process or function of the embodiment of the present application is generated in whole or in part.

[0428] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, they may be implemented in whole or in part in the form of a computer program product.

[0429] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0430] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, some steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0431] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the connection or coupling or communication connection between each other shown or discussed can be an indirect connection or communication connection through an interface, a device or a unit, which can be electrical or other forms.

[0432] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0433] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0434] The technical solution of the present application may essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or all or part of the technical solution. The computer program product is stored in a storage medium and includes a number of instructions for enabling a device (which may be a terminal device, a network device, a vehicle-mounted device, a router, a server, a robot, a chip, a robot, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

Claims

1. A map data updating system, It is characterized in that The system includes: an electronic horizon reconstructor EHR and an electronic horizon provider EHP; The EHP sends a first electronic horizon to the EHR; The EHP sends a second electronic horizon to the EHR; Among them, the geographical coverage corresponding to the first electronic horizon is larger than and includes the geographical coverage corresponding to the second electronic horizon, the map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than the accuracy of the second electronic horizon.

2. A method for layered transmission of map data, It is characterized in that The method is applied to an electronic horizon reconstructor EHR, and the method comprises: receiving a first electronic horizon from an electronic horizon provider EHP; receiving a second electronic horizon from the EHP; Among them, the geographical coverage corresponding to the first electronic horizon is larger than and includes the geographical coverage corresponding to the second electronic horizon, the map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than the accuracy of the second electronic horizon.

3. The method according to claim 2, It is characterized in that The map elements included in the first electronic horizon include at least one of the following: road topology information, road driving rules, and traffic flow information; the map elements included in the second electronic horizon include at least one of the following: lane information, marker information, obstacle information, traffic light information, traffic signs, real-time traffic flow speed, speed limit information, weather information, road type information, road surface information, map database corresponding to the road section, and road condition information.

4. The method according to claim 2 or 3, It is characterized in that The method further comprises: Sending a first message to the EHP, wherein the first message is used to request the first electronic horizon and / or the second electronic horizon; The first message includes at least one of the location information and range information of the vehicle, the range information is used to indicate the geographical coverage corresponding to the first electronic horizon and / or the geographical coverage corresponding to the second electronic horizon, and the vehicle is deployed with the EHR.

5. The method according to claim 4, It is characterized in that The first message is an initialization request message, and the first message is used to request the first electronic horizon and the second electronic horizon.

6. The method according to claim 5, It is characterized in that The first message further includes at least one of the following: first map element information, the first map element information is used to indicate the map element corresponding to the first electronic horizon; first restriction information, the first restriction information is used to limit or indicate the data volume of the first electronic horizon; second map element information, the second map element information is used to indicate the map element corresponding to the second electronic horizon; Second restriction information, wherein the second restriction information is used to limit or indicate the data volume size of the second electronic horizon.

7. The method according to claim 4, It is characterized in that The sending a first message to the EHP comprises: Before the vehicle drives out of the geographical coverage range corresponding to the third electronic horizon, the first message is sent to the EHP, the first message is an update request message, the first message is used to request the second electronic horizon, the types of map elements included in the third electronic horizon are the same as the types of map elements included in the second electronic horizon, some geographical coverage areas in the geographical coverage range corresponding to the second electronic horizon are not included in the geographical coverage range corresponding to the third electronic horizon, and the geographical coverage range corresponding to the first electronic horizon is larger than and includes the geographical coverage range corresponding to the third electronic horizon.

8. The method according to claim 7, It is characterized in that Before sending the first message, the method further includes: Determine an incremental range of the second-layer geographic coverage based on the expected second-layer geographic coverage of the EHR and the existing second-layer geographic coverage of the EHR, wherein the existing second-layer geographic coverage of the EHR is the geographic coverage corresponding to the third electronic horizon; Based on the incremental range, the first message is generated, and the range information included in the first message is used to indicate the incremental range.

9. The method according to claim 7 or 8, It is characterized in that The first message also includes at least one of the following: second map element information, the second map element is used to indicate the map element corresponding to the second electronic horizon; second restriction information, the second restriction information is used to limit or indicate the data size of the second electronic horizon; second path identification information, the second path identification information is used to indicate the path contained in the second electronic horizon.

10. The method according to claim 4, It is characterized in that The sending the first message to the EHP includes: After the vehicle drives out of the geographical coverage corresponding to the third-layer map data, the first message is sent to the EHP, the first message being an update request message, the first message being used to request the second electronic horizon, the types of map elements included in the third electronic horizon being the same as the types of map elements included in the second electronic horizon, and some geographical coverage areas in the geographical coverage corresponding to the second electronic horizon being not included in the geographical coverage corresponding to the third electronic horizon.

11. The method according to claim 10, It is characterized in that The first message also includes at least one of the following: second map element information, the second map element information is used to indicate the map element corresponding to the second electronic horizon; second restriction information, the second restriction information is used to limit or indicate the data size of the second electronic horizon; second path identification information, the second path identification information is used to indicate the path included in the second electronic horizon; information on the planned driving path of the vehicle.

12. A method for layered transmission of map data, It is characterized in that The method is applied to an electronic horizon provider (EHP), and the method comprises: Send the first electronic horizon to the electronic horizon reconstructor EHR; sending a second electronic horizon to the EHR; Among them, the geographical coverage corresponding to the first electronic horizon is larger than and includes the geographical coverage corresponding to the second electronic horizon, the map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than the accuracy of the second electronic horizon.

13. The method according to claim 12, It is characterized in that The map elements included in the first electronic horizon include at least one of the following: road topology information, road driving rules, and traffic flow information; the map elements included in the second electronic horizon include at least one of the following: lane information, marker information, obstacle information, traffic light information, traffic signs, real-time traffic flow speed, speed limit information, weather information, road type information, road surface information, map database corresponding to the road section, and road condition information.

14. The method according to claim 12 or 13, It is characterized in that The method further comprises: receiving a first message from the EHR, the first message being used to request the first electronic horizon and / or the second electronic horizon, the first message comprising at least one of location information and range information of a vehicle, the range information being used to indicate a geographical coverage range corresponding to the first electronic horizon and / or a geographical coverage range corresponding to the second electronic horizon, the vehicle being deployed with the EHR; Based on the first message, the first electronic horizon and / or the second electronic horizon are sent to the EHR.

15. The method according to claim 14, It is characterized in that The first message is an initialization request message, the first message is used to request the first electronic horizon and the second electronic horizon, and the first message includes the location information of the vehicle; Before sending the first electronic horizon and / or the second electronic horizon to the EHR based on the first message, the method further includes: Determining a driving path of the vehicle based on the location information of the vehicle; Based on the information of the driving path and the information of the sub-paths of the driving path, forming the second electronic horizon; The first electronic horizon is constructed based on topological information of roads connected to the driving path of the vehicle.

16. The method according to claim 15, It is characterized in that The first message further includes at least one of the following: first map element information, the first map element information is used to indicate the map element corresponding to the first electronic horizon; first restriction information, the first restriction information is used to limit or indicate the data volume of the first electronic horizon; second map element information, the second map element information is used to indicate the map element corresponding to the second electronic horizon; Second restriction information, wherein the second restriction information is used to limit or indicate the data volume size of the second electronic horizon.

17. The method according to claim 14, It is characterized in that The first message is an update request message, and the first message is used to request the second electronic horizon; before sending the first electronic horizon and / or the second electronic horizon to the EHR based on the first message, the method further includes: The second electronic horizon is constructed based on the information of the driving path of the vehicle and the information of the sub-paths of the driving path.

18. The method according to claim 17, It is characterized in that The first message also includes the driving path of the vehicle; before forming the second electronic horizon based on the information of the driving path of the vehicle and the information of the sub-paths of the driving path, the method further includes: Based on the driving path of the vehicle, a geographical coverage range corresponding to the second electronic horizon is determined.

19. The method according to claim 17 or 18, It is characterized in that The range information is used to indicate the incremental range of the second-layer geographic coverage expected by the EHR relative to the second-layer geographic coverage already existing in the EHR, the second-layer geographic coverage already existing in the EHR is the geographic coverage corresponding to the third electronic horizon already existing in the EHR, and the types of map elements included in the third electronic horizon are the same as the types of map elements included in the second electronic horizon; the second electronic horizon constituted based on the information of the driving path of the vehicle and the information of the sub-paths of the driving path includes: The second electronic horizon is constructed based on the information of the driving path of the vehicle and the information of the sub-paths of the driving path within the incremental range.

20. The method according to any one of claims 17 to 19, It is characterized in that The first message also includes at least one of the following: second map element information, the second map element is used to indicate the map element corresponding to the second electronic horizon; second restriction information, the second restriction information is used to limit or indicate the data size of the second electronic horizon; second path identification information, the second path identification information is used to indicate the path contained in the second electronic horizon.

21. A vehicle control method, It is characterized in that The method comprises: determining whether the vehicle has driven out of the geographical coverage corresponding to the second electronic horizon; When the vehicle goes out of the geographical coverage area corresponding to the second electronic horizon, performing path planning based on the first electronic horizon and the perception data, wherein the perception data is data obtained by sensing the surrounding environment of the vehicle; Among them, the geographical coverage corresponding to the first electronic horizon is larger than and includes the geographical coverage corresponding to the second electronic horizon, the map elements included in the first electronic horizon are different from the map elements included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than the accuracy of the second electronic horizon.

22. The method according to claim 21, It is characterized in that The method further comprises: When the vehicle does not go out of the geographical coverage area corresponding to the second electronic horizon, path planning is performed based on the second electronic horizon and the perception data.

23. The method according to claim 22, It is characterized in that The method further comprises: When the vehicle does not go out of the geographical coverage area corresponding to the second electronic horizon, the vehicle is navigated to a destination based on the second electronic horizon.

24. The method according to any one of claims 21 to 23, It is characterized in that The method further comprises: When the vehicle goes out of the geographical coverage area corresponding to the second electronic horizon, the vehicle is navigated to a safe parking area based on the first electronic horizon.

25. A data processing device, It is characterized in that The method comprises a module for implementing the method according to any one of claims 2 to 11.

26. A data processing device, It is characterized in that The method comprises a module for implementing the method according to any one of claims 12 to 20.

27. A data processing device, It is characterized in that Comprising modules for implementing the method according to any one of claims 21 to 24.

28. A computer readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the method according to any one of claims 2 to 24 is executed.

29. A data processing device, It is characterized in that The method comprises a processor, wherein the processor is configured to cause the data processing device to perform the method according to any one of claims 2 to 24 when executing instructions.

30. A chip, It is characterized in that include: A communication interface, used for sending and receiving signals of the chip; A processor, configured to execute computer program instructions so that a data processing device including the chip executes the method according to any one of claims 2 to 24.

Images