Road network information generation and integration method, system, device, medium, product, vehicle and base station

Abstract

The invention relates to a road network information generation and integration method, system and device, a medium, a product, a vehicle and a base station, and the method comprises the steps: transmitting first track information and second track information to a first target object, so as to enable the first target object to generate road network information according to the first track information and the second track information; wherein the first track information is the track information of the target vehicle, and the second track information is the track information of other vehicles except the target vehicle. According to the invention, the base station can effectively recover and generate the road network information from the received track information, and compared with the use of an acquisition vehicle, the road network drawing cost is effectively reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, system, device, medium, product, vehicle and base station for generating and integrating road network information. Background Art

[0002] The current high-precision map production process includes four steps: data collection, data processing, element identification and manual verification. Field data is collected by map collection vehicles equipped with equipment such as lidar and sensors, then processed and drawn through a mapping platform, and finally confirmed and improved by verification personnel.

[0003] However, in the above process, the cost of setting up the collection vehicle is high, the early mapping steps are numerous, the algorithm requirements are high, and the verification process and subsequent updates and maintenance require continuous investment of a large amount of manpower and material resources; on the other hand, high-precision positioning systems usually require a variety of vehicle-mounted sensor equipment, high-performance models and strong computing power, making system construction difficult and costly. Summary of the Invention

[0004] The embodiments of the present application provide a method, system, device, medium, product, vehicle and base station for generating and integrating road network information, aiming to reduce the cost of road network drawing.

[0005] The present invention provides a method for generating road network information, which is applied to a target vehicle. The method includes:

[0006] Sending the first trajectory information and the second trajectory information to a first target object, so that the first target object generates road network information according to the first trajectory information and the second trajectory information;

[0007] The first trajectory information is the trajectory information of the target vehicle, and the second trajectory information is the trajectory information of other vehicles other than the target vehicle.

[0008] As a feasible embodiment of the present application, the method further includes:

[0009] performing a calculation on the second trajectory information to obtain mapping trajectory information of the second trajectory information in the spatial coordinate system where the first trajectory information is located;

[0010] The mapping trajectory information is sent to the first target object.

[0011] As a feasible embodiment of the present application, the performing of the calculation on the second trajectory information to obtain the mapping trajectory information of the second trajectory information in the spatial coordinate system where the first trajectory information is located includes:

[0012] The second trajectory is processed based on first relative positions of the target vehicle and other vehicles corresponding to the second trajectory information at multiple moments to obtain mapping trajectory information of the second trajectory information in a spatial coordinate system where the target vehicle is located.

[0013] As a feasible embodiment of the present application, the method further includes:

[0014] The first relative positions of the target vehicle and the other vehicles at multiple moments are determined according to the relative distances between the target vehicle and the other vehicles at multiple moments and the displacement information of the other vehicles between the multiple moments.

[0015] As a feasible embodiment of the present application, the method further includes:

[0016] The relative distance and the displacement information are calculated based on the position information of the other vehicle at the multiple moments to obtain the first relative positions of the target vehicle and the other vehicle at the multiple moments.

[0017] As a feasible embodiment of the present application, the method further includes:

[0018] When the vehicle is within the communication range of the other vehicle, second trajectory information of the other vehicle is received based on inter-vehicle communication.

[0019] As a feasible embodiment of the present application, it includes:

[0020] Collecting position change data and / or speed change data of the target vehicle based on a vehicle-mounted inertial navigation system;

[0021] The posture change data and / or the speed change data are processed to obtain the first trajectory information.

[0022] As a feasible embodiment of the present application, the processing of the posture change data and / or the speed change data to obtain the first trajectory information includes:

[0023] Filtering the posture change data and the speed change data to obtain filtered posture change data and filtered speed change data;

[0024] Integrate the filtered posture change data and the filtered speed change data to obtain the first trajectory information.

[0025] As a feasible embodiment of the present application, the method further includes:

[0026] When within a preset communication range of a second target object, a second relative position with respect to the second target object is determined, and the positioning information of the target vehicle is determined based on the positioning information of the second target object and the second relative position; wherein the second target object includes the first target object, and / or the first vehicle within the preset communication range of the first target object.

[0027] As a feasible embodiment of the present application, the method further includes:

[0028] When within a preset communication range of a third target object, a third relative position with respect to the third target object is determined, and the positioning information of the third target object is determined based on the positioning information of the target vehicle and the third relative position; wherein the third target object includes a second vehicle that is outside the preset communication range of the first target object.

[0029] As a feasible embodiment of the present application, it is characterized in that the communication between vehicles is ultra-wideband wireless carrier communication, and / or the communication between the vehicle and the first target object is ultra-wideband wireless carrier communication.

[0030] In addition, an embodiment of the present application further provides a road network information integration method, which is applied to a first target object, and the method includes:

[0031] receiving first trajectory information and second trajectory information sent by the target vehicle;

[0032] generating road network information based on the first trajectory information and the second trajectory information;

[0033] The first trajectory information is the trajectory information of the target vehicle, and the second trajectory information is the trajectory information of other vehicles other than the target vehicle.

[0034] As a feasible embodiment of the present application, generating road network information based on the first trajectory information and the second trajectory information includes:

[0035] Processing the first trajectory information and the second trajectory information based on relative position information with respect to the target vehicle at multiple moments to obtain target trajectory information of the first trajectory information and the second trajectory information in a spatial coordinate system where the first target object is located;

[0036] Aggregate the target trajectory information to generate road network information.

[0037] In addition, an embodiment of the present application further provides a road network information generation system, comprising a vehicle terminal provided on a target vehicle, and a first target object;

[0038] The vehicle terminal is configured to collect first trajectory information of the target vehicle, receive second trajectory information of other vehicles except the target vehicle, and send the first trajectory information and the second trajectory information to the first target object;

[0039] The first target object is used to process the received first trajectory information and second trajectory information to generate road network information.

[0040] As a feasible embodiment of the present application, the vehicle terminal is further used to solve the second trajectory information to obtain mapping trajectory information of the second trajectory information in the spatial coordinate system where the target vehicle is located, and send the mapping trajectory information to the first target object.

[0041] In addition, an embodiment of the present application also provides an electronic device, including one or more processors and a memory, wherein the memory stores a computer program. When the computer program is executed by the processor, the processor executes the steps of any one of the above-mentioned road network information generation methods.

[0042] In addition, an embodiment of the present application also provides an electronic device, including one or more processors and a memory, wherein the memory stores a computer program. When the computer program is executed by the processor, the processor executes the steps of any one of the road network information integration methods described above.

[0043] In addition, an embodiment of the present application also provides a storage medium, including a computer program. When the computer program is run on a controller, the computer program is used to enable the controller to execute the steps of any of the above-mentioned road network information generation methods or the steps of any of the above-mentioned road network information integration methods.

[0044] In addition, an embodiment of the present application also provides a computer program product, including a computer program or instructions, wherein the computer program or instructions are executed by a processor to perform the steps of any of the above-mentioned road network information generation methods or the steps of any of the above-mentioned road network information integration methods.

[0045] In addition, an embodiment of the present application also provides a vehicle, which includes the electronic device as described above or executes the steps of the road network information generation method as described above.

[0046] In addition, an embodiment of the present application further provides a base station, which includes the electronic device described above or executes the steps of the road network information integration method described above.

[0047] In an embodiment of the present application, by sending the trajectory information of the first vehicle and the trajectory information of the second vehicle to the first target object, so that the first target object performs processing based on the received trajectory information, the road network information can be effectively recovered and generated from the trajectory information, which effectively reduces the cost of drawing the road network compared to using a collection vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 A schematic diagram showing the effect of an application scenario of the road network information generation method provided in an embodiment of the present application;

[0050] Figure 2 A schematic diagram of a process flow of a method for generating road network information provided in an embodiment of the present application;

[0051] Figure 3 A schematic flow chart of steps for collecting first trajectory information of a first vehicle provided in an embodiment of the present application;

[0052] Figure 4a A schematic diagram of the effect of calculating the solution space of the relative position of the first vehicle and the second vehicle provided in an embodiment of the present application;

[0053] Figure 4b A schematic flow chart of the steps for spatially converting the second trajectory information provided in an embodiment of the present application;

[0054] Figure 5 A schematic diagram of the steps of a road network information integration method provided in an embodiment of the present application;

[0055] Figure 6a A schematic flow chart of the steps for processing trajectory information to obtain road network information provided in an embodiment of the present application;

[0056] Figure 6b A schematic diagram of the effect obtained by clustering trajectory information provided in an embodiment of the present application;

[0057] Figure 7a A schematic diagram of the effect of a positioning process provided in an embodiment of the present application;

[0058] Figure 7b A schematic diagram of a positioning method according to an embodiment of the present invention;

[0059] Figure 8aA schematic diagram of the structure of a road network information generation system provided in an embodiment of the present application;

[0060] Figure 8b A schematic diagram of the hardware devices and interactions involved in the road network generation method provided in an embodiment of the present application;

[0061] Figure 9 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0063] In addition, the term "a plurality of" in the embodiments of the present application refers to two or more than two. The terms "first" and "second" in the embodiments of the present application are used to distinguish descriptions and should not be understood to imply relative importance.

[0064] To clearly understand the road network information generation and integration methods, systems, devices, media, products, vehicles, and base stations provided in the embodiments of this application, we first explain the application scenarios of the road network information generation method provided in this application. Current road network mapping relies on map collection vehicles equipped with equipment such as lidar and sensors to collect data on the ground, which is then processed and mapped via a mapping platform. This is expensive to build, and the verification process and subsequent updates and maintenance require a continuous investment of significant manpower and resources.

[0065] To address these issues, this application utilizes the vehicle's onboard tracking data to record trajectories, calculates the relative positions of vehicles based on inter-vehicle communication, and completes trajectory positioning and data upload when the trajectories are shared between vehicles and pass through the base station. Finally, the uploaded data is used to analyze and extract information such as lane lines, red lights, and intersections to achieve the final road network drawing. The solution provided by this application effectively reduces the cost of road network drawing and eliminates the need for subsequent investment in large amounts of manpower and material resources for updates and maintenance. The road network can be updated at any time based on the vehicle's trajectory.

[0066] Specifically, to understand the above content, please refer to Figure 1 , Figure 1 This is a schematic diagram of the effect of the application scenario of the road network information generation method provided in the embodiment of the present application. It can be seen that Figure 1The system includes vehicles R and U, wherein the driving trajectory of vehicle R includes EF, and the formal trajectory of vehicle U includes ABCD. When vehicle R travels to position F, it will exchange information with vehicle U at position B, thereby sharing its own driving trajectory EF with vehicle U. In this way, when vehicle U travels within the communication range of a specific first target object, it will upload its own driving trajectory and the driving trajectory EF shared by vehicle R to the first target object, so that the first target object can generate corresponding road network information by integrating the received trajectory data.

[0067] Among them, Figure 1 For example, the first target object here can be a fixed device for solving the path, such as a base station, such as an ultra-wideband wireless carrier (UWB, Ultra-Wideband) base station. Of course, in addition to the base station, the target object here can also be other mobile devices with a trajectory solving function to generate road network information according to multiple trajectories. For example, the first target object can also be a mobile monitoring vehicle. Of course, it should be noted that for mobile devices, it is necessary to determine the accurate positioning information of the mobile device at each moment in order to accurately solve the road network information from the received trajectory. Of course, the first target object can also be a combination of a base station and a mobile monitoring vehicle. The embodiment of the present application does not limit the first target object here. For ease of description, the base station will be used as an example for explanation.

[0068] Furthermore, in order to clearly understand the execution logic of the vehicle terminal and the base station in the road network information generation method provided in this application, the following will be explained in combination with specific embodiments.

[0069] For details, please refer to Figure 2 , Figure 2 A schematic flow chart of a method for generating road network information provided in an embodiment of the present application is provided. The method will be described by taking the application to a target vehicle as an example. For example, the target vehicle may be Figure 1 The vehicle U shown in FIG. 3 specifically includes step S210:

[0070] S210: Send the first trajectory information and the second trajectory information to a first target object, so that the first target object generates road network information according to the first trajectory information and the second trajectory information.

[0071] In this embodiment of the present application, the first trajectory information is the trajectory information of the target vehicle, and the second trajectory information is the trajectory information of other vehicles other than the target vehicle, where the other vehicles here include at least one vehicle, that is, the second trajectory information can include the trajectory information of one other vehicle, and of course, it can also include the trajectory information of multiple other vehicles. For ease of description, this embodiment of the present application will use the second trajectory information of a single vehicle as an example. When the second trajectory information includes the trajectory information of more other vehicles, the processing process for each piece of trajectory information can refer to the processing process for a single piece of second trajectory information provided in this embodiment.

[0072] In an embodiment of the present application, the first trajectory information and the second trajectory information are usually sent to the first target object by the target vehicle to the base station, that is, the target vehicle receives the second trajectory information from other vehicles other than the target vehicle, and the target vehicle sends its own first trajectory information and the received second trajectory information to the first target object.

[0073] In the embodiment of the present application, the first trajectory information of the target vehicle can generally be collected by a device installed on the first vehicle. For example, as a common feasible implementation solution, the first trajectory information of the first vehicle can be collected by an onboard inertial navigation system. Figure 3 , Figure 3 A schematic flow chart of steps for collecting first trajectory information of a first vehicle provided in an embodiment of the present application, specifically including steps S310 to S320:

[0074] S310: Collecting position change data and / or speed change data of the first vehicle based on a vehicle-mounted inertial navigation system.

[0075] In the embodiment of the present application, the vehicle-mounted inertial navigation system generally includes an accelerometer and a gyroscope. Specifically, the accelerometer can collect the acceleration record C=[c1, c2, ..., c t ], that is, speed change data, and the gyroscope device can collect the three-axis angular velocity record of the first vehicle within a certain period of time G = [g1, g2, ..., g t ], that is, posture change data.

[0076] S320: Process the posture change data and / or the speed change data to obtain the first trajectory information.

[0077] By processing the aforementioned posture change data and speed change data, the first trajectory information of the target vehicle can be restored therefrom. Among them, the first trajectory information is obtained based on the processing of the posture change data and / or the speed change data. The first trajectory information can be obtained by solving the posture change data, and of course, the first trajectory information can also be obtained by solving the speed change data. Of course, more accurate first trajectory information can also be obtained by unified processing of the posture change data and the speed change data. Specifically, as a feasible implementation scheme, the processing of the posture change data and the speed change data can usually be to first make a more accurate estimate of the data through state estimation, reduce the noise and deviation in the data, and thus obtain the first trajectory information of the target vehicle based on the integral restoration of the processed data. Specifically, that is to say, the processing of the posture change data and the speed change data to obtain the first trajectory information includes:

[0078] Filtering the posture change data and the speed change data to obtain filtered posture change data and filtered speed change data;

[0079] Integrate the filtered posture change data and the filtered speed change data to obtain the first trajectory information.

[0080] Filtering the posture change data and speed change data can usually be achieved through methods such as Kalman filtering or particle filtering to achieve a more accurate estimate of the speed and posture and reduce noise and deviation in the data. In the process of integrating the filtered data to restore information such as the vehicle trajectory, error compensation can also be performed through methods such as zero-speed update and orientation update, thereby reducing error accumulation during the integration process. In addition, in order to reduce trajectory errors, the recording time of the vehicle data can also be shortened, such as only recording the driving trajectory for 30 seconds past the current time point.

[0081] In addition, in addition to collecting the first trajectory information of the target vehicle through the aforementioned embodiments, the vehicle terminal of the target vehicle can also receive the second trajectory information of another vehicle, that is, the second vehicle, based on inter-vehicle communication.

[0082] Specifically, as a common feasible implementation scheme, the target vehicle and the second vehicle can also transmit data through ultra-wideband wireless carrier communication, namely UWB. That is to say, when the target vehicle is within the communication range of other vehicles, for example, within the UWB communication range, the on-board terminal of the target vehicle and the on-board terminal of the other vehicle can communicate with each other, so that the on-board terminal of the target vehicle can obtain the second trajectory information recorded by the on-board terminal of the other vehicle (or the on-board terminal of the other vehicle can also obtain the first trajectory information recorded by the on-board terminal of the target vehicle).

[0083] Of course, it should be noted that the second trajectory information recorded by the on-board terminal of other vehicles can also be obtained through the solution provided above. For example, after collecting posture change data and / or speed change data through the on-board inertial navigation system, the second trajectory information of other vehicles can be restored after filtering and integration processing. The embodiments of this application will not be repeated here.

[0084] In an embodiment of the present application, through the trajectory sharing solution provided above, that is, a solution in which a vehicle records its own trajectory and shares it among multiple vehicles, when a vehicle enters the communication range of a first target object, the trajectory information recorded by itself and transmitted by other vehicles can be sent to the first target object, so that the first target object can generate road network information based on the received multiple sets of trajectory information.

[0085] Furthermore, taking the example of the target vehicle receiving the second trajectory information of other vehicles, considering that the second trajectory information of other vehicles received by the target vehicle is usually the trajectory information of the on-board terminal of the second vehicle in the vehicle trajectory space coordinate system, and the first trajectory information is the trajectory information of the target vehicle, that is, the space coordinate system where the first trajectory information is located, that is, the two types of trajectory information often use different trajectory space coordinate systems. Therefore, in the embodiment of the present application, it is often necessary to solve the received second trajectory information to convert the second trajectory information into mapping trajectory information in the target space coordinate system where the first trajectory information is located. That is to say, as a feasible embodiment of the present application, the method also includes:

[0086] performing a calculation on the second trajectory information to obtain mapping trajectory information of the second trajectory information in the spatial coordinate system where the first trajectory information is located;

[0087] Send the mapping trajectory information to the first target object

[0088] For easier understanding, please refer to Figure 4a , Figure 4aThe schematic diagram of the effect of calculating the relative position solution space of the target vehicle and other vehicles provided in the embodiment of the present application is detailed as follows.

[0089] In the embodiment of the present application, when the target vehicle and other vehicles are within a given communication range, the target vehicle and other vehicles will initiate communication at multiple times to request each other's driving trajectory information, for example, Figure 4a For example, the trajectory of the target vehicle is trajectory A, and the trajectory of the other vehicles is trajectory B. The three position points A1, A2 and A3 on trajectory A are the moments when the target vehicle interacts with the other vehicles. At this time, the other vehicles are correspondingly at positions B1, B2 and B3 on trajectory B. Therefore, when the coordinate system is constructed with A1 as the origin, in order to calculate the first relative orientation of B1, B2 and B3 on trajectory B relative to the origin A1, the relative distances between the target vehicle and the other vehicles at multiple moments can be obtained, that is, the distances S1, S2 and S3 between A1B1, A2B2 and A3B3. In addition, considering that when the trajectory is converted to different coordinate systems, only the coordinate position changes, and the distances between the points on the trajectory are often different, another set of equations about B1, B2 and B3 can be obtained based on the distances between multiple trajectory points on the second trajectory information, such as B1B2, B2B3 and B3B1. Furthermore, if the influence of the horizontal plane is considered, that is, the coordinates of B1, B2, and B3 in three-dimensional space are considered, since the two vehicles have essentially the same direction of gravity, the attitude changes of the other vehicles in the target vehicle's coordinate system can also be determined. Based on the pitch angles in this attitude change, the distances between multiple trajectory points on the second trajectory information, such as the angles between B1B2, B2B3, and B3B1 and the horizontal plane, can be further determined, thereby obtaining a third set of equations for B1, B2, and B3. By simultaneously solving these equations, the three-dimensional spatial positions of B1, B2, and B3 in the coordinate system of the first trajectory information can be obtained. Of course, if the vertical height changes of the other vehicles within the three-dimensional plane are ignored, that is, if the target vehicle and the other vehicles are always traveling on the same horizontal plane, the above content can be further simplified. Using only the relative distances between the target vehicle and the other vehicles at multiple moments and the displacement information between the multiple trajectory points on the second trajectory information, the two-dimensional spatial positions of B1, B2, and B3 in the coordinate system of the first trajectory information can be calculated.

[0090] That is, the processing of calculating the second trajectory information to obtain the mapping trajectory information of the second trajectory information in the spatial coordinate system where the first trajectory information is located includes:

[0091] The second trajectory information is processed based on first relative positions of the target vehicle and other vehicles corresponding to the second trajectory information at multiple moments to obtain mapping trajectory information of the second trajectory information in a spatial coordinate system where the first trajectory information is located.

[0092] Wherein, the first relative position of the target vehicle and the other vehicle corresponding to the second trajectory information at multiple times can be determined by the relative distance between the target vehicle and the other vehicle at multiple times, and the displacement information of the other vehicle between the multiple times, that is, the method further includes:

[0093] The first relative positions of the target vehicle and the other vehicles at multiple moments are determined according to the relative distances between the target vehicle and the other vehicles at multiple moments and the displacement information of the other vehicles between the multiple moments.

[0094] When the vehicles are in different horizontal planes, the relative distances between the target vehicle and the other vehicles at multiple moments and the displacement information of the other vehicles between the multiple moments can be further calculated in combination with the vehicle's posture information to obtain the first relative orientation. In other words, the method further includes:

[0095] The relative distance and the displacement information are calculated based on the position information of the other vehicle at the multiple moments to obtain the first relative positions of the target vehicle and the other vehicle at the multiple moments.

[0096] Specifically, for ease of understanding, the above will be explained in conjunction with specific formulas, please refer to Figure 4b , Figure 4b A schematic flow chart of a step of spatially converting the second trajectory information provided in an embodiment of the present application, specifically including steps S410 to S430:

[0097] S410: Obtain the relative distance between the target vehicle and the other vehicles at multiple moments, and the displacement information of the other vehicles between the moments.

[0098] In the embodiment of the present application, combined with the foregoing description, it can be seen that in order to realize the solution of the second trajectory information in the spatial coordinate system of the first trajectory information, it is necessary for the target vehicle and the other vehicle to communicate at multiple times to determine the relative distances at multiple times. At this time, it is known that the position of vehicle B at the three time points is respectively on three spheres with the measured distance as the radius, that is, the following equation can be constructed:

[0099]

[0100] Among them, the position points A1 (0, 0, 0), A2 and A3 The coordinate values of are all known quantities, s1, s2 and s3 are the relative distances between A1B1, A2B2 and A3B3 respectively, B1 B2 and B3 That is, the three-dimensional coordinate value in the coordinate system of the first vehicle is to be determined. Of course, in the scenario where some vertical height changes can be ignored, in order to simplify the calculation, it can be regarded as the vertical height of the above-mentioned several position points, that is, The default z-axis coordinate value is 0.

[0101] In addition to the formula provided above, since the trajectory coordinate transformation does not change the distance between trajectories, in addition to obtaining the relative distance between the target vehicle and other vehicles at multiple moments, it is also necessary to obtain the displacement information of other vehicles at each moment, that is, the distance between B1B2, B2B3 and B3B1 mentioned above. This distance can be calculated from the original second trajectory information, and the calculated displacement information also satisfies the requirements in the coordinate system of the first vehicle. Therefore, the following equation can be obtained:

[0102]

[0103] The meanings of the various parameters in the above formula have been mentioned in the above formula, and this application will not repeat them here. and That is the distance between B1B2, B2B3 and B3B1.

[0104] S420: Calculate the first relative positions of the other vehicles with respect to the target vehicle at the multiple moments according to the relative distance and the displacement information.

[0105] In an embodiment of the present application, combined with the aforementioned related description, after the relative distance and displacement information are known, by constructing the above equations and solving them simultaneously, the first relative orientation of other vehicles to the target vehicle at multiple moments can be calculated while ignoring the change in the vertical height of the vehicle, that is, the spatial positions of the position points B1, B2 and B3 in the coordinate system where the first trajectory information is located, where the spatial positions here are usually two-dimensional spatial coordinates.

[0106] Of course, in some scenarios with large vertical height fluctuations, that is, the vertical height distance between the target vehicle and other vehicles cannot be ignored, as a further feasible implementation scheme of this application, considering that the two vehicles have basically the same gravity direction, that is, the posture change of the other vehicle in the target vehicle coordinate system can be obtained (the same as the posture change in the other vehicle coordinate system). Therefore, the pitch angle in the posture change can be used to construct the following equation:

[0107]

[0108] The meanings of the various parameters in the above formula have been mentioned in the above formula, and this application will not repeat them here. is the angle between the straight line B1B2 and the horizontal plane XY, which can usually be calculated from the pitch angles at two positions. Similarly, is the angle between the straight line B2B3 and the horizontal plane XY, is the angle between the straight line B1B3 and the horizontal plane XY, and and That is, they are the cosine values of the above angles respectively.

[0109] By further combining the above equations, the first relative positions of the position points B1, B2 and B3 in the control coordinate system where the first trajectory information is located, that is, the three-dimensional space coordinates, can be accurately calculated.

[0110] S430: Process the second trajectory information based on first relative positions of the target vehicle and other vehicles corresponding to the second trajectory information at multiple moments to obtain mapping trajectory information of the second trajectory information in a target space coordinate system where the first trajectory information is located.

[0111] After calculating the first relative positions of the other vehicles relative to the target vehicle at multiple moments based on the aforementioned data interaction at multiple moments, a translation transformation matrix between the position information is constructed based on the first relative position and the position information recorded in the original second trajectory information. The second trajectory information can then be processed based on this translation transformation matrix to restore the mapped trajectory information of the second trajectory information in the target space coordinate system where the first trajectory information is located.

[0112] At this time, the mapped trajectory information can be uploaded to the first target object together with the first trajectory information to perform more accurate trajectory analysis and obtain road network information.

[0113] In an embodiment of the present application, by sending the trajectory information of the first vehicle and the trajectory information of the second vehicle to the first target object, so that the first target object performs processing based on the received trajectory information, the road network information can be effectively recovered and generated from the trajectory information, which effectively reduces the cost of drawing the road network compared to using a collection vehicle.

[0114] Of course, the above-mentioned embodiment is based on the example of vehicle terminal collecting trajectory information. In fact, the generation of the road network also needs to rely on the first target object to analyze the received trajectory information. Figure 5 , Figure 5 A schematic flow chart of a method for integrating road network information provided in an embodiment of the present application. Specifically, the method is typically run on a first target object station and specifically includes steps S510 to S520:

[0115] S510: Receive first trajectory information and second trajectory information sent by a target vehicle.

[0116] In the embodiment of the present application, the target vehicle refers to a vehicle that has traveled within the communication range of the first target object and has stored its own track or received the track of other vehicles, for example, Figure 1 For example, vehicle U is the target vehicle. Specifically, when the vehicle is within the communication range of the first target object, it can upload its stored trajectory to the first target object, so that the first target object receives trajectories sent by different vehicles. This includes the first trajectory information of the target vehicle and the second trajectory information of other vehicles other than the target vehicle.

[0117] S520: Generate road network information based on the first trajectory information and the second trajectory information.

[0118] In the embodiment of the present application, based on the received trajectory information, the first target object will solve the first trajectory information and the trajectory information to generate corresponding road network information.

[0119] Of course, considering that the first trajectory information and the second trajectory information are derived from trajectory information in different spatial coordinate systems, in the embodiment of the present application, the first trajectory information and the second trajectory information need to be processed to generate road network information. Specifically, that is, generating road network information based on the first trajectory information and the second trajectory information includes:

[0120] Based on the relative position information with respect to the target vehicle at multiple moments, the first trajectory information and the second trajectory information are processed to obtain target trajectory information of the first trajectory information and the second trajectory information in the spatial coordinate system where the first target object is located;

[0121] Aggregate the target trajectory information trajectory to generate road network information.

[0122] In the embodiment of the present application, the process of processing the first trajectory information and the second trajectory information based on the relative position information of the target vehicle at multiple times can also refer to the aforementioned Figure 4a as well as Figure 4b The provided solution process, that is, the solution is performed by using the distance at multiple moments and the displacement information of the target vehicle, which is not described in detail in the present embodiment. Among them, the second trajectory information here can be understood as the mapping trajectory information mapped to the space where the first trajectory information is located.

[0123] After completing the aforementioned preprocessing of the trajectory, by aggregating the obtained target trajectory information, we can merge and count the trajectory points with overlapping positions, filter out singular values and outliers with a small number of overlaps, and combine some aggregation features of the target trajectory information to generate some road network information on the road.

[0124] Specifically, in a feasible implementation scheme, the generated road network information usually includes lane lines, virtual and real lane line signs, intersection guide signs and intersection signal light signs, etc. For details, please refer to Figure 6a , Figure 6a A flowchart of a process for processing trajectory information to obtain road network information provided in an embodiment of the present application, specifically including steps S610 to S650:

[0125] S610: Obtain lane line information based on the clustered features of the trajectory.

[0126] In an embodiment of the present application, considering that during normal driving, the vehicle mainly travels in the center of the lane and there are fewer trajectory points on the lane line due to lane changes, the lanes can be divided according to the trajectory aggregation situation to obtain lane line information on the road.

[0127] S620: Determine virtual and real markings of the lane line based on the coverage characteristics of the lane line by the trajectory.

[0128] In the embodiment of the present application, since lane changes are allowed on the dotted line side but not on the solid line side, the virtual and real markings of the vehicle line can be further determined based on the coverage characteristics of the trajectory on the lane line, that is, the situation where the trajectory line crosses the lane line, that is, the dotted line / solid line is drawn.

[0129] S630: Determine guide signs for each lane based on the turning characteristics of the trajectory at each intersection.

[0130] In the embodiment of the present application, since vehicles often need to follow the guides of each lane when turning at an intersection, the guide signs for each lane can be determined based on the turning characteristics of the trajectory at each intersection. For example, if the trajectory of a lane is entirely left-turning, the guide sign for that lane can be considered to be left-turning. If the trajectory of a lane contains a certain number of left-turns and straight-ahead movements, the guide sign for that lane can be considered to be left-turn / straight-ahead.

[0131] S640: Determine the traffic light identification of each intersection based on the speed characteristics of the trajectory at each intersection.

[0132] In the embodiment of the present application, in addition, considering that at intersections with traffic lights, vehicles often need to stop or pass according to the traffic light instructions, therefore, when the trajectory stored by the vehicle also includes the speed at each position, it can be based on the speed characteristics of the trajectory at each intersection. For example, the position where the speed is 0 for more than a certain time is called a stop point. At this time, there will be an obvious side-by-side stop point aggregation section / tangent in front of the intersection with the traffic light, which makes it easier to identify whether there is a traffic light sign at the intersection.

[0133] S650: Generate road network information based on at least one of the lane line information, the virtual and real signs, the guide signs, and the traffic light signs.

[0134] In the embodiment of the present application, based on the lane lines, their virtual and real representations, and guide signs or signal light signs obtained through the aforementioned analysis, corresponding road network information can be automatically generated. Furthermore, the road network information can be automatically updated and maintained, for example, by modifying a section of the road network to be inaccessible if no vehicles have passed through it for a certain period of time.

[0135] Specifically, to understand the above content, please refer to Figure 6b , Figure 6b This is a schematic diagram of the effect of clustering trajectory information provided in an embodiment of the present application. It can be seen that based on the clustering results of the trajectories, lane lines can be effectively identified. Lane lines that are crossed by the trajectory can be distinguished by dashed and solid lines. At the same time, based on the turning conditions of the trajectory within the lane, the guidance signs for each lane are analyzed, such as left turn allowed, straight ahead allowed, left turn or straight ahead allowed, etc. In addition, the identified stop points at the intersection can also determine the traffic light conditions at the intersection, such as whether there is a traffic light.

[0136] After the road network information is generated through the aforementioned solution, the generated road network information can be further distributed to the vehicle through the base station for subsequent representation with positioning information from the base station, thereby achieving the effect of base station positioning.

[0137] For example, as a possible implementation, see Figure 7a, Figure 7a A schematic diagram of the effect of a positioning process provided by an embodiment of the present application. When car A enters the base station signal range, the base station sends its own position Loc and calculates the distance S and direction D between the two through UWB. Based on the above information, car A can obtain its own positioning. Similarly, when car A and car B are within the UWB communication range, through the same process, car B can obtain its own position based on (Loc A S A , D A ) to calculate its own positioning, so that car C, which is in the communication range of car B, can further calculate its own positioning. Through the transmission of the above process, vehicles outside the base station range can still calculate their own positioning information. For details, please refer to Figure 7b , Figure 7b A schematic flow chart of a positioning method provided in an embodiment of the present application, specifically including steps S710 to S720:

[0138] S710: When the target vehicle is within a preset communication range of a second target object, determine a second relative position with respect to the second target object, and determine positioning information of the target vehicle based on the positioning information of the second target object and the second relative position.

[0139] The second target object includes the first target object and / or a first vehicle within a preset communication range of the first target object.

[0140] In an embodiment of the present application, when the target vehicle and a second target object with known positioning information are within a preset communication range, a second relative position with respect to the second target object can be determined based on the communication, and then the positioning information of the target vehicle can be accurately determined based on the positioning information of the second target object. The second target object here can be the first target object, such as a base station or a mobile monitoring vehicle, or it can be a second vehicle outside the preset communication range of the first target object, that is, a vehicle that can determine its own positioning information through communication with the first target object.

[0141] S720: When the vehicle is within a preset communication range of a third target object, determine a third relative position with respect to the third target object, and determine the positioning information of the third target object based on the positioning information of the target vehicle and the third relative position.

[0142] The third target object includes a second vehicle that is outside a preset communication range of the first target object.

[0143] In an embodiment of the present application, based on the above, on the basis of the target vehicle's known own positioning information, when the target vehicle and other third target objects whose own positioning information is unknown are within a preset communication range, the third relative position between the target vehicle and the third target object can also be determined based on vehicle-to-vehicle communication, thereby determining the positioning information of the third target object based on the positioning information of the target vehicle and the third relative position, wherein the third target object here is usually a vehicle whose own positioning information is unknown, such as a second vehicle outside the preset communication range of the first target object.

[0144] Through the solution provided above, the vehicle can be effectively positioned through information transmission between vehicles, thereby providing a new positioning solution that does not rely on global positioning navigation, network positioning and other methods.

[0145] On the basis of the road network generation method provided above, this application also provides a road network information generation system. Figure 8a , Figure 8a A schematic structural diagram of a road network information generation system provided in an embodiment of the present application, specifically comprising a vehicle terminal 810 provided on a target vehicle, and a first target object 820;

[0146] The vehicle terminal 810 is configured to collect first trajectory information of the target vehicle, receive second trajectory information of other vehicles except the target vehicle, and send the first trajectory information and the second trajectory information to the first target object;

[0147] The first target object 820 is used to process the received first trajectory and second trajectory to generate road network information.

[0148] In a feasible embodiment, the vehicle terminal 810 is further used to solve the second trajectory information to obtain mapping trajectory information of the second trajectory information in the spatial coordinate system where the first trajectory information is located, and send the mapping trajectory information to the first target object.

[0149] In a feasible embodiment, the vehicle terminal 810 is also used to process the second trajectory information based on the first relative positions of the target vehicle and other vehicles corresponding to the second trajectory information at multiple times to obtain the mapping trajectory information of the second trajectory information in the spatial coordinate system where the first trajectory information is located.

[0150] In a feasible embodiment, the vehicle terminal 810 is also used to determine the first relative position of the target vehicle and the other vehicles at multiple moments in time based on the relative distance between the target vehicle and the other vehicles at multiple moments in time, and the displacement information of the other vehicles between the multiple moments in time.

[0151] In a feasible embodiment, the vehicle terminal 810 is also used to solve the relative distance and the displacement information based on the posture information of the other vehicles at the multiple moments, and obtain the first relative orientation of the target vehicle and the other vehicles at the multiple moments.

[0152] In a feasible embodiment, the vehicle terminal 810 is further configured to receive the second trajectory information of the other vehicle based on inter-vehicle communication when the vehicle terminal 810 is within the communication range of the other vehicle.

[0153] In a feasible embodiment, the vehicle terminal 810 is further configured to collect the position change data and / or speed change data of the target vehicle based on a vehicle-mounted inertial navigation system;

[0154] The posture change data and / or the speed change data are processed to obtain the first trajectory information.

[0155] In a feasible embodiment, the vehicle terminal 810 is further configured to filter the posture change data and the speed change data to obtain filtered posture change data and filtered speed change data;

[0156] Integrate the filtered posture change data and the filtered speed change data to obtain the first trajectory information.

[0157] In a feasible embodiment, the vehicle terminal 810 is also used to determine a second relative position between the vehicle and the second target object when the vehicle is within a preset communication range of the second target object, and to determine the positioning information of the target vehicle based on the positioning information of the second target object and the second relative position; wherein the second target object includes the first target object, and / or the first vehicle within the preset communication range of the first target object.

[0158] In a feasible embodiment, the vehicle terminal 810 is also used to determine a third relative position between the vehicle terminal 810 and the third target object when the vehicle terminal is within a preset communication range of the third target object, and to determine the positioning information of the third target object based on the positioning information of the target vehicle and the third relative position; wherein the third target object includes a second vehicle outside the preset communication range of the first target object.

[0159] In a feasible embodiment, the first target object 820 is further configured to process the first trajectory information and the second trajectory information based on relative position information with the target vehicle at multiple time instants to obtain target trajectory information of the first trajectory information and the second trajectory information in the spatial coordinate system where the first target object is located;

[0160] Aggregate the target trajectory information to generate road network information.

[0161] In a feasible embodiment, the first target object 820 is further used to obtain lane line information based on the aggregation features of the trajectory;

[0162] Determining a virtual or real marking of the lane line based on a coverage feature of the lane line by the trajectory;

[0163] Determine the guide signs for each lane based on the turning characteristics of the trajectory at each intersection

[0164] Determining the signal light identification of each intersection based on the speed characteristics of the trajectory at each intersection;

[0165] Road network information is generated based on at least one of the lane line information, the virtual and real signs, the guide signs, and the signal light signs.

[0166] In addition, in order to clearly understand the solution provided by the embodiment of this application, please refer to Figure 8b , Figure 8b A schematic diagram of the hardware devices and interactions involved in the road network generation method provided in an embodiment of the present application.

[0167] Among them, the vehicle's on-board equipment usually includes sensors and memory for collecting and storing data. In addition, the trajectory data obtained by the inertial navigation system is shared with other vehicles through wireless communication. On the other hand, after the data is settled through the calculation and processing module, it communicates with the UWB base station through the UWB module to upload the trajectory data. The UWB base station can realize UWB positioning of the vehicle after completing the generation and update of road network information.

[0168] During specific implementation, the above modules can be implemented as independent entities, or they can be arbitrarily combined and implemented as the same or several entities. The specific implementation methods and corresponding beneficial effects of the above modules can be found in the previous method embodiments and will not be repeated here.

[0169] The present application also provides an electronic device, such as Figure 9 , which shows a schematic structural diagram of an electronic device involved in an embodiment of the present application, specifically:

[0170] The electronic device may include one or more processing core processors 301, one or more storage media memories 302, a power supply 303, an input unit 304 and other components. Those skilled in the art will understand that Figure 9 The electronic device structure shown in the figure does not constitute a limitation to the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0171] in:

[0172] The processor 301 is the control center of the electronic device. It connects all parts of the electronic device using various interfaces and circuits. It executes the various functions of the electronic device and processes data by running or executing computer programs and / or modules stored in the memory 302 and accessing data stored in the memory 302. Optionally, the processor 301 may include one or more processing cores. Preferably, the processor 301 may integrate an application processor and a modem processor. The application processor primarily handles the operating system, user interface, and application programs, while the modem processor primarily handles wireless communications. It is understood that the modem processor may not be integrated into the processor 301.

[0173] The memory 302 can be used to store computer programs and modules. The processor 301 executes various functional applications and parking space identification by running the computer programs and modules stored in the memory 302. The memory 302 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function (such as an audio and light prompt function, an anti-pinch function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 302 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory 302 may also include a memory electronic device to provide the processor 301 with access to the memory 302.

[0174] The electronic device also includes a power supply 303 for supplying power to various components. Preferably, the power supply 303 can be logically connected to the processor 301 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. The power supply 303 can also include one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0175] The electronic device may further include an input unit 304, which may be configured to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0176] Although not shown, the electronic device may further include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 301 in the electronic device will load the executable files corresponding to one or more computer program processes into the memory 302 according to the following instructions, and the processor 301 will run the computer programs stored in the memory 302 to implement various functions, such as:

[0177] Sending the first trajectory information and the second trajectory information to a first target object, so that the first target object generates road network information according to the first trajectory information and the second trajectory information;

[0178] The first trajectory information is the trajectory information of the target vehicle, and the second trajectory information is the trajectory information of other vehicles other than the target vehicle;

[0179] or

[0180] receiving first trajectory information and second trajectory information sent by the target vehicle;

[0181] generating road network information based on the first trajectory information and the second trajectory information;

[0182] The first trajectory information is the trajectory information of the target vehicle, and the second trajectory information is the trajectory information of other vehicles other than the target vehicle.

[0183] From this, we can see that by using the vehicle's terminal to collect the vehicle's own trajectory information, and after receiving the trajectory information of other vehicles through inter-vehicle communication, by sending the trajectory information to the base station so that the base station can process it based on the received trajectory information, the road network information can be effectively restored from the trajectory information. Compared with using a collection vehicle, the cost of drawing the road network is effectively reduced.

[0184] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the detailed description of the road network information generation method above, which will not be repeated here.

[0185] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a storage medium and loaded and executed by a processor.

[0186] To this end, an embodiment of the present application provides a storage medium storing a computer program that can be loaded by a processor to execute the steps of any of the road network information generation methods provided in the embodiments of the present application. For example, the computer program can execute the following steps:

[0187] Sending the first trajectory information and the second trajectory information to a first target object, so that the first target object generates road network information according to the first trajectory information and the second trajectory information;

[0188] The first trajectory information is the trajectory information of the target vehicle, and the second trajectory information is the trajectory information of other vehicles other than the target vehicle;

[0189] or

[0190] receiving first trajectory information and second trajectory information sent by the target vehicle;

[0191] generating road network information based on the first trajectory information and the second trajectory information;

[0192] The first trajectory information is the trajectory information of the target vehicle, and the second trajectory information is the trajectory information of other vehicles other than the target vehicle.

[0193] It can be seen from this that the storage medium provided in the embodiment of the present application can effectively recover and generate road network information from the trajectory information by using the vehicle's terminal to collect the vehicle's own trajectory information, and after receiving the trajectory information of other vehicles through vehicle-to-vehicle communication, by sending the trajectory information to the base station so that the base station processes it based on the received trajectory information. Compared with using a collection vehicle, the cost of drawing the road network is effectively reduced.

[0194] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the previous embodiments and will not be described in detail here.

[0195] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0196] Since the computer program stored in the storage medium can execute the steps in any of the road network information generation methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any of the road network information generation methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0197] According to one aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a storage medium. A processor of a computer device reads the computer instructions from the storage medium and executes the computer instructions, causing the computer device to perform the above-described method for generating road network information.

[0198] The embodiment of the present application further provides a vehicle, comprising the electronic device or the computer program product. The electronic device transmits first trajectory information and second trajectory information to a first target object, so that the first target object generates road network information according to the first trajectory information and the second trajectory information;

[0199] The first trajectory information is the trajectory information of the target vehicle, and the second trajectory information is the trajectory information of other vehicles other than the target vehicle.

[0200] The specific structure of the vehicle is not limited in this application. The specific implementation methods and corresponding beneficial effects of the above operations of the electronic device are also applicable to the vehicle. For details, please refer to the detailed description of the road network information generation method above, which will not be repeated here.

[0201] The embodiment of the present application further provides a base station, the vehicle including the above electronic device or the above computer program product. The electronic device implements the integration of road network information by executing the above road network information integration method. For example, the electronic device receives the first trajectory information and the second trajectory information sent by the target vehicle;

[0202] generating road network information based on the first trajectory information and the second trajectory information;

[0203] The specific structure of the base station is not limited in this application. The specific implementation methods and corresponding beneficial effects of the above operations of the electronic device are also applicable to the base station. For details, please refer to the detailed description of the road network information integration method above, which will not be repeated here.

[0204] The above is a detailed introduction to a road network information generation and integration method, system, equipment, medium, product, vehicle and base station provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A road network information generation method, applied to a target vehicle, characterized in that: The method comprises: Sending the first trajectory information and the second trajectory information to a first target object, so that the first target object generates road network information according to the first trajectory information and the second trajectory information; The first trajectory information is the trajectory information of the target vehicle, and the second trajectory information is the trajectory information of other vehicles other than the target vehicle.

2. The method according to claim 1, characterized in that The method further comprises: performing a calculation on the second trajectory information to obtain mapping trajectory information of the second trajectory information in the spatial coordinate system where the first trajectory information is located; The mapping trajectory information is sent to the first target object.

3. The method according to claim 2, characterized in that The performing calculation processing on the second trajectory information to obtain mapping trajectory information of the second trajectory information in the spatial coordinate system where the first trajectory information is located includes: The second trajectory information is processed based on first relative positions of the target vehicle and other vehicles corresponding to the second trajectory information at multiple moments to obtain mapping trajectory information of the second trajectory information in a spatial coordinate system where the first trajectory information is located.

4. The method according to claim 3, characterized in that The method further comprises: The first relative positions of the target vehicle and the other vehicles at multiple moments are determined according to the relative distances between the target vehicle and the other vehicles at multiple moments and the displacement information of the other vehicles between the multiple moments.

5. The method according to claim 4, characterized in that The method further comprises: The relative distance and the displacement information are calculated based on the position information of the other vehicle at the multiple moments to obtain the first relative positions of the target vehicle and the other vehicle at the multiple moments.

6. The method according to claim 1, characterized in that The method further comprises: When the vehicle is within the communication range of the other vehicle, second trajectory information of the other vehicle is received based on inter-vehicle communication.

7. The method according to claim 1, characterized in that include: Collecting position change data and / or speed change data of the target vehicle based on a vehicle-mounted inertial navigation system; The posture change data and / or the speed change data are processed to obtain the first trajectory information.

8. The method according to claim 7, characterized in that The processing of the posture change data and / or the speed change data to obtain the first trajectory information includes: Filtering the posture change data and the speed change data to obtain filtered posture change data and filtered speed change data; Integrate the filtered posture change data and the filtered speed change data to obtain the first trajectory information.

9. The method according to claim 1, characterized in that The method further comprises: When within a preset communication range of a second target object, a second relative position with respect to the second target object is determined, and the positioning information of the target vehicle is determined based on the positioning information of the second target object and the second relative position; wherein the second target object includes the first target object, and / or the first vehicle within the preset communication range of the first target object.

10. The method according to claim 1, characterized in that The method further comprises: When within a preset communication range of a third target object, a third relative position with respect to the third target object is determined, and the positioning information of the third target object is determined based on the positioning information of the target vehicle and the third relative position; wherein the third target object includes a second vehicle that is outside the preset communication range of the first target object.

11. The method according to any one of claims 1 to 10, characterized in that The communication between vehicles is ultra-wideband wireless carrier communication, and / or the communication between the vehicle and the first target object is ultra-wideband wireless carrier communication.

12. A road network information integration method, characterized in that: Applied to the first target object, the method includes: receiving first trajectory information and second trajectory information sent by the target vehicle; generating road network information based on the first trajectory information and the second trajectory information; The first trajectory information is the trajectory information of the target vehicle, and the second trajectory information is the trajectory information of other vehicles other than the target vehicle.

13. The method according to claim 12, characterized in that The generating of road network information based on the first trajectory information and the second trajectory information includes: Processing the first trajectory information and the second trajectory information based on relative position information with respect to the target vehicle at multiple moments to obtain target trajectory information of the first trajectory information and the second trajectory information in a spatial coordinate system where the first target object is located; Aggregate the target trajectory information to generate road network information.

14. A road network information generation system, characterized in that: The method comprises a vehicle terminal provided on a target vehicle, and a first target object; The vehicle terminal is configured to collect first trajectory information of the target vehicle, receive second trajectory information of other vehicles except the target vehicle, and send the first trajectory information and the second trajectory information to the first target object; The first target object is used to process the received first trajectory and second trajectory to generate road network information.

15. The system according to claim 14, wherein: The vehicle terminal is further configured to perform a calculation on the second trajectory information to obtain mapping trajectory information of the second trajectory information in the spatial coordinate system where the first trajectory information is located, and to send the mapping trajectory information to the first target object.

16. An electronic device, characterized in that: The method comprises one or more processors and a memory, wherein the memory stores a computer program. When the computer program is executed by the processor, the processor executes the steps of the road network information generation method according to any one of claims 1 to 11.

17. An electronic device, characterized in that: The method comprises one or more processors and a memory, wherein the memory stores a computer program. When the computer program is executed by the processor, the processor executes the steps of the road network information integration method according to any one of claims 12 to 13.

18. A storage medium, characterized in that It includes a computer program, which, when running on a controller, is used to enable the controller to execute the steps of the road network information generation method described in any one of claims 1 to 11, or to execute the steps of the road network information integration method described in any one of claims 12 to 13.

19. A computer program product, characterized in that The method comprises a computer program or an instruction, which, when executed by a processor, implements the steps of the road network information generation method according to any one of claims 1 to 11 or executes the steps of the road network information integration method according to any one of claims 12 to 13.

20. A vehicle, characterized in that: The vehicle includes the electronic device according to claim 16, or executes the steps of the road network information generation method according to any one of claims 1 to 11.

21. A base station, characterized in that: The base station includes the electronic device according to claim 17 or performs the steps of the road network information integration method according to any one of claims 12 to 13.

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