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

Abstract

A map data updating system, a layered transmission method for map data, a garage control method, and a product. The system comprises an electronic horizon provider (EHP) and an electronic horizon reconstructor (EHR); the EHP sends a first electronic horizon to the EHR (301); the EHP sends a second electronic horizon to the EHR (302), wherein the geographic coverage corresponding to the first electronic horizon is greater than and comprises the geographic coverage corresponding to the second electronic horizon, and map elements comprised in the first electronic horizon are different from map elements comprised in the second electronic horizon; and when a vehicle travels out of the geographic coverage corresponding to the second electronic horizon, the vehicle can travel on the basis of the first electronic horizon (304). The problem of no available map data when the vehicle travels out of the geographic coverage corresponding to the second electronic horizon can be solved.

Description

Map data update system, map data layered transmission method and products

[0001] This application claims priority to Chinese Patent Application No. 202311641170.3, filed with the China National Intellectual Property Administration on November 30, 2023, entitled “Map Data Update System, Map Data Layered Transmission Method and Product”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intelligent vehicles, and in particular to map data update systems, map data layered transmission methods and products. Background Technology

[0003] The implementation of intelligent driving applications such as navigation and planning control (PLC) requires map data as support. Map data provided by map providers is typically organized in different formats, and the elements are strongly coupled, making it unsuitable for direct input into intelligent driving modules like navigation and PLC. Currently, interaction between map data and applications is generally achieved through an Electronic Horizon Provider (EHP) and an Electronic Horizon Reconstructor (EHR). The EHP is responsible for reading global map data, integrating (reorganizing map elements according to a specific format) based on the current vehicle location, and outputting map data for a certain range in front of and around the vehicle—the electronic horizon data. The EHR is responsible for parsing the map data (electronic horizon data) sent by the EHP and then sending it to intelligent driving modules such as navigation and PLC for their use.

[0004] If a vehicle deviates from its planned path for any reason, the EHR will send its offset on the new path and request the EHP to reset (or update) the electronic horizon data. However, the EHP may not be able to release the updated electronic horizon data in time. In other words, once the vehicle leaves the original electronic horizon data range, there will be no electronic horizon data available until the EHP releases the updated data. When no electronic horizon data is available, one current solution is to alert the driver to take over or temporarily use sensor data for control. This impacts user experience and poses challenges to achieving safe driving. Summary of the Invention

[0005] This application discloses a map data update system, a map data layered transmission method and product, which can solve the problem of no map data available after a vehicle deviates from its original planned route.

[0006] In a first aspect, embodiments of this application provide a map data update system, comprising: an electronic horizon provider (EHP) and an electronic 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 area corresponding to the first electronic horizon is greater than and includes the geographic coverage area corresponding to the second electronic horizon, the map features included in the first electronic horizon are different from those included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than that of the second electronic horizon. In this document, map features can be replaced by attributes, attribute information, or attribute objects.

[0007] In this embodiment, 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. When the vehicle travels outside the geographical coverage area corresponding to the second electronic horizon, the vehicle can still drive based on the first electronic horizon; this solves the problem of no map data being available after the vehicle travels outside the geographical coverage area corresponding to the second electronic horizon. For example, the vehicle plans a driving route based on the first electronic horizon and navigates to a parking area or to its destination according to that route.

[0008] In one possible implementation, the applications supported by the first electronic horizon for vehicle execution differ from those supported by the second electronic horizon for vehicle execution, and the vehicle is equipped with the EHR. For example, the applications supported by the second electronic horizon for vehicle execution include regulatory control, while the applications supported by the first electronic horizon for vehicle execution do not. Alternatively, the applications that the vehicle can execute based on the second electronic horizon differ from the applications that the vehicle can execute based on the first electronic horizon. For example, the vehicle can execute regulatory control algorithms based on both the second and optional first electronic horizons to achieve vehicle regulation, but the vehicle cannot execute regulatory control algorithms based on the first electronic horizon. In this context, regulatory control can refer to the execution of regulatory control algorithms.

[0009] In this implementation, the applications supported by the first electronic horizon for vehicle execution are different from those supported by the second electronic horizon for vehicle execution, and different applications can be executed using the first electronic horizon and the second electronic horizon.

[0010] In one possible implementation, the second electronic horizon supports applications performed by the vehicle, including regulatory control, meaning the vehicle can execute regulatory control algorithms based on the second electronic horizon, and the vehicle is equipped with the EHR; the first electronic horizon supports applications performed by the vehicle, including positioning and / or navigation. For example, the first electronic horizon may support applications performed by the vehicle that do not include regulatory control, meaning the vehicle cannot execute regulatory control algorithms based solely on the first electronic horizon.

[0011] In this implementation, the first electronic horizon supports vehicle-executed applications including location and / or navigation. When the vehicle leaves the geographic coverage area corresponding to the second electronic horizon, it can perform location and / or navigation based on the first electronic horizon, which can improve driving safety and user experience.

[0012] In one possible implementation, the first electronic horizon includes map elements required for the vehicle to perform a first application, and the second electronic horizon includes map elements required for the vehicle to perform a second application, wherein the first application includes positioning and / or navigation, and the second application includes regulation control. For example, the first application may not include regulation control.

[0013] In this implementation, the first electronic horizon includes map elements required for the vehicle to perform a first application, so that the vehicle can perform the first application based on the first electronic horizon. The second electronic horizon includes map elements required for the vehicle to perform a second application, so that the vehicle can perform the second application based on the second electronic horizon.

[0014] In one possible implementation, the first electronic horizon includes map elements comprising at least one of the following: road topology information, road driving rules, and traffic flow information; the second electronic horizon includes map elements comprising at least one of the following: lane information, sign 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 segment, and traffic condition information. The first and second electronic horizons may include one or more of the same map elements, meaning that the map elements included in the first and second electronic horizons overlap; alternatively, the first and second electronic horizons may include different map elements, meaning that the map elements included in the first and second electronic horizons do not overlap.

[0015] In this implementation, the first electronic horizon includes at least one of the following map elements: road topology information, road driving rules, and traffic flow information, so that vehicles can perform positioning and / or navigation based on the first electronic horizon. The second electronic horizon includes at least one of the following map elements: lane information, landmark information, obstacle information, traffic light information, traffic signs, real-time traffic flow speed, speed limit information, weather information, road type information, road surface information, and a map database corresponding to road segments, so that vehicles can perform traffic control based on the second electronic horizon.

[0016] Secondly, embodiments of this application provide a method for layered transmission of map data, which is applied to an EHR. The method includes: receiving a first electronic horizon from an EHP; receiving a second electronic horizon from the EHP; wherein the geographic coverage area corresponding to the first electronic horizon is greater than and includes the geographic coverage area corresponding to the second electronic horizon, the map features included in the first electronic horizon are different from the map features 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.

[0017] In this embodiment, 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. When the vehicle travels outside the geographical coverage area corresponding to the second electronic horizon, the vehicle can still drive based on the first electronic horizon; this solves the problem of no map data being available after the vehicle travels outside the geographical coverage area corresponding to the first electronic horizon. For example, the vehicle plans a driving route based on the first electronic horizon and navigates to a parking area or to its destination according to that route.

[0018] In one possible implementation, the first electronic horizon supports applications executed by the vehicle that are different from those supported by the second electronic horizon, and the vehicle is equipped with the EHR.

[0019] In this implementation, the applications supported by the first electronic horizon for the vehicle are different from those supported by the second electronic horizon. Different applications can be executed using the first and second electronic horizons, thus avoiding the EHP from sending map data with the same function.

[0020] In one possible implementation, the second electronic horizon supports applications performed by the vehicle, including regulatory control, meaning the vehicle can execute regulatory control algorithms based on the second electronic horizon, and the vehicle is equipped with the EHR; the first electronic horizon supports applications performed by the vehicle, including positioning and / or navigation. For example, the first electronic horizon may support applications performed by the vehicle that do not include regulatory control, meaning the vehicle cannot execute regulatory control algorithms based solely on the first electronic horizon.

[0021] In this implementation, the first electronic horizon supports vehicle-executed applications including location and / or navigation. When the vehicle leaves the geographic coverage area corresponding to the second electronic horizon, it can perform location and / or navigation based on the first electronic horizon, which can improve driving safety and user experience.

[0022] In one possible implementation, the first electronic horizon includes map elements required for the vehicle to perform a first application, and the second electronic horizon includes map elements required for the vehicle to perform a second application, wherein the first application includes positioning and / or navigation, and the second application includes regulation control. For example, the first application may not include regulation control.

[0023] In this implementation, the first electronic horizon includes map elements required for the vehicle to perform a first application, so that the vehicle can perform the first application based on the first electronic horizon. The second electronic horizon includes map elements required for the vehicle to perform a second application, so that the vehicle can perform the second application based on the second electronic horizon.

[0024] 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, sign 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 segments, and road condition information.

[0025] In this implementation, the first electronic horizon includes at least one of the following map elements: road topology information, road driving rules, and traffic flow information, so that vehicles can perform positioning and / or navigation based on the first electronic horizon. The second electronic horizon includes at least one of the following map elements: lane information, landmark information, obstacle information, traffic light information, traffic signs, real-time traffic flow speed, speed limit information, weather information, road type information, road surface information, and a map database corresponding to road segments, so that vehicles can perform traffic control based on the second electronic horizon.

[0026] In one possible implementation, the method further 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 vehicle location information and range information, the range information being used to indicate the geographic coverage area corresponding to the first electronic horizon and / or the geographic coverage area corresponding to the second electronic horizon, and the vehicle is equipped with the EHR.

[0027] In this implementation, the first message includes at least one of the vehicle's location information and range information, so that the EHP sends a first electronic horizon and / or a second electronic horizon to the EHR based on at least one of the vehicle's location information and range information.

[0028] In one possible implementation, the first message is an initialization request message, which is used to request the first electronic horizon and the second electronic horizon.

[0029] In this implementation, the first message is an initialization request message. The EHR can send this first message to request the first electronic horizon and the second electronic horizon.

[0030] In one possible implementation, the first message further includes at least one of the following: first map feature information, which indicates the map feature corresponding to the first electronic horizon; first restriction information, which restricts or indicates the data size of the first electronic horizon; second map feature information, which indicates the map feature corresponding to the second electronic horizon; and second restriction information, which restricts or indicates the data size of the second electronic horizon.

[0031] In this implementation, the first message also includes at least one of the following: first map feature information, second map feature information, first restriction information, or second restriction information, which further limits the map data requested by the EHR so that the EHP can provide the map data required by the EHR.

[0032] In one possible implementation, sending the first message to the EHP includes: sending the first message to the EHP before the vehicle leaves the geographic coverage area corresponding to the third electronic horizon, wherein 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 those included in the second electronic horizon, a portion of the geographic coverage area corresponding to the second electronic horizon is not included in the geographic coverage area corresponding to the third electronic horizon, and the geographic coverage area corresponding to the first electronic horizon is greater than and includes the geographic coverage area corresponding to the third electronic horizon.

[0033] In this implementation, a first message is sent to the EHP before the vehicle leaves the geographic coverage area corresponding to the third electronic horizon; a second electronic horizon can be obtained before the vehicle leaves the geographic coverage area corresponding to the third electronic horizon so that the second electronic horizon can be used after the vehicle leaves the geographic coverage area corresponding to the third electronic horizon.

[0034] In one possible implementation, before sending the first message, the method further includes: determining an incremental range of the second-layer geographic coverage based on the EHR's desired second-layer geographic coverage and the EHR's existing second-layer geographic coverage, wherein the EHR's existing second-layer geographic coverage is the geographic coverage corresponding to the third electronic horizon; and generating the first message based on the incremental range, wherein the range information included in the first message is used to indicate the incremental range. For example, the third electronic horizon is the EHR's existing upper-layer map data, the second electronic horizon is the EHR's desired upper-layer map data, the second-layer geographic coverage is the geographic coverage corresponding to the EHR's desired upper-layer map data, and the EHR's existing second-layer geographic coverage is the geographic coverage corresponding to the EHR's existing upper-layer map data.

[0035] In this implementation, a first message is generated based on the incremental range; the required map data can be obtained by sending the first message.

[0036] In one possible implementation, the first message further includes at least one of the following: second map feature information, the second map feature being used to indicate the map feature corresponding to the second electronic horizon; second restriction information, the second restriction information being used to restrict or indicate the data size of the second electronic horizon; and second path identification information, the second path identification information being used to indicate the path contained in the second electronic horizon.

[0037] In this implementation, the first message also includes at least one of the following: second map feature information, second path identification information, or second restriction information, which further limits the map data requested by the EHR so that the EHP can provide the map data required by the EHR.

[0038] In one possible implementation, sending the first message to the EHP includes: after the vehicle leaves the geographic coverage area corresponding to the third electronic horizon, sending the first message to the EHP, wherein 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 those included in the second electronic horizon, and a portion of the geographic coverage area corresponding to the second electronic horizon is not included in the geographic coverage area corresponding to the third electronic horizon.

[0039] In this implementation, after the vehicle leaves 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 a timely manner.

[0040] In one possible implementation, the first message further includes at least one of the following: second map feature information, which indicates the map feature corresponding to the second electronic horizon; second restriction information, which restricts or indicates the data size of the second electronic horizon; second path identification information, which indicates the path contained in the second electronic horizon; and information on the planned driving path of the vehicle.

[0041] In this implementation, the first message also includes at least one of the following: second map feature information, second path identification information, or second restriction information, which further limits the map data requested by the EHR so that the EHP can provide the map data required by the EHR.

[0042] Thirdly, embodiments of this application provide another method for layered transmission of map data, which is applied to EHP. The method includes: sending a first electronic horizon to EHR; sending a second electronic horizon to EHR; wherein the geographic coverage area corresponding to the first electronic horizon is greater than and includes the geographic coverage area corresponding to the second electronic horizon, the map features included in the first electronic horizon are different from the map features 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.

[0043] In this embodiment, 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. When the vehicle travels outside the geographical coverage area corresponding to the second electronic horizon, it can still drive based on the first electronic horizon; this solves the problem of no map data being available after the vehicle travels outside the geographical coverage area corresponding to the first electronic horizon. For example, after the vehicle travels outside the geographical coverage area corresponding to the second electronic horizon, a driving route is planned based on the first electronic horizon, and the vehicle is navigated to a parking area or to its destination according to this route.

[0044] In one possible implementation, the first electronic horizon supports applications executed by the vehicle that are different from those supported by the second electronic horizon, and the vehicle is equipped with the EHR.

[0045] In this implementation, the applications supported by the first electronic horizon for the vehicle are different from those supported by the second electronic horizon. Different applications can be executed using the first and second electronic horizons, thus avoiding the EHP from sending map data with the same function.

[0046] In one possible implementation, the second electronic horizon supports applications performed by the vehicle, including regulatory control, meaning the vehicle can execute regulatory control algorithms based on the second electronic horizon, and the vehicle is equipped with the EHR; the first electronic horizon supports applications performed by the vehicle, including positioning and / or navigation. For example, the first electronic horizon may support applications performed by the vehicle that do not include regulatory control, meaning the vehicle cannot execute regulatory control algorithms based solely on the first electronic horizon.

[0047] In this implementation, the first electronic horizon supports vehicle-executed applications including location and / or navigation. When the vehicle leaves the geographic coverage area corresponding to the second electronic horizon, it can perform location and / or navigation based on the first electronic horizon, which can improve driving safety and user experience.

[0048] In one possible implementation, the first electronic horizon includes map elements required for the vehicle to perform a first application, and the second electronic horizon includes map elements required for the vehicle to perform a second application, wherein the first application includes positioning and / or navigation, and the second application includes regulation control. For example, the first application may not include regulation control.

[0049] In this implementation, the first electronic horizon includes map elements required for the vehicle to perform a first application, so that the vehicle can perform the first application based on the first electronic horizon. The second electronic horizon includes map elements required for the vehicle to perform a second application, so that the vehicle can perform the second application based on the second electronic horizon.

[0050] 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, sign 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 segments, and road condition information.

[0051] In this implementation, the first electronic horizon includes at least one of the following map elements: road topology information, road driving rules, and traffic flow information, so that vehicles can perform positioning and / or navigation based on the first electronic horizon. The second electronic horizon includes at least one of the following map elements: lane information, landmark information, obstacle information, traffic light information, traffic signs, real-time traffic flow speed, speed limit information, weather information, road type information, road surface information, and a map database corresponding to road segments, so that vehicles can perform traffic control based on the second electronic horizon.

[0052] In one possible implementation, the method further 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 including at least one of vehicle location information and range information, the range information being used to indicate the geographic coverage area corresponding to the first electronic horizon and / or the geographic coverage area corresponding to the second electronic horizon, the vehicle being equipped with the EHR; and sending the first electronic horizon and / or the second electronic horizon to the EHR based on the first message.

[0053] In this implementation, the first message includes at least one of the vehicle's location information and range information, and the EHP sends a first electronic horizon and / or a second electronic horizon to the EHR based on at least one of the vehicle's location information and range information.

[0054] In one possible implementation, the first message is an initialization request message, which requests the first electronic horizon and the second electronic horizon, and includes the vehicle's location information. 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 the vehicle's driving path based on the vehicle's location information; constructing the second electronic horizon based on the information of the driving path and the information of the sub-paths of the driving path; and constructing the first electronic horizon based on the topology information of the roads connected to the vehicle's driving path.

[0055] In this implementation, a first electronic horizon and a second electronic horizon with different corresponding geographical coverage areas are constructed in order to avoid the situation where no map data is available after the vehicle leaves the geographical coverage area corresponding to the second electronic horizon.

[0056] In one possible implementation, the first message further includes at least one of the following: first map feature information, which indicates the map feature corresponding to the first electronic horizon; first restriction information, which restricts or indicates the data size of the first electronic horizon; second map feature information, which indicates the map feature corresponding to the second electronic horizon; and second restriction information, which restricts or indicates the data size of the second electronic horizon.

[0057] In this implementation, the first message also includes at least one of the following: first map feature information, second map feature information, first restriction information, or second restriction information. By further defining the map data requested by the EHR, the EHP can provide the map data required by the EHR.

[0058] In one possible implementation, the first message is an update request message, which 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: constructing the second electronic horizon based on information about the vehicle's driving path and information about the sub-paths of the driving path.

[0059] In this implementation, a second electronic horizon is constructed based on the vehicle's driving path information and the information of the sub-paths of that driving path, so that the vehicle can be controlled based on the second electronic horizon.

[0060] In one possible implementation, the first message further includes the vehicle's travel path; before constructing the second electronic horizon based on the information of the vehicle's travel path and the information of the sub-paths of the travel path, the method further includes: determining the geographical coverage area corresponding to the second electronic horizon based on the vehicle's travel path.

[0061] In this implementation, the geographical coverage area corresponding to the second electronic horizon is determined based on the vehicle's driving path; the geographical coverage area corresponding to the second electronic horizon can be reasonably determined, avoiding the determined geographical coverage area being too large or too small.

[0062] In one possible implementation, the first message further includes the vehicle's travel path; before constructing the second electronic horizon based on the information of the vehicle's travel path and the information of the sub-paths of the travel path, the method further includes: determining the paths contained in the second electronic horizon based on the vehicle's travel path.

[0063] In this implementation, the path contained in the second electronic horizon is determined based on the vehicle's driving path; this ensures that the path contained in the determined second electronic horizon is a path associated with the driving path, thus avoiding the second electronic horizon from containing paths unrelated to the driving path.

[0064] In one possible implementation, the range information is used to indicate the incremental range of the second-layer geographic coverage area expected by the EHR relative to the existing second-layer geographic coverage area of ​​the EHR, wherein the existing second-layer geographic coverage area of ​​the EHR is the geographic coverage area 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 those included in the second electronic horizon; the construction of 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 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 within the incremental range.

[0065] In this implementation, the geographical coverage corresponding to the second electronic horizon is what the EHR expects.

[0066] In one possible implementation, the first message further includes at least one of the following: second map feature information, the second map feature being used to indicate the map feature corresponding to the second electronic horizon; second restriction information, the second restriction information being used to restrict or indicate the data size of the second electronic horizon; and second path identification information, the second path identification information being used to indicate the path contained in the second electronic horizon.

[0067] In this implementation, the first message also includes at least one of the following: second map feature information, second path identification information, or second restriction information. By further defining the map data requested by the EHR, the EHP can provide the map data required by the EHR.

[0068] Fourthly, this application provides another method for layered transmission of map data, applied to a vehicle. The method includes: determining whether the vehicle has left the geographical coverage area corresponding to a second electronic horizon; if the vehicle has left the geographical coverage area corresponding to the second electronic horizon, performing path planning based on a first electronic horizon and perception data, wherein the perception data is data obtained by perceiving the surrounding environment of the vehicle; wherein 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, the map elements included in the first electronic horizon are different from those 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.

[0069] In this embodiment, 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 that no map data is available after the vehicle leaves the geographical coverage area corresponding to the second electronic horizon.

[0070] In one possible implementation, the method further includes: performing path planning based on the second electronic horizon and sensing data, provided the vehicle has not left the geographical coverage area corresponding to the second electronic horizon. For example, path planning is performed based on the second electronic horizon, the first electronic horizon, and sensing data.

[0071] In this implementation, path planning is based on the second electronic horizon and sensing data, which is more reasonable and safer than path planning based on the first electronic horizon.

[0072] In one possible implementation, the method further includes navigating the vehicle to its destination based on the second electronic horizon, provided the vehicle has not left the geographical coverage area corresponding to the second electronic horizon. For example, the vehicle may be navigated to its destination based on both the first and second electronic horizons.

[0073] In this implementation, navigating the vehicle to its destination based on a second electronic horizon can improve the safety of vehicle operation.

[0074] In one possible implementation, the method further includes navigating the vehicle to a safe parking area based on the first electronic horizon if the vehicle leaves the geographic coverage area corresponding to the second electronic horizon.

[0075] In this implementation, the vehicle is navigated to a safe parking area based on a first electronic horizon to ensure the safety of the vehicle and passengers.

[0076] In one possible implementation, the method further includes: determining the location of the vehicle based on the first electronic horizon if the vehicle leaves the geographic coverage area corresponding to the second electronic horizon.

[0077] In this implementation, the vehicle's location is determined based on the first electronic horizon, which can solve the problem of not being able to determine the vehicle's location after it leaves the geographical coverage area corresponding to the second electronic horizon.

[0078] In one possible implementation, the method further includes: regulating the vehicle based on the second electronic horizon before the vehicle leaves the geographic coverage area corresponding to the second electronic horizon.

[0079] Fifthly, embodiments of this application provide a data processing apparatus that has the function of implementing the behavior described in the second aspect of the method embodiments. This data processing apparatus can also be a terminal device, a component of a terminal device (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the terminal device. For example, the data processing apparatus is an EHR deployed on a vehicle. The function of the data processing apparatus can be implemented by hardware or by hardware executing corresponding software, the hardware or software including one or more modules or units corresponding to the above functions. In one possible implementation, the data processing apparatus 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 area corresponding to the first electronic horizon is greater than and includes the geographical coverage area corresponding to the second electronic horizon, the map features included in the first electronic horizon are different from those 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.

[0080] In one possible implementation, the transceiver module is further configured to send 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 vehicle location information and range information, the range information being used to indicate the geographical coverage area corresponding to the first electronic horizon and / or the geographical coverage area corresponding to the second electronic horizon, and the vehicle is equipped with the EHR.

[0081] In one possible implementation, the transceiver module is specifically configured to send the first message to the EHP before the vehicle leaves the geographic coverage area corresponding to the third electronic horizon. The first message is an update request message, which requests the second electronic horizon. The types of map elements included in the third electronic horizon are the same as those included in the second electronic horizon. Some geographic coverage areas in the geographic coverage area corresponding to the second electronic horizon are not included in the geographic coverage area corresponding to the third electronic horizon. The geographic coverage area corresponding to the first electronic horizon is greater than and includes the geographic coverage area corresponding to the third electronic horizon.

[0082] In one possible implementation, the processing module is further configured to determine an incremental range of the second-layer geographic coverage based on the second-layer geographic coverage expected by 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; and generate the first message based on the incremental range, wherein the range information included in the first message is used to indicate the incremental range.

[0083] In one possible implementation, the transceiver module is specifically configured to send the first message to the EHP after the vehicle leaves the geographic coverage area corresponding to the third electronic horizon. The first message is an update request message, which requests the second electronic horizon. The types of map elements included in the third electronic horizon are the same as those included in the second electronic horizon, and some geographic coverage areas in the geographic coverage area corresponding to the second electronic horizon are not included in the geographic coverage area corresponding to the third electronic horizon.

[0084] For possible implementations of the data processing apparatus in the fifth aspect, please refer to the various possible implementations in the second aspect.

[0085] For the technical effects of the various possible implementations of the fifth aspect, please refer to the introduction of the technical effects of the various possible implementations of the second aspect.

[0086] Sixthly, embodiments of this application provide a data processing apparatus that has the function of implementing the behavior described in the third aspect of the method embodiments. The data processing apparatus may be a network device, a component of a network device (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the network device. For example, the data processing apparatus may be a cloud server or a processor, chip, or chip system within a cloud server. The data processing apparatus may be a terminal device, a component of a terminal device (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the terminal device. For example, the data processing apparatus may be an EHP deployed in a vehicle. The functions of the data processing apparatus 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 aforementioned 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; construct a second electronic horizon; the transceiver module is used to send the first electronic horizon to the EHR; send the second electronic horizon to the EHR; wherein the geographic coverage area corresponding to the first electronic horizon is greater than and includes the geographic coverage area corresponding to the second electronic horizon, the map features included in the first electronic horizon are different from the map features 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.

[0087] In one possible implementation, the transceiver module is further configured to receive 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 including at least one of vehicle location information and range information, the range information being used to indicate the geographical coverage area corresponding to the first electronic horizon and / or the geographical coverage area corresponding to the second electronic horizon, the vehicle being equipped with the EHR; the processing module is further configured to, based on the first message, send the first electronic horizon and / or the second electronic horizon to the EHR through the transceiver module.

[0088] In one possible implementation, the first message is an initialization request message, which requests the first electronic horizon and the second electronic horizon, and includes the vehicle's location information; the processing module is further configured to determine the vehicle's driving path based on the vehicle's location information; 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 topology information of the roads connected to the vehicle's driving path.

[0089] In one possible implementation, the first message is an update request message, which is used to request the second electronic horizon; the processing module is further configured 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.

[0090] In one possible implementation, the first message further includes the vehicle's travel path; the processing module is further configured to determine the geographical coverage area corresponding to the second electronic horizon based on the vehicle's travel path.

[0091] In one possible implementation, the first message further includes the vehicle's travel path; the processing module is further configured to determine the path contained in the second electronic horizon based on the vehicle's travel path.

[0092] In one possible implementation, the range information is used to indicate the incremental range of the second-layer geographic coverage area expected by the EHR relative to the existing second-layer geographic coverage area of ​​the EHR, wherein the existing second-layer geographic coverage area of ​​the EHR is the geographic coverage area 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 those 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.

[0093] For possible implementations of the data processing apparatus in the sixth aspect, please refer to the various possible implementations in the third aspect.

[0094] For the technical effects of the various possible implementations of the sixth aspect, please refer to the introduction of the technical effects of the various possible implementations of the third aspect.

[0095] Seventhly, embodiments of this application provide a data processing apparatus that has the function of implementing the behavior described in the fourth aspect of the method embodiments. The data processing apparatus may be a terminal device, a component of the terminal device (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the terminal device. For example, the data processing apparatus may be a car. The functions of the data processing apparatus may be implemented by hardware or by hardware executing corresponding software, and the hardware or software may include one or more modules or units corresponding to the aforementioned 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 left the geographical coverage area corresponding to the second electronic horizon; if the vehicle has left the geographical coverage area corresponding to the second electronic horizon, path planning is performed based on the first electronic horizon and sensing data, wherein the sensing data is data obtained by sensing the surrounding environment of the vehicle; wherein 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, the map features included in the first electronic horizon are different from those included in the second electronic horizon, and / or the accuracy of the first electronic horizon is lower than that of the second electronic horizon.

[0096] In one possible implementation, the processing module is further configured to perform path planning based on the second electronic horizon and perception data, provided that the vehicle has not left the geographical coverage area corresponding to the second electronic horizon.

[0097] In one possible implementation, the processing module is further configured to navigate the vehicle to its destination based on the second electronic horizon, provided that the vehicle has not left the geographical coverage area corresponding to the second electronic horizon.

[0098] In one possible implementation, the processing module is further configured to navigate the vehicle to a safe parking area based on the first electronic horizon if the vehicle leaves the geographical coverage area corresponding to the second electronic horizon.

[0099] In one possible implementation, the processing module is further configured to determine the location of the vehicle based on the first electronic horizon if the vehicle leaves the geographical coverage area corresponding to the second electronic horizon.

[0100] In one possible implementation, the processing module is further configured to regulate the vehicle based on the second electronic horizon before the vehicle leaves the geographical coverage area corresponding to the second electronic horizon.

[0101] Eighthly, embodiments of this application provide another data processing apparatus, which includes one or more processors for processing data or signaling such that the methods described in any one of the second to fourth aspects above are implemented.

[0102] Optionally, the data processing apparatus further includes a memory storing programs or instructions that, when executed by the processor, cause the data processing apparatus to perform the methods described in any one of the second to fourth aspects above. For example, the data processing apparatus may be a chip, the processor may be a processing circuit in the chip, and the memory may be a random access memory or cache in the chip.

[0103] In one possible implementation, the process of sending information (or signals) in the above method can be understood as a process of outputting information based on processor instructions. When outputting information, the processor sends the information to the transceiver for transmission. After being output by the processor, the information may undergo further processing before reaching the transceiver. Similarly, when the processor receives input information, the transceiver receives the information and inputs it into the processor. Furthermore, after receiving the information, the transceiver may perform further processing before inputting it into the processor.

[0104] Unless otherwise specified, or unless their actual function or internal logic in the relevant description is contradicted, the sending and / or receiving operations involved by the processor can generally be understood as processor instruction output.

[0105] In implementation, the processor described above can be a processor specifically designed to execute these methods, or it can be a processor that executes computer instructions stored in memory to execute these methods, such as a general-purpose processor. For example, the processor can also be used to execute a program stored in memory, which, when executed, causes the data processing device to perform the methods as shown in the first aspect or any possible implementation thereof.

[0106] In one possible implementation, the memory is located outside the aforementioned data processing device. In another possible implementation, the memory is located inside the aforementioned data processing device.

[0107] In one possible implementation, the processor and memory may be integrated into a single device; that is, the processor and memory may be integrated together.

[0108] In one possible implementation, the data processing apparatus further includes a transceiver for receiving or transmitting signals, etc.

[0109] Ninthly, this application provides another data processing apparatus, which includes a processing circuit and an interface circuit, the interface circuit being used to acquire data or output data; the processing circuit being used to perform the method as shown in any one of the second to fourth aspects above.

[0110] In a tenth aspect, this application provides a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed, cause a computer to perform the method as described in any one of the second to fourth aspects above.

[0111] In one aspect, this application provides a computer program product comprising a computer program, the computer program including program instructions that, when executed, cause a computer to perform the method as described in any one of the second to fourth aspects above.

[0112] In a twelfth aspect, this application provides a chip including a communication interface and a processor; the communication interface is used for signal transmission and reception of the chip; the processor is used to execute computer program instructions, causing a data processing device including the chip to perform the method of any one of the second to fourth aspects described above.

[0113] In a thirteenth aspect, embodiments of this application provide a map data update system, including the data processing apparatus described in the fifth aspect or any possible implementation thereof, and the data processing apparatus described in the sixth aspect or any possible implementation thereof. Attached Figure Description

[0114] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0115] Figure 1A is a schematic diagram of the architecture of a map data update system provided in an embodiment of this application;

[0116] Figure 1B is a schematic diagram of the architecture of another map data update system provided in an embodiment of this application;

[0117] Figure 2 is a schematic diagram of a two-layer map data provided in an embodiment of this application;

[0118] Figure 3 is a flowchart of a map data layered transmission method provided in an embodiment of this application;

[0119] Figure 4 is a flowchart of another map data layered transmission method provided in an embodiment of this application;

[0120] Figure 5 is a flowchart of another map data layered transmission method provided in an embodiment of this application;

[0121] Figure 6 is a flowchart of another map data layered transmission method provided in an embodiment of this application;

[0122] Figure 7 is a schematic diagram of determining the incremental range corresponding to the second electronic horizon according to an embodiment of this application;

[0123] Figure 8 is a flowchart of another map data layered transmission method provided in an embodiment of this application;

[0124] Figure 9 is a flowchart of a vehicle control method provided in an embodiment of this application;

[0125] Figure 10 is a flowchart of another vehicle control method provided in an embodiment of this application;

[0126] Figure 11 is a schematic diagram of the structure of a data processing device 1100 provided in an embodiment of this application;

[0127] Figure 12 is a schematic diagram of another data processing device 120 provided in an embodiment of this application;

[0128] Figure 13 is a structural schematic diagram of another intelligent driving device 130 provided in an embodiment of this application. Detailed Implementation

[0129] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are only used to distinguish different objects and not to describe a specific order. It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and inherent logic. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. In this document, the naming of each piece of information (or message) is for distinguishing different information, and the naming of each piece of information (or message) is not limited.

[0130] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will 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 in this document may be one embodiment.

[0131] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to and includes any or all possible combinations of one or more of the listed items. For example, “A and / or B” can mean: the presence of only A, the presence of only B, and the presence of both A and B, where A and B can be singular or plural. The term “multiple” as used in this application refers to two or more. In the textual description of this application, the character “ / ” generally indicates that the preceding and following objects are in an “or” relationship.

[0132] It is understood that in the various embodiments of this application, "B corresponding to A" means that there is a correspondence between A and B, and B can be determined based on A. However, it should also be understood that determining (or generating) B based on (or on) A does not mean that B is determined (or generated) solely based on (or on) A; B can also be determined (or generated) based on (or on) A and / or other information.

[0133] It should be understood that in this application, the indication includes direct indication (also known as explicit indication) and implicit indication. Direct indication information A refers to information A being included; implicit indication information A refers to information A being indicated through the correspondence between information A and information B, and through direct indication information B. The correspondence between information A and information B can be predefined, pre-stored, pre-burned, or pre-configured.

[0134] It should be understood that in this application, information C is used to determine information D, including both situations where information D is determined solely based on information C and situations where it is determined based on information C and other information. Furthermore, information C can also be used to determine information D indirectly, for example, where information D is determined based on information E, and information E is determined based on information C.

[0135] Furthermore, in the embodiments of this application, "network element A sends information A to network element B" can be understood as network element B being the destination of information A or an intermediate network element in the transmission path between the destination and network element B, which may include sending information directly or indirectly to network element B. "Network element B receives information A from network element A" can be understood as network element A being the source of information A or an intermediate network element in the transmission path between the source and network element A, which may include receiving information directly or indirectly from network element A. Information may undergo necessary processing between the source and destination, such as format changes, but the destination can understand the valid information from the source. Similar expressions in this application can be understood in a similar way and will not be elaborated further here.

[0136] First, the terms used in this application will be introduced and explained.

[0137] Advanced driver assistance systems (ADAS) use various sensors installed on the vehicle, such as monocular and binocular cameras, millimeter-wave radar, and lidar, to continuously perceive and collect data about the vehicle's surroundings. They perform static and dynamic object identification, detection, and tracking, and combine this data with map data for real-time system fusion calculations and analysis. This allows them to proactively alert the driver or, to some extent, take over partial control of the vehicle, enabling the driver to anticipate potential dangers and effectively increasing driving comfort and safety.

[0138] Autonomous driving system: An autonomous driving system is a driving system that enables real-time, continuous control of a vehicle. For example, an autonomous driving device uses various sensors installed on the vehicle, such as monocular and binocular cameras, millimeter-wave radar, and lidar, to continuously perceive and collect data about the vehicle's surroundings. It identifies, detects, and tracks static and dynamic objects, and combines this data with map data for real-time system fusion calculations and analysis, thereby achieving real-time, continuous control of the vehicle. An autonomous driving system can control the vehicle equipped with it to perform corresponding driving behaviors based on different driving scenarios along the route. For example, at a curve on the route, the autonomous driving system can adjust the vehicle's driving behavior according to the road curvature; for instance, it can adjust the vehicle's turning direction, turning angle, and speed to ensure smooth and safe driving.

[0139] EHP (Electronic Horizon Platform): Responsible for reading global map data, integrating (reorganizing map elements according to a specific format, such as the format specified by ADASIS), and outputting map data for a certain range in front of and around the vehicle, i.e., electronic horizon data. EHP can be named Electronic Horizon Providing Unit or Electronic Horizon Providing Module. EHP can be used to provide beyond-line-of-sight road and data information for ADAS applications. ADASIS is short for Advanced Driver Assistant Systems Interface Specifications. ADASIS is an international industry standard developed by the ADAS Forum to standardize the interface protocol for exchanging map data between map data and vehicle ADAS applications.

[0140] EHR (Electronic Horizon Reconstruction Unit): Responsible for parsing and reconstructing the map data (electronic horizon data) sent by EHP (Electronic Horizon Data), and then sending the reconstructed (or rebuilt) map data to intelligent driving applications, i.e., inputting it into navigation, traffic control, and other intelligent driving modules for their use. EHR can be named Electronic Horizon Reconstruction Unit or Electronic Horizon Reconstruction Module. EHR can be used to parse messages sent by EHP and reconstruct map data for use by the vehicle's ADAS (Advanced Driver Assistance Systems) modules. Alternatively, EHR can be used to parse messages sent by EHP, reconstruct map data into a data format usable by the autonomous driving system or ADAS, and then convert it into the corresponding data format for transmission to the application layer.

[0141] High-definition maps (HD-maps) are electronic maps with high precision and multiple data dimensions. Specifically, HD-maps have centimeter-level precision and richer road 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. They primarily serve machine autonomous driving for environmental judgment, decision-making, and control.

[0142] The following describes the architecture of a map data update system to which the technical solution of this application applies. Figure 1A is a schematic diagram of the architecture of a map data update system provided in an embodiment of this application. As shown in Figure 1A, the EHR is deployed on the vehicle (i.e., the vehicle itself), for example, one or more processors in the vehicle implement the functions of the EHR, and the EHP is deployed on a server (e.g., a cloud server). The EHR can send request messages to the EHP to request updates or initialization of map data. The EHR is responsible for parsing (i.e., data parsing) and reconstructing the map data (electronic horizon data) sent by the EHP, and then sending the reconstructed map data to intelligent driving applications through application interfaces, such as intelligent driving application 1 and intelligent driving application 2 shown in Figure 1A. Based on the request messages sent by the EHR, the EHP sends response messages to the EHR to provide the corresponding map data to the EHR. For example, the EHP reads global map data and, based on the current position of the vehicle, integrates and outputs map data for a certain range in front of and around the vehicle. Figure 1A is only one example of a map data update system provided in this application, and the number of EHRs and EHPs is not limited. Figure 1B is a schematic diagram of the architecture of another map data update system provided in an embodiment of this application. As shown in Figure 1B, both EHR and EHP are deployed on the vehicle side (i.e., the vehicle). EHR can send request messages to EHP to request updates 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 intelligent driving applications through application interfaces, such as intelligent driving application 1 and intelligent driving application 2 shown in Figure 1B. Based on the request messages sent by EHR, EHP sends response messages to EHR to provide the corresponding map data to EHR.

[0143] It should be noted that Figures 1A and 1B are merely schematic diagrams of the map data update system provided in this application. The technical solution of this application is applicable to any map data update system including EHR and EHP, as well as to the interaction of map data between different devices, and also to the interaction of map data between two components on the same device (e.g., an autonomous driving device).

[0144] As described in the background section, when a vehicle leaves the original electronic horizon data range, it will have no available electronic horizon data until the EHP releases updated electronic horizon data. To address this issue, this application provides a layered map data transmission scheme. The main idea of ​​the layered map data transmission scheme provided in this application is as follows: the EHP divides the map data into two or more layers, where the map elements in different layers are not entirely identical; the EHP can send a single layer of map data to the EHR, or it can send two or more layers of map data simultaneously, where at least two layers correspond to different geographical coverage areas; the EHR can obtain two or more layers of map data corresponding to different geographical coverage areas; when a vehicle leaves the geographical coverage area of ​​a layer of map data with a smaller geographical coverage area (e.g., corresponding to existing electronic horizon data), the vehicle can perform navigation, positioning, parking, etc., based on other layers of map data with larger geographical coverage areas, thus solving the problem of the vehicle having no available map data. Assuming that EHP sends a first electronic horizon and a second electronic horizon to EHR, 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; when the vehicle drives out of the geographical coverage area corresponding to the second electronic horizon, the vehicle can perform navigation, positioning, etc. based on the first electronic horizon; this can solve the problem of no map data available after the vehicle drives out of the geographical coverage area corresponding to the second electronic horizon.

[0145] EHP divides map data into three or more layers in a similar way to EHP dividing it into two layers. The following description uses the example of dividing EHP map data into two layers (i.e., the first electronic horizon and the second electronic horizon). The geographic coverage area corresponding to the first electronic horizon is greater than and includes the geographic coverage area corresponding to the second electronic horizon. The map features contained in the first electronic horizon are not entirely the same as those contained in the second electronic horizon. This dissimilarity can mean that the first and second electronic horizons do not contain the same map features, or that some map features in the first electronic horizon are the same as some map features in the second electronic horizon. For example, both the first and second electronic horizons are electronic horizon data; for instance, the first electronic horizon is the upper-layer electronic horizon data, and the second electronic horizon is the lower-layer electronic horizon data.

[0146] For example, the first electronic horizon can be used for at least one of the following: providing road prior information to a 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 navigating based on the first electronic horizon; vehicle positioning, such as the vehicle knowing its current path and offset information on that path based on the first electronic horizon, thereby achieving rapid positioning. The first electronic horizon may also have other uses (or functions), which are not limited in this application.

[0147] For example, the map features (or attributes) included in the first electronic horizon include at least one of the following:

[0148] 1) Road topology information

[0149] Road geometry: includes road reference lines (usually the road centerline), for example, expressed as a polyline (with the coordinates of the inflection points stored sequentially);

[0150] Intersection (node): At least one of the following: identity (ID), turning angle, or right-of-way of the sub-path connected to the intersection.

[0151] 2) Road driving rules

[0152] Traffic restrictions: Whether the road is passable, and the conditions for passage (including the types of vehicles that can pass, the time of passage, vehicle load, vehicle height, weather conditions, etc.);

[0153] Overtaking restrictions: Signs indicating whether overtaking is permitted on the road;

[0154] Turning restrictions: Signs indicating whether a road allows turning;

[0155] The priority of roads in route planning.

[0156] Special road conditions: Relatively rare special road conditions, such as dead-end roads, toll booths, speed bumps, etc.

[0157] 3) Traffic flow

[0158] Speed ​​limits on roads;

[0159] Traffic flow speed (average traffic flow speed derived from historical data).

[0160] 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.

[0161] For example, the initialization request message or update request message sent by the EHR carries first map feature information, which is used to indicate the map feature corresponding to the first electronic horizon; the EHP sends the first electronic horizon containing the corresponding map feature to the EHR according to the initialization request message or the update request message.

[0162] For example, the second electronic horizon can be used for at least one of the following: vehicle control, autonomous driving, or other applications that require a high-definition map to function. In one possible implementation, the second electronic horizon is a high-definition map, and the geographical coverage area corresponding to the high-definition map is the geographical coverage area corresponding to the second electronic horizon; the vehicle can perform applications that require a high-definition map before it leaves the geographical coverage area corresponding to the second electronic horizon. In one possible implementation, the second electronic horizon and the first electronic horizon together constitute a high-precision map. The first electronic horizon can also function as a separate, non-high-precision map (i.e., a low-precision map). The geographical coverage area corresponding to this high-precision map is the same as that of the second electronic horizon, and the geographical coverage area corresponding to this non-high-precision map is the same as that of the first electronic horizon. Before the vehicle leaves the geographical coverage area of ​​the second electronic horizon, it can perform applications that require a high-precision map. After the vehicle leaves the geographical coverage area of ​​the second electronic horizon but before leaving the geographical coverage area of ​​the first electronic horizon, it cannot perform applications that require a high-precision map, but it can perform some driving-related applications that do not require a high-precision map, such as navigation and positioning, based on the first electronic horizon. For example, the first electronic horizon is organized and published over a large area in the form of map sheets / paths; the second electronic horizon is organized and published over a small area in the form of paths, and updated according to the vehicle's location.

[0163] For example, the map elements included in the second electronic horizon include at least one of the following:

[0164] 1) Lane Information

[0165] Lane geometry: Linear objects such as lane lines, for example, expressed as polylines (the coordinates of the inflection points are stored sequentially);

[0166] Lane model: number of lanes, lane type, driving direction, left and right lane lines associated with the vehicle, and lane center line;

[0167] Lane connectivity: The connectivity between lanes at merging and diverging points.

[0168] 2) Location information

[0169] Information about landmarks: for example, the type and / or location of poles and signs;

[0170] Information about obstacles: the shape and location of the obstacles.

[0171] 3) Traffic-related information

[0172] Speed ​​limit information: Speed ​​limits for different types of vehicles;

[0173] Real-time traffic flow speed;

[0174] Traffic light information: location, cycle time, and current status;

[0175] Traffic sign.

[0176] 4) Characteristics

[0177] Is it a complex intersection?

[0178] Map database corresponding to specific road sections;

[0179] Road type information: Road type, such as tunnel, bridge, etc.;

[0180] Are there any buildings along the roadside?

[0181] Is the road a city road?

[0182] Road surface information: road surface material and quality;

[0183] Weather information;

[0184] Road condition information: Real-time road and weather conditions.

[0185] The second electronic horizon also includes other map elements, and this 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. For example, the EHP and EHR can pre-negotiate the map elements included in each layer of map data. For example, users can set the map elements included in each layer of map data according to the application. For example, 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; to enable the second electronic horizon to support vehicle traffic control, the user sets the second electronic horizon to include map elements such as lane geometry, positioning information, traffic-related information, and characteristics. For example, the initialization request message sent by the EHR carries first map element information and 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. For example, the update request message sent by the EHR carries second map feature information, which is used to indicate the map feature corresponding to the second electronic horizon; the EHP sends the second electronic horizon containing the corresponding map feature to the EHR according to the update request message.

[0186] The main differences between the first electronic horizon and the second electronic horizon include at least one of the following: the map elements included in the first electronic horizon are different from those 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 area corresponding to the first electronic horizon is larger than that 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, wherein the first application includes positioning and / or navigation, and the second application includes traffic control. For example, 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 area corresponding to the second electronic horizon, it can execute the second application based on both the second electronic horizon and the first electronic horizon (optionally); after the vehicle leaves the geographical coverage area corresponding to the second electronic horizon, it can execute the first application based on the first electronic horizon, but cannot execute the second application based on the first electronic horizon. For example, before a vehicle leaves the geographic coverage area corresponding to the second electronic horizon, it can execute application #1, application #2, ..., application N based on the second electronic horizon and the first electronic horizon (optionally), for a total of N applications, where N is an integer greater than 1; after a vehicle leaves the geographic coverage area corresponding to the second electronic horizon, it can execute some of the applications among these N applications based on the first electronic horizon.

[0187] In some possible implementations, the EHR can send request messages (or request instructions) to the EHP to request the required first and / or second electronic horizons. For example, the EHR sends an initialization request message to the EHP to request the first and second electronic horizons. As another example, the EHR sends an update request message to the EHP to request the second electronic horizon, and then updates the second electronic horizon. To ensure that the map data returned by the EHP is hierarchically organized according to the EHR's needs, the EHR should also include hierarchical information in its request messages to the EHP. The possible structures of the Initialization Request Message and Update Request Message sent by the EHR, as well as the possible structures of the PathControl Message, ProfileControl Message, and Profile Message sent by the EHP in response to request messages from the EHR, are given below.

[0188] For example, the InitializationMessage sent by the EHR may contain one or more of the following fields:

[0189] ServerID: The ID or address of the server (i.e., EHP);

[0190] ClientID: The ID or address of the client (i.e., EHR);

[0191] CurrentVehiclePosition: The current vehicle position, including the vehicle's absolute position (the vehicle's coordinates in the global positioning system (GPS)) and the vehicle's orientation (the angle rotated clockwise from true north).

[0192] Level: An array of level IDs, for example, {0,1}, where 0 represents the first level (corresponding to the first electron horizon) and 1 represents the second level (corresponding to the second electron horizon);

[0193] StorageLimit (Data Limit): The data size limit for each layer of map data, which can be in KB;

[0194] HorizonRange: The geographic coverage area corresponding to each layer of map data. It can be expressed as a polygon (in the vehicle coordinate system, the vertices of the polygon are expressed as a sequence of point coordinates relative to the vehicle) or path length (the ID of each path and its start and end offsets). It can be arranged in order of layer ID, which refers to the order of each layer in the layer ID array.

[0195] ProfileDataFilter: Includes multiple profile filters, which are used to set the types (or categories) of map features contained in each layer of map data, arranged in order of layer ID.

[0196] For example, an update request message (UpdateMessage) may contain one or more of the following fields:

[0197] ServerID: Server (EHP) ID or address;

[0198] ClientID: Client (i.e., EHR) ID or address;

[0199] CurrentVehiclePosition: Current vehicle position, including relative position (the ID of the path the vehicle is on and the vehicle's offset on that path), vehicle orientation (the angle turned clockwise from due north), and absolute position (the vehicle's coordinates in GPS).

[0200] Level: An array of level IDs, for example, {0,1}, where 0 represents the first level (corresponding to the first electron horizon) and 1 represents the second level (corresponding to the second electron horizon);

[0201] StorageLimit: The data size limit for each layer of map data, which can be in KB;

[0202] HorizonRange: The incremental range of map data at each layer. It can be expressed as a polygon (in the vehicle coordinate system, the vertices of the polygon are expressed as a sequence of point coordinates relative to the vehicle) or a path range (the ID of each path and the start and end offsets of its incremental segments). It can be arranged in order of layer ID.

[0203] ProfileDataFilter includes multiple profile filters (used to set the types of map features contained in each layer of map data, arranged in order of layer ID) and multiple path filters (set the paths contained in each layer of map data, expressed as an array of path IDs, arranged in order of layer ID).

[0204] For example, a PathControlMessage carries all paths in the map data and their parent-child relationships. The vehicle can delete paths not in this PathControlMessage. This PathControlMessage contains one or more of the following fields:

[0205] Level: Level ID;

[0206] PathIDFirst: The ID of the first path in this path control message record;

[0207] PathIDLast: The ID of the last path in this path control message record;

[0208] PathControls: An array of PathControl structures, storing the IDs of the parent paths of each path and their offsets within the parent path, ordered by path ID. An example of a PathControl structure is shown below:

[0209] struct PathControl{

[0210] PathID id

[0211] ParentID id

[0212] Offset offset

[0213] }

[0214] Wherein, PathID id is the ID of a certain path, ParentID id is the ID of the parent path of this path, and Offset offset is the offset of the starting position of this path from the parent path.

[0215] For example, the ProfileControlMessage carries the starting offset of the electronic horizon across all paths, and the ProfileControlMessage contains one or more of the following fields:

[0216] Level: Level ID;

[0217] ProfileControls: An array of ProfileControl structures that store the starting offset of the electronic horizon across all paths, ordered by path ID. An example of a ProfileControl structure is shown below:

[0218] struct ProfileControl{

[0219] PathID id

[0220] Offset offset

[0221] }

[0222] Where PathID id is the ID of a certain path, and Offset offset is the starting offset of the electronic horizon on that path.

[0223] For example, a profile message contains detailed information about some or all of the map features in the map data, and the profile message contains one or more of the following fields:

[0224] Level: Level ID;

[0225] ProfileEntrys: An array of ProfileEntry structures that store the location and values ​​of some or all map features. An example of a ProfileEntry structure is shown below:

[0226] struct ProfileEntry{

[0227] InstanceID id

[0228] PathID id

[0229] StartOffset offset

[0230] EndOffset offset

[0231] ProfileType type

[0232] PrfileValue value

[0233] }

[0234] Wherein, InstanceID id is the ID of a map feature, PathID id is the ID of the path corresponding to the map feature, StartOffset offset represents the starting offset of the map feature on the path, that is, the offset of the map feature relative to the starting position of the path, EndOffset offset represents the ending offset of the map feature on the path, that is, the offset of the map feature relative to the ending position of the path, ProfileType type represents the type of the map feature, and PrfileValue value represents the value of the map feature.

[0235] Taking the EHR request and EHP transmission of two layers of map data (or two layers of electronic horizons) as shown in Figure 2 as an example, examples of the above messages are introduced. Figure 2 is a schematic diagram of two layers of map data provided in an embodiment of this application. As shown in Figure 2, the dashed box outlines the second electronic horizon (i.e., the upper electronic horizon in Figure 2). The second electronic horizon contains a map element called real-time traffic flow speed (FlowSpeed), and the first electronic horizon (i.e., the lower electronic horizon in Figure 2) contains a map element called average traffic flow speed (AverageSpeed). P1 represents the path with ID 1, and P2 represents the path with ID 2. Examples of the request message used by EHR and the messages sent by EHP are given below.

[0236] Here is an example of an InitializationMessage sent by EHR:

[0237] ServerID1, where 1 is the EHR ID;

[0238] ClientID2, where 2 is the EHP ID;

[0239] CurrentVehiclePosition{51.65,5.91,89.43} # Longitude, latitude, orientation; 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 orientation of the vehicle's front.

[0240] Level{0,1}#0: First level, 1: Second level;

[0241] 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;

[0242] 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 geographic coverage area corresponding to the first electronic horizon, and {[1,50,200],[2,0,50]} represents the geographic coverage area corresponding to the second electronic horizon;

[0243] The ProfileDataFilter contains {AverageSpeed} and {FlowSpeed}, where AverageSpeed ​​is an example of a map feature included in the first electronic horizon, and FlowSpeed ​​is an example of a map feature included in the second electronic horizon. The ProfileDataFilter is used to set the types of map features included in each layer of map data. In one possible implementation, the ProfileDataFilter contains all types of map features that need to be included in the first electronic horizon, and all types of map features that need to be included in the second electronic horizon. For example, 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)}, where each of Information #1, Information #2, Information #3, ..., Information #M represents a map feature 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 feature that needs to be included in the second electronic horizon. N, M, and K are all integers greater than 0, and the order of M and N is not limited. For example, 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.

[0244] In this example, some or all of the following are optional: 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}. The geographical coverage areas corresponding to the first and second electronic horizons are expressed by path range. In the initialization request message, the geographical coverage areas corresponding to the first and second electronic horizons can also be expressed in other ways, which are not limited in this application. For example, the geographical coverage area corresponding to the first electronic horizon can be expressed by a set of polygon vertices, and the geographical coverage area corresponding to the second electronic horizon can be expressed by another set of polygon vertices. CurrentVehiclePosition may also include the relative position of the vehicle, the ID of the path the vehicle is on, and the vehicle's offset on that path. For example, CurrentVehiclePosition only contains the vehicle's relative position, such as the ID of the path the vehicle is on and the vehicle's offset on that path, rather than the vehicle's absolute position (such as longitude and latitude in the example).

[0245] Here is an example of an UpdateMessage sent by EHR:

[0246] ServerID1, where 1 is the EHR ID;

[0247] ClientID2, where 2 is the EHP ID;

[0248] CurrentVehiclePosition{1,0,89.43}#Path ID, offset, orientation, where 1 in {1,0,89.43} represents the ID of the path the vehicle is on, 0 in {1,0,89.43} represents the offset of the vehicle on the path, and 89.43 represents the orientation of the vehicle's front (the angle turned clockwise from due north).

[0249] Level{0,1}#0: First level, 1: Second level;

[0250] 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;

[0251] HorizonRange{(0,0),(300,0),(300,150),(0,150)},{(50,0),(200,0),(200,50),(50,50)} # Represented by polygon vertices, where {(0,0),(300,0),(300,150),(0,150)} represents the incremental geographic coverage area corresponding to the first electronic horizon (i.e., the geographic coverage area added on the basis of the original geographic coverage area corresponding to the first electronic horizon), and {(50,0),(200,0),(200,50),(50,50)} represents the incremental geographic coverage area corresponding to the second electronic horizon;

[0252] The ProfileDataFilter contains {AverageSpeed}, {FlowSpeed}, {1,2}#1, and {1,2}#2, where AverageSpeed ​​is an example of a map feature included in the first electronic horizon, FlowSpeed ​​is an example of a map feature included in the second electronic horizon, {1,2}#1 indicates that the first electronic horizon needs to include paths with ID 1 and ID 2, and {1,2}#2 indicates that the second electronic horizon needs to include paths with ID 1 and ID 2. In one possible implementation, ProfileDataFilter contains all types of map features that need to be included in the first electronic horizon, and all types of map features that need to be included in the second electronic horizon.

[0253] Here is an example of a PathControlMessage sent by EHP:

[0254] Level0 represents the first level;

[0255] PathIDFirst1 indicates that the ID of the first path in this path control message record is 1;

[0256] PathIDLast2 indicates that the ID of the last path in this path control message record is 2;

[0257] PathControls{2,1,100} represents the offset of the starting position of the path with ID 1 from its parent path (ID 2);

[0258] Level 1 indicates the second level;

[0259] PathIDFirst1 indicates that the ID of the first path in this path control message record is 1;

[0260] PathIDLast2 indicates that the ID of the last path in this path control message record is 2;

[0261] PathControls{2,1,100} represents the offset of the starting position of the path with ID 1 from its parent path (ID 2).

[0262] The path control messages sent by EHP can store the IDs of the parent paths of each path and their offsets from the parent path, ordered by path ID. There is no limit to the number of paths stored in the path control message.

[0263] Here is an example of a ProfileControlMessage sent by EHP:

[0264] Level 0 represents the first level;

[0265] ProfileControls{1,0},{2,0}, where {1,0} indicates that the electronic horizon has an offset of 0 on the path with ID 1, and {2,0} indicates that the electronic horizon has an offset of 0 on the path with ID 2;

[0266] Level 1 indicates the second level;

[0267] ProfileControls{1,50},{2,0}, where {1,50} represents the electronic horizon offset of 50 on the path with ID 1, and {2,0} represents the electronic horizon offset of 0 on the path with ID 2.

[0268] Here is an example of a profile message sent by EHP:

[0269] Level0 represents the first level;

[0270] ProfileEntrys{1,1,0,300,AverageSpeed,30},{1,2,0,150,AverageSpeed,30}, where {1,1,0,300,AverageSpeed,30} indicates that the valid range of one data point for the attribute with attribute ID 1 (i.e., average speed) is 0-300m on the path with ID 1, and the value of this attribute with ID 1 is 30kph; and {1,2,0,150,AverageSpeed,30} indicates that the valid range of one data point for the attribute with attribute ID 1 (i.e., average speed) is 0-150m on the path with ID 2, and the value of this attribute with ID 1 is 30kph.

[0271] Level 1 indicates the second level;

[0272] 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 for attribute ID 2 (i.e., real-time traffic flow speed) is 50-200m on the path with ID 1, and the value of attribute ID 2 is 40kph. {2,2,0,50,FlowSpeed,40} indicates that the valid data range for attribute ID 2 (i.e., real-time traffic flow speed) is 0-50m on the path with ID 2, and the value of attribute ID 2 is 40kph.

[0273] Note that the above layered expression is not limited to "Level id=0, id=1 or id=2". You can also customize the layer name, for example, "Level string=upper (corresponding to the second layer), string=lower (corresponding to the first layer)". Alternatively, it can be expressed in the form of a bitmask, for example, "Level bitmask=001, bitmask=010, bitmask=100", where each of 001, 010, and 100 represents a layer of map data. For example, 001 represents the first electronic horizon, and 010 represents the second electronic horizon.

[0274] The preceding sections introduced the map features included in different layers of map data and the possible structures of messages exchanged between EHR and EHP. The following section, in conjunction with Figure 3, describes the technical solution provided in this application.

[0275] Figure 3 is a flowchart of a map data layered transmission method provided in an embodiment of this application. As shown in Figure 3, the method includes:

[0276] 301. EHP sends the first electronic horizon to EHR.

[0277] Correspondingly, the EHR receives the first electronic horizon from the EHP.

[0278] 302. EHP sends a second electronic horizon to EHR.

[0279] Correspondingly, the EHR receives a second electronic horizon from the EHP. The geographic coverage area corresponding to the first electronic horizon is greater than and includes the geographic coverage area corresponding to the second electronic horizon. The map features included in the first electronic horizon are different from those included in the second electronic horizon, and / or, the accuracy of the first electronic horizon is lower than that of the second electronic horizon. In one possible implementation, after the EHR learns the location of the vehicle on which the EHR is deployed, it sends the first and second electronic horizons to the EHR based on that location. This application does not limit the way the EHR learns the location of the vehicle. For example, the EHR deployed on the vehicle sends a message carrying the vehicle's location information to the EHP; the EHP determines the geographic coverage area corresponding to the first and second electronic horizons based on the vehicle's location information, and sends the first and second electronic horizons to the EHP. In another possible implementation, after the EHR learns the location and driving path of the vehicle on which the EHR is deployed, it sends the first and second electronic horizons to the EHR based on that location and driving path. This application does not limit the way the EHR learns the location and driving path of the vehicle. For example, the EHR deployed on the vehicle sends a message to the EHP carrying the vehicle's location information and its driving path; based on the vehicle's location information and driving path, the EHP determines the geographical coverage area corresponding to the first electronic horizon and the geographical coverage area corresponding to the second electronic horizon, and sends the first electronic horizon and the second electronic horizon to the EHP.

[0280] 303. EHR resolves and reconstructs the first and second electron horizons from EHP.

[0281] 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, sign 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 segments, and road condition information.

[0282] In one possible implementation, after the EHR parses and reconstructs the first and second electronic horizons from the EHP, the vehicle can perform traffic control based on the first and second electronic horizons. Alternatively, after the EHR parses and reconstructs the first and second electronic horizons from the EHP, the vehicle can perform operations that require a high-precision map based on the first and second electronic horizons, where the first and second electronic horizons together constitute a high-precision map.

[0283] 304. After the vehicle leaves the geographical coverage area corresponding to the second electronic horizon, the vehicle plans a driving route based on the first electronic horizon and navigates the vehicle to a parking area or to the vehicle's destination according to the driving route.

[0284] Steps 303 and 304 are optional. In this document, the vehicle may be equipped with an autonomous driving system or ADAS. In one possible implementation, the EHR receives a first electronic horizon and a second electronic horizon from the EHP. A high-precision map can be constructed based on the second and first electronic horizons, or the first electronic horizon can be used alone as a non-high-precision map (i.e., a low-precision map). The geographical coverage area corresponding to this high-precision map is the same as the geographical coverage area corresponding to the second electronic horizon, and the geographical coverage area corresponding to this non-high-precision map is the same as the geographical coverage area corresponding to the first electronic horizon. Before the vehicle leaves the geographical coverage area corresponding to the second electronic horizon, the vehicle can perform applications that require a high-precision map. After the vehicle leaves the geographical coverage area corresponding to the second electronic horizon but before leaving the geographical coverage area corresponding to the first electronic horizon, the vehicle cannot perform applications that require a high-precision map, but can perform some driving-related applications that do not require a high-precision map, such as navigation and positioning, based on the first electronic horizon.

[0285] In this embodiment, 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. When the vehicle travels outside the geographical coverage area corresponding to the second electronic horizon, the vehicle can still drive based on the first electronic horizon; this solves the problem of no map data being available after the vehicle travels outside the geographical coverage area corresponding to the second electronic horizon. For example, the vehicle plans a driving route based on the first electronic horizon and navigates to a parking area or to its destination according to that route.

[0286] Figure 4 is a flowchart of another map data layered transmission method provided in an embodiment of this application. In the method flowchart of Figure 4, the EHR sends a first message to the EHP to request a first electronic horizon and / or a second electronic horizon; the EHR can obtain the required map data. As shown in Figure 4, the method includes:

[0287] 401. EHR sends the first message to EHP.

[0288] Accordingly, EHP receives a first message from EHR. The first message is used to request the aforementioned first electronic horizon and / or the aforementioned second electronic horizon.

[0289] The first message includes at least one of the vehicle's location information and range information, wherein the range information is used to indicate the geographic coverage area corresponding to the first electronic horizon and / or the geographic coverage area corresponding to the second electronic horizon, and the vehicle is equipped with the aforementioned EHR.

[0290] 402. Based on at least one of the vehicle's location information and range information, EHP determines the geographic coverage area corresponding to the first electronic horizon and / or the geographic coverage area corresponding to the second electronic horizon.

[0291] In one possible implementation, EHP determines the geographic coverage area corresponding to the first electronic horizon and / or the geographic coverage area corresponding to the second electronic horizon based on the vehicle's location information. For example, EHP determines the geographic coverage area corresponding to the first electronic horizon as a circular area (with a predefined radius) centered on the vehicle's location, and further determines it as a preset range in front of and around the vehicle. Another example is that EHP determines the geographic coverage area corresponding to the first electronic horizon as a square area centered on the vehicle's location (i.e., the vehicle is located at the intersection of the diagonals of this square area), and further determines it as a preset range in front of and around the vehicle. Yet another example is that EHP determines the vehicle's driving path based on its location information; determines the geographic coverage area corresponding to the second electronic horizon based on the driving path and its sub-paths; and determines the geographic coverage area corresponding to the first electronic horizon based on the topological information of the driving path and the roads connected to it.

[0292] In one possible implementation, EHP determines the geographic coverage area corresponding to the first electronic horizon and / or the geographic coverage area corresponding to the second electronic horizon based on range information. For example, range information is used to indicate the geographic coverage area corresponding to each layer of map data, such as using polygons (in the vehicle coordinate system, the vertices of the polygon are expressed as a sequence of point coordinates relative to the vehicle) or path lengths (the IDs of each path and their start and end offsets) to express the geographic coverage area corresponding to each layer of map data; EHP determines the geographic coverage area corresponding to the first electronic horizon and the geographic coverage area corresponding to the second electronic horizon based on the range information.

[0293] 403. Based on the first message, EHP sends a first electronic horizon and / or a second electronic horizon to EHR.

[0294] In one possible implementation, the first message is used to request a first electronic horizon. The first message includes the vehicle's location information. Before executing step 403, the EHP performs the following operations: Based on the vehicle's location information, the EHP determines the vehicle's travel path; based on the topology information of the roads connected to the vehicle's travel path, it constructs the first electronic horizon. In step 403, based on the first message, the EHP sends the first electronic horizon to the EHR.

[0295] In one possible implementation, a first message is used to request a first electronic horizon. This first message includes the aforementioned range information, which indicates the geographic coverage area corresponding to the first electronic horizon. Before executing step 403, the EHP performs the following operation: constructing the first electronic horizon based on road information within the geographic coverage area corresponding to the first electronic horizon. In step 403, based on the first message, the EHP sends the first electronic horizon to the EHR.

[0296] In one possible implementation, the first message is used to request the second electronic horizon. The first message includes the vehicle's location information. Before executing step 403, the EHP performs the following operations: the EHP determines the vehicle's travel path based on the vehicle's location information; based on the information of the travel path and the information of the sub-paths of the travel path, the second electronic horizon is constructed. In step 403, based on the first message, the EHP sends the second electronic horizon to the EHR.

[0297] In one possible implementation, a first message is used to request a second electronic horizon. This first message includes the aforementioned range information, which indicates the geographic coverage area corresponding to the second electronic horizon. Before executing step 403, the EHP performs the following operation: constructing the second electronic horizon based on path information within the geographic coverage area corresponding to the second electronic horizon. In step 403, based on the first message, the EHP sends the second electronic horizon to the EHR.

[0298] In one possible implementation, the first message is used to request a first electronic horizon and a second electronic horizon. The first message includes the vehicle's location information. Before executing step 403, the EHP performs the following operations: Based on the vehicle's location information, the EHP determines the vehicle's travel path; based on the information of the travel path and the information of the sub-paths of the travel path, it constructs the second electronic horizon; based on the topology information of the roads connected to the vehicle's travel path, it constructs the first electronic horizon. In step 403, based on the first message, the EHP sends the first and second electronic horizons to the EHR.

[0299] In one possible implementation, a first message is used to request a first electronic horizon and a second electronic horizon. The first message contains range information indicating the geographic coverage areas corresponding to the first and second electronic horizons. Before executing step 403, the EHP performs the following operations: constructing the first electronic horizon based on road information within the geographic coverage area corresponding to the first electronic horizon; and constructing the second electronic horizon based on path information within the geographic coverage area corresponding to the second electronic horizon. In step 403, based on the first message, the EHP sends the first and second electronic horizons to the EHR.

[0300] 404. EHR resolves and reconstructs the first and / or second electron horizons from EHP.

[0301] In one possible implementation, after the EHR parses and reconstructs the first and second electronic horizons from the EHP, the vehicle can perform traffic control based on the first and second electronic horizons. Alternatively, after the EHR parses and reconstructs the first and second electronic horizons from the EHP, the vehicle can perform operations that require a high-precision map based on the first and second electronic horizons, where the first and second electronic horizons together constitute a high-precision map.

[0302] In one possible implementation, after the vehicle leaves the geographic coverage area corresponding to the second electronic horizon, the vehicle plans a driving route based on the first electronic horizon and navigates the vehicle to a parking area or to its destination according to the driving route.

[0303] In this embodiment, based on a first message, the EHP sends a first electronic horizon and / or a second electronic horizon to the EHR. When the EHP sends the first and second electronic horizons to the EHR, the vehicle can drive based on the first electronic horizon after it has left the geographic coverage area corresponding to the second electronic horizon; this solves the problem of no map data being available after the vehicle leaves the geographic coverage area corresponding to the second electronic horizon. When the EHP sends the first or second electronic horizon to the EHR, the EHR can obtain the necessary data while reducing the amount of data transmitted.

[0304] Figure 5 is a flowchart of another map data layered transmission method provided in an embodiment of this application. The method flowchart in Figure 5 is applicable to the scenario of initializing map data. The method flowchart in Figure 5 is a possible implementation of the method described in Figure 4. 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. As shown in Figure 5, the method includes:

[0305] 501. EHR sends an initialization request message to EHP.

[0306] Accordingly, the EHP receives an initialization request message from the EHR. The initialization request message is an example of the first message described above. The initialization request message requests the first electronic horizon and the second electronic horizon. The initialization request message includes the vehicle's location information. Optionally, the initialization request message also includes range information, which indicates the geographical coverage area corresponding to the first electronic horizon and / or the geographical coverage area corresponding to the second electronic horizon, wherein the vehicle is equipped with the EHR.

[0307] In one possible implementation, after the vehicle leaves the geographical coverage area corresponding to the existing first electronic horizon, the EHR sends an initialization request message to the EHP. For example, after the vehicle leaves the geographical coverage area corresponding to the existing first electronic horizon, the EHR sends an initialization request message to the EHP based on the vehicle's location. In another possible implementation, after the vehicle starts, the EHR sends an initialization request message to the EHP when requesting the electronic horizon around the vehicle's location from the EHP.

[0308] In one 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, which indicates that the EHP has updated the map data.

[0309] In one possible implementation, the initialization request message further includes at least one of the following: first map feature information, which indicates the map feature corresponding to the first electronic horizon; first restriction information, which limits or indicates the data size of the first electronic horizon; second map feature information, which indicates the map feature corresponding to the second electronic horizon; and second restriction information, which limits or indicates the data size of the second electronic horizon. The first and second map feature information may be included in the ProfileDataFilter in the example of the initialization request message (InitializationMessage), the first and second restriction information may be included in StorageLimit in this example, the vehicle location information may be included in CurrentVehiclePosition in this example, and the range information may be included in HorizonRange in this example.

[0310] 502. EHP determines the vehicle's travel path based on the vehicle's location information.

[0311] In step 502, the vehicle's travel path determined by EHP can be denoted as the most preferred path (MPP).

[0312] In one possible implementation, EHP determines the vehicle's travel path by matching the vehicle's location with a map. In another possible implementation, the initialization request message carries information indicating the vehicle's travel path, which EHP can use to determine the vehicle's travel path. EHP can also determine the vehicle's travel path in other ways, which are not limited in this application.

[0313] 503. Based on the information of the driving path and the information of the sub-paths of the driving path, EHP constitutes the second electronic horizon.

[0314] In one possible implementation, 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.

[0315] 504. The EHP constructs a first electronic horizon based on the topological information of the roads connected to the vehicle's travel path.

[0316] In one possible implementation, the EHP constructs a first electronic horizon based on the topological information of the roads connected to the vehicle's travel path and the aforementioned first map element information.

[0317] 505. EHP sends the first and second electronic horizons to EHR.

[0318] Correspondingly, the EHR receives the first and second electronic horizons from the EHP.

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

[0320] In one possible implementation, EHP sends the first electronic horizon to EHR separately, and sends the second electronic horizon to EHR separately. The data sent by EHP to EHR may include all paths in the first or 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 features in the map data (ProfileMessage).

[0321] 506. EHR resolves and reconstructs the first and second electron horizons from EHP.

[0322] Step 506 can be found in step 303 of Figure 3.

[0323] 507. After the vehicle leaves the geographical coverage area corresponding to the second electronic horizon, the vehicle plans a driving route based on the first electronic horizon and navigates the vehicle to a parking area or to the vehicle's destination according to the driving route.

[0324] Step 507 can be referred to step 304 in Figure 3. Steps 506 and 507 are optional.

[0325] In this embodiment, based on the initialization request message, the EHP sends a first electronic horizon and a second electronic horizon to the EHR. After the vehicle leaves the geographic coverage area corresponding to the second electronic horizon, the vehicle can drive based on the first electronic horizon; this solves the problem of no map data being available after the vehicle leaves the geographic coverage area corresponding to the second electronic horizon.

[0326] Figure 6 is a flowchart of another map data layered transmission method provided in an embodiment of this application. The method flowchart in Figure 6 is applicable to the scenario of updating the second electronic horizon before the vehicle leaves the geographic coverage area corresponding to the existing second electronic horizon. The method flowchart in Figure 6 is a possible implementation of the method described in Figure 4. In this implementation, the EHR sends an update request message to the EHP to request an update of the second electronic horizon; the EHR can obtain the required second electronic horizon. As shown in Figure 6, the method includes:

[0327] 601. Before the vehicle leaves the geographic coverage area corresponding to the third electronic horizon, the EHR determines the incremental range of the second-layer geographic coverage area based on the second-layer geographic coverage area expected by the EHR and the existing second-layer geographic coverage area of ​​the EHR.

[0328] The third electronic horizon is the existing second electronic horizon of the EHR. The existing second-layer geographic coverage of the EHR is the geographic coverage corresponding to the third electronic horizon, that is, the geographic coverage corresponding to the existing second electronic horizon of the EHR. The second-layer geographic coverage desired by the EHR is the geographic coverage corresponding to the newly added second electronic horizon desired by the EHR. Figure 7 is a schematic diagram of determining the incremental range corresponding to the second electronic horizon provided by an embodiment of this application. As shown in Figure 7, the smaller dashed box in 7(a) represents the existing (or current) second-layer geographic coverage of the EHR, and the smaller dashed box in 7(b) represents the second-layer geographic coverage expected by the EHR after the vehicle has been traveling for a period of time. The vehicle travels 75 meters forward along P1 from 7(a) to 7(b). When the vehicle is about to leave the geographic coverage corresponding to the second electronic horizon (i.e., the vehicle has traveled to the position shown in 7(b)), the EHR compares the expected second-layer geographic coverage (7(b)) with the existing second-layer geographic coverage (7(a)) of the EHR and determines that the incremental range of the second-layer geographic coverage is a segment with an offset position of 200m to 275m on P1, which is the shaded part in 7(c).

[0329] In one possible implementation, when a vehicle is about to leave the geographic coverage area corresponding to the third electronic horizon, the EHR determines the incremental range of the second-layer geographic coverage area based on the EHR's expected second-layer geographic coverage area and the EHR's existing second-layer geographic coverage area. For example, the EHR's determination that the vehicle is about to leave the geographic coverage area corresponding to the third electronic horizon can be as follows: Based on the vehicle's current driving speed and the existing second-layer geographic coverage area, the EHR predicts that the vehicle will leave the existing second-layer geographic coverage area after a first duration, which can be 1 minute, 2 minutes, 5 minutes, 10 minutes, 30 minutes, etc., and this application does not limit the duration.

[0330] 602. EHR generates an update request message based on the incremental range of the second-layer geographic coverage.

[0331] The update request message is used to request the aforementioned second electronic horizon, i.e., the newly added second electronic horizon. The update request message includes range information indicating the incremental range and the vehicle's location information. For example, the first electronic horizon belongs to upper-layer map data, the second electronic horizon belongs to lower-layer map data, and the third electronic horizon can be existing upper-layer map data for the vehicle. The update request message requests the second electronic horizon that the vehicle needs to add to its upper-layer map data. Since the geographical coverage area corresponding to the existing first electronic horizon of the EHR is large during initialization, even if the vehicle leaves the geographical coverage area corresponding to the second electronic horizon, there will still be some time before the vehicle leaves the geographical coverage area corresponding to the first electronic horizon. Therefore, in this embodiment, the incremental update of the first electronic horizon can be temporarily omitted.

[0332] For example, the update request message may further include at least one of the following: second map feature information, which indicates the map feature corresponding to the second electronic horizon; second restriction information, which restricts or indicates the data size of the second electronic horizon; and second path identification information, which indicates the path contained in the second electronic horizon.

[0333] Here is an example of an UpdateMessage sent by EHR:

[0334] ServerID1, the ID or address of the server (i.e., EHP);

[0335] ClientID2, the ID or address of the client (i.e., EHR);

[0336] CurrentVehiclePosition{1,125,89.43}, where 1 in {1,125,89.43} represents the ID of the current vehicle's path, 125 in {1,125,89.43} represents the vehicle's offset on the path, and 89.43 in {1,125,89.43} represents the vehicle's orientation (the angle turned clockwise from due north).

[0337] Level{1}#1: The second layer (corresponding to the second electron horizon);

[0338] StorageLimit{0.5}, whereby the data size of the second electronic horizon is limited to less than or equal to 0.5KB;

[0339] HorizonRange{[1,200,275]}# Expressed by path range, [1,200,275] represents the incremental range of the second-layer geographic coverage, that is, the segment with an offset position of 200m to 275m on the path (ID is 1) where the current vehicle is located;

[0340] ProfileDataFilter{FlowSpeed},{1}, FlowSpeed ​​is an example of a map feature contained in the second electronic horizon, and {1} indicates that the second electronic horizon needs to contain the path with ID 1.

[0341] In this example, {FlowSpeed} is an example of the second map feature information, StorageLimit{0.5} is an example of the second restriction information, and {1} is an example of the second path identification information.

[0342] 603. The EHR sends an update request message to the EHP.

[0343] 604. EHP determines the vehicle's travel path based on the vehicle's location information.

[0344] Step 604 can be found in step 502.

[0345] 605. EHP, based on information about the driving path and information about the sub-paths of the driving path, constitutes the second electronic horizon.

[0346] In one possible implementation, EHP constructs a second electronic horizon based on the high-precision information of the vehicle's driving path and its sub-paths, i.e., a newly added second electronic horizon (see Figure 7, for example, a segment offset from P1 at a 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.

[0347] Step 605 can be found in step 503.

[0348] 606. EHP sends a second electronic horizon to EHR.

[0349] Correspondingly, the EHR receives a second electronic horizon from the EHP.

[0350] In one possible implementation, the EHP sends the second electronic horizon separately to the EHR. The data sent by the EHP to the 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 features in the second electronic horizon (ProfileMessage).

[0351] 607. EHR resolves and reconstructs the second electronic horizon from EHP.

[0352] In practical applications, EHR and EHP can repeat steps 601 to 607, so that new second electronic horizons can be continuously acquired before the vehicle leaves the geographical coverage area corresponding to the existing second electronic horizon.

[0353] 608. Vehicles are controlled based on the second electronic horizon.

[0354] The order of step 608 and the steps in Figure 6 is not limited. For example, step 608 can precede step 601.

[0355] In one possible implementation, the vehicle is controlled based on an existing first electronic horizon and an 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 first and second electronic horizons. The first and second electronic horizons together constitute a high-precision map, or the second electronic horizon can serve as a high-precision map on its own.

[0356] In one possible implementation, the vehicle is controlled based on 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 existing second electronic horizon, which serves as the high-precision map in itself.

[0357] In this embodiment, before the vehicle leaves the geographical coverage area 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; the ability to update the second electronic horizon independently can reduce the amount of data transmitted.

[0358] Figure 8 is a flowchart of another map data layered transmission method provided in an embodiment of this application. The method flowchart in Figure 8 is applicable to the scenario where the second electronic horizon is updated after the vehicle leaves the geographic coverage area corresponding to the existing second electronic horizon. The method flowchart in Figure 8 is a possible implementation of the method described in Figure 4. In this implementation, the EHR sends an update request message to the EHP to request an update of the second electronic horizon; the EHR can obtain the required second electronic horizon. Figure 8 can be a standalone method flowchart or it can be combined with the method flowchart in Figure 6. For example, the method flowchart in Figure 6 is executed before the vehicle leaves the geographic coverage area corresponding to the third electronic horizon; the method flowchart in Figure 8 is executed after the vehicle leaves the geographic coverage area corresponding to the third electronic horizon. As shown in Figure 8, the method includes:

[0359] 801. After the vehicle leaves the geographical coverage area corresponding to the third electronic horizon, the vehicle determines its location information based on the existing first electronic horizon.

[0360] An example of a vehicle leaving the geographic coverage area corresponding to the third electronic horizon is when the vehicle veers off course, i.e., deviates from the planned route. The third electronic horizon is the existing second electronic horizon of the EHR. In one possible implementation, after the vehicle leaves the geographic coverage area corresponding to the third electronic horizon, the vehicle determines its relative position based on the existing first electronic horizon (expressed as the path ID + offset), so that the EHP does not need to re-match the vehicle position with the map.

[0361] 802. The vehicle plans a driving route based on the existing first electronic horizon and navigates the vehicle to a parking area or to its destination according to the driving route.

[0362] In one possible implementation, before updating the second electronic horizon, the vehicle uses the first electronic horizon as prior information and fuses it with road information collected by onboard sensors to perform temporary control.

[0363] 803. The EHR sends an update request message to the EHP.

[0364] Accordingly, the EHP receives an update request message from the EHR. The update request message requests a second electronic horizon, i.e., a newly added second electronic horizon. The update request message may include the vehicle's location information and its travel path. For example, the update request message may also include at least one of the following: second map feature information, used to indicate the map features corresponding to the second electronic horizon; second restriction information, used to limit or indicate the data size of the second electronic horizon; and second path identification information, used to indicate the paths included in the second electronic horizon.

[0365] In one possible implementation, after receiving an update request message, EHP can determine the vehicle's travel path by matching the vehicle's location with the map, thereby verifying the travel path in the update request message. For example, when time and computing power permit, EHP determines the vehicle's travel path by matching the vehicle's location with the map, and then verifies the travel path in the update request message. Exemplarily, if the travel path re-determined by EHP differs from the travel path in the update request message, the re-determined travel path can be taken as the correct one.

[0366] 804. EHP, based on information about the driving path and information about the sub-paths of the driving path, constitutes the second electronic horizon.

[0367] In one possible implementation, 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.

[0368] 805. EHP sends a second electronic horizon to EHR.

[0369] Accordingly, the EHR receives a second electronic horizon from the EHP. Step 805 can be referred to step 605 in Figure 6.

[0370] In one possible implementation, when a vehicle is about to leave the geographical coverage area corresponding to an existing first electronic horizon, the EHP constructs a first electronic horizon based on the topological information of roads connected to the vehicle's travel path. Step 805 may involve the EHP sending the first and second electronic horizons to the EHR. The EHP determines that the vehicle is about to leave the geographical coverage area corresponding to the existing first electronic horizon by predicting, based on the vehicle's current speed and the geographical coverage area corresponding to the existing first electronic horizon, that the vehicle will leave the geographical coverage area after a second time period, which may be 5 minutes, 10 minutes, 20 minutes, or 30 minutes, etc., and is not limited in this application. For example, after receiving an update request message from the EHR, the EHP may perform the following operations: construct a second electronic horizon based on the information of the travel path and the information of the sub-paths of the travel path; when the vehicle is about to leave the geographical coverage area corresponding to the existing first electronic horizon, the EHP constructs a first electronic horizon based on the topological information of roads connected to the vehicle's travel path; and sends the first and second electronic horizons to the EHR.

[0371] 806. EHR resolves and reconstructs the second electronic horizon from EHP.

[0372] In practical applications, EHR and EHP can repeat steps 601 to 606, so that new second electronic horizons can be continuously acquired before the vehicle leaves the geographical coverage area corresponding to the existing second electronic horizon.

[0373] 807. Vehicles are regulated based on the second electronic horizon.

[0374] Step 807 can be found in step 607.

[0375] In this embodiment, after the vehicle leaves the geographical coverage area corresponding to the third electronic horizon, the vehicle plans a driving route based on the existing first electronic horizon and navigates the vehicle to a parking area or to its destination according to the driving route; this solves the problem of the vehicle having no map data available. In addition, the EHR sends an update request message to the EHP to request an update to the second electronic horizon; the ability to update the second electronic horizon independently reduces the amount of data transmitted.

[0376] Figure 9 is a flowchart of a vehicle control method provided in an embodiment of this application. The method flow in Figure 9 is an example of a process that the vehicle may execute after obtaining a first electronic horizon and a second electronic horizon. For example, before executing the method flow in Figure 9, the vehicle obtains the first electronic horizon and the second electronic horizon through the method flow in Figure 3, Figure 4, or Figure 5. As shown in Figure 9, the method includes:

[0377] 901. When the vehicle has not left the geographical coverage area corresponding to the second electronic horizon, the vehicle performs path planning based on the second electronic horizon and perception data.

[0378] Perception data refers to data obtained by perceiving the vehicle's surrounding environment. For example, the vehicle performs path planning based on a second electronic horizon, a first electronic horizon, and the perception data. The vehicle can then travel along the planned path.

[0379] 902. If the vehicle does not leave the geographical coverage area corresponding to the second electronic horizon, the vehicle will navigate to its destination based on the second electronic horizon.

[0380] For example, 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 perception data, and navigates to the destination according to the planned driving path.

[0381] In this embodiment, the vehicle navigates to its destination based on the second electronic horizon as long as it does not leave the geographical coverage area corresponding to the second electronic horizon, which can improve the safety of vehicle driving.

[0382] Figure 10 is a flowchart of another vehicle control method provided in an embodiment of this application. The method flow in Figure 10 is an example of a process that the vehicle may execute after obtaining the first electronic horizon and the second electronic horizon. For example, before executing the method flow in Figure 10, the vehicle obtains the first electronic horizon and the second electronic horizon through the method flow in Figure 3, Figure 4, or Figure 5. Figure 10 can be a standalone flow or it can be combined with the flow in Figure 9. For example, the vehicle executes the flow in Figure 9 before executing the flow in Figure 10. As shown in Figure 10, the method includes:

[0383] 1001. The vehicle determines whether it has left the geographic coverage area corresponding to the second electronic horizon.

[0384] 1002. When the vehicle leaves the geographical coverage area corresponding to the second electronic horizon, the vehicle performs path planning based on the first electronic horizon and perception data.

[0385] The perception data is data obtained by sensing the vehicle's surrounding environment. When the vehicle remains within the geographical coverage area corresponding to the second electronic horizon, it performs path planning based on the second electronic horizon and the perception data; please refer to the flowchart in Figure 9.

[0386] 1003. If the vehicle leaves the geographic coverage area corresponding to the second electronic horizon, the vehicle will navigate to a safe parking area based on the first electronic horizon.

[0387] For example, if a vehicle leaves the geographic coverage area corresponding to the second electronic horizon, the vehicle plans a route based on the first electronic horizon and perception data, and navigates to a safe parking area according to the planned route. A safe parking area refers to an area where parking is safe, such as a garage, parking lot, or planned parking area.

[0388] 1004. EHR sends an update request message to EHP.

[0389] Correspondingly, EHP receives update request messages from EHR.

[0390] 1005. Based on the information of the driving path and the information of the sub-paths of the driving path, EHP constitutes a new second electronic horizon.

[0391] The new second electronic horizon can be the updated second electronic horizon that will be sent to the vehicle. The second electronic horizon in steps 1001 to 1003 is the old second electronic horizon, that is, the second electronic horizon that the vehicle already has.

[0392] 1006. EHP sends a new second electronic horizon to EHR.

[0393] 1007. EHR analyzes and reconstructs the new second electronic horizon from EHP.

[0394] Step 1007 can be used to update the vehicle's existing second electronic horizon.

[0395] 1008. Vehicles are regulated based on the new second electronic horizon.

[0396] Steps 1004 to 1008 are optional. Steps 1004 to 1008 can be referred to steps 803 to 807 in Figure 8. Steps 1004 to 1008 can be performed after the vehicle determines that it has left the geographic coverage area corresponding to the second electronic horizon. The order of steps 1004 and 1002 is not limited, nor is the order of steps 1004 and 1003.

[0397] In this embodiment of the application, when the vehicle leaves the geographical coverage area corresponding to the second electronic horizon, the vehicle navigates to a safe parking area based on the first electronic horizon in order to ensure the safety of the vehicle and passengers.

[0398] The structure of the data processing apparatus that can implement the map data layered transmission method provided in the embodiments of this application is described below with reference to the accompanying drawings. Only a brief description of the data processing apparatus is given below; for details of the implementation, please refer to the description of the method embodiments above, which will not be repeated hereafter.

[0399] Figure 11 is a schematic diagram of a data processing device 1100 provided in an embodiment of this application. This data processing device 1100 can correspondingly implement the functions or steps implemented by EHR in the above-described method embodiments, or the functions or steps implemented by EHP in the above-described method embodiments, or the functions or steps implemented by the vehicle in the above-described method embodiments. The data processing device may include a processing module 1110 and a transceiver module 1120. In one possible implementation, a storage unit may also be included, which can be used to store instructions (code or program) 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 can read instructions (code or program) and / or data from the storage unit to implement the corresponding method. The above-described units can be set independently, or partially or completely integrated. For example, the transceiver module 1120 may include a transmitting module and a receiving module. The transmitting 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.

[0400] In some possible implementations, the data processing device 1100 can correspondingly 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, hardware (e.g., a chip or circuit) that implements the behavior and functions of the EHR, or logic modules or software that implement the behavior and functions of the EHR. The transceiver module 1120 can, for example, be used to execute all the receiving or sending operations performed by the EHR in the embodiments of Figures 2, 3, 4, 5, 6, 8, and 10. The processing module 1110 can, for example, be used to execute all operations performed by the EHR in the embodiments of Figures 2, 3, 4, 5, 6, 8, and 10 except for the receiving and sending operations.

[0401] In some possible implementations, the data processing device 1100 can correspondingly implement the behavior and functions of EHP in the above method embodiments. For example, the data processing device 1100 can be a vehicle equipped with EHP, a hardware entity (e.g., a chip or circuit) that implements the behavior and functions of EHP, or a logic module or software that implements the behavior and functions of EHP. The transceiver module 1120 can, for example, be used to execute all the receive or transmit operations performed by EHP in the embodiments of Figures 2, 3, 4, 5, 6, 8, and 10. The processing module 1110 can, for example, be used to execute all operations performed by EHP in the embodiments of Figures 2, 3, 4, 5, 6, 8, and 10 except for the receive and transmit operations.

[0402] In some possible implementations, the data processing device 1100 can correspondingly implement the behavior and functions of the vehicle in the above method embodiments. For example, the data processing device 1100 can be a vehicle or a component (e.g., a chip or circuit) applied in the vehicle. The transceiver module 1120 can, for example, be used to perform all the receiving or sending operations performed by the vehicle in the embodiments of FIG6, FIG8, FIG9, and FIG10. The processing module 1110 can, for example, be used to perform all the operations performed by the vehicle in the embodiments of FIG6, FIG8, FIG9, and FIG10 except for the receiving and sending operations.

[0403] Figure 12 is a schematic diagram of another data processing device 120 provided in an embodiment of this application. The data processing device in Figure 11 may be the entity of the aforementioned EHR or a chip used to implement the behavior and function of the EHR, the entity of the aforementioned EHP or a chip used to implement the behavior and function of the EHP, or a vehicle or a chip used in the aforementioned vehicle. As shown in Figure 12, the data processing device 120 includes a processing circuit 1210 and a transceiver circuit 1220.

[0404] In some embodiments of this application, the processing circuit 1210 and the transceiver circuit 1220 can be used to perform functions or operations performed by the EHR. For example, the transceiver circuit 1220 is used to perform all receive or transmit operations performed by the EHR in the embodiments of Figures 2, 3, 4, 5, 6, 8, and 10. The processing circuit 1210 is used, for example, to perform all operations performed by the EHR in the embodiments of Figures 2, 3, 4, 5, 6, 8, and 10, except for the receive / transmit operations.

[0405] In some embodiments of this application, the processing circuit 1210 and the transceiver circuit 1220 can be used to perform functions or operations performed by EHP. For example, the transceiver circuit 1220 is used to perform all receive or transmit operations performed by EHP in the embodiments of Figures 2, 3, 4, 5, 6, 8, and 10. The processing circuit 1210 is used, for example, to perform all operations performed by EHP in the embodiments of Figures 2, 3, 4, 5, 6, 8, and 10, except for the receive / transmit operations.

[0406] In some embodiments of this application, the processing circuit 1210 and the transceiver circuit 1220 can be used to perform functions or operations performed by the vehicle. For example, the transceiver circuit 1220 is used to perform all receiving or transmitting operations performed by the vehicle in the embodiments of Figures 6, 8, 9, and 10. For example, the processing circuit 1210 is used to perform all operations performed by the vehicle in the embodiments of Figures 6, 8, 9, and 10, except for the receiving and transmitting operations.

[0407] In one possible implementation, the transceiver circuit 1220 includes at least one transceiver, and the processing circuit 1210 includes at least one processor, or at least one processor with circuitry for processing or control.

[0408] A transceiver is used for communication with other devices / appliances via a transmission medium. The processor utilizes the transceiver to send and receive data and / or signaling, and to implement the methods described in the above method embodiments. The processor can implement the functions of processing module 1110, and the transceiver can implement the functions of transceiver module 1120. Optionally, the transceiver may include radio frequency (RF) circuitry and an antenna. The RF circuitry is mainly used for converting baseband signals to RF signals and processing RF signals. The antenna is mainly used for sending and receiving RF signals in the form of electromagnetic waves. Input / output devices, such as touchscreens, displays, and keyboards, are mainly used for receiving user input data and outputting data to the user.

[0409] Optionally, the data processing apparatus 120 may further include at least one memory for storing program instructions and / or data. The memory and processor are coupled. The coupling in this embodiment 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.

[0410] The processor can read software programs from memory, interpret and execute the instructions of the software programs, and process the data of the software programs. When data needs to be transmitted wirelessly, the processor performs baseband processing on the data to be transmitted and outputs the baseband signal to the radio frequency (RF) circuit. The RF circuit then processes the baseband signal and transmits the RF signal outward in the form of electromagnetic waves through the antenna. When data is sent to the data processing device 120, the RF circuit receives the RF signal through the antenna, converts the RF signal into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal back into data and processes the data.

[0411] In another implementation, the aforementioned radio frequency circuitry and antenna can be set up independently of the processor performing baseband processing. For example, in a distributed scenario, the radio frequency circuitry and antenna can be arranged in a remote manner, independent of the data processing device 120.

[0412] The specific connection medium between the transceiver, processor, and memory described above is not limited in the embodiments of this application.

[0413] In the embodiments of this application, the processor can be one of the following devices: a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or all or part of the circuitry in the aforementioned devices used for processing functions. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or being executed by a combination of hardware and software modules within the processor.

[0414] In one possible implementation, the processing circuit 1210 includes at least one logic circuit, and the transceiver circuit 1220 includes at least one interface. The processing module 1110 in FIG. 11 can be implemented using logic circuits, and the transceiver module 1120 in FIG. 11 can be implemented using an interface. The logic circuit can be a chip, processing circuit, integrated circuit, or system-on-chip (SoC) chip, etc., and the interface can be a communication interface, input / output interface, etc. In this embodiment, the logic circuit and the interface can also be coupled to each other. The specific connection method of the logic circuit and the interface is not limited in this embodiment.

[0415] Figure 13 is a schematic diagram of another intelligent driving device 130 provided in an embodiment of this application. The intelligent driving device 130 corresponds to the vehicle in the above method embodiments and can be a chip, chip system, processor, or in-vehicle equipment. This intelligent driving device 130 can be used to implement the methods described in the above method embodiments; please refer to the descriptions in the above method embodiments for details. The intelligent driving device 130 is equipped with the aforementioned EHR. Alternatively, the intelligent driving device 130 is equipped with both the aforementioned EHR and the aforementioned EHP.

[0416] Referring to Figure 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, transceiver, or transceiver circuit, etc., and is used to implement transceiver functions. The transceiver 1305 may include a receiver and a transmitter. The receiver may be referred to as a receiver or receiving circuit, etc., and is used to implement a receiving function; the transmitter may be referred to as a transmitter or transmitting circuit, etc., and is used to implement a transmitting function. Optionally, the intelligent driving device 130 may include one or more memories 1302, which may store instructions 1304. These instructions 1304 may be computer programs, which can be run on the intelligent driving device 130, causing the intelligent driving device 130 to execute the methods described in the above method embodiments. Optionally, the memory 1302 may also store data. The intelligent driving device 130 and the memory 1302 may be set separately or integrated together.

[0417] For example, the intelligent driving device 130 could be:

[0418] (1) Independent integrated circuit IC, or chip, or chip system or subsystem;

[0419] (2) A module that can be embedded in other devices;

[0420] (3) Mobile units, vehicle-mounted equipment, cloud equipment, artificial intelligence equipment, etc.

[0421] In one possible implementation, the processor 1301 may include a transceiver for implementing receive and transmit 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 receive and transmit functions may be separate or integrated. The aforementioned transceiver circuit, interface, or interface circuit may be used for reading and writing code / data, or it may be used for transmitting or relaying signals.

[0422] In one implementation, processor 1301 may store instructions 1303, which may be a computer program. Instructions 1303, when executed on processor 1301, cause the intelligent driving device 130 to perform the methods described in the above method embodiments. Instructions 1303 may be embedded in processor 1301; in this case, processor 1301 may be implemented in hardware.

[0423] In one implementation, the intelligent driving device 130 may include circuitry that can perform the functions of sending, receiving, or communicating as described in the foregoing method embodiments. The processor and transceiver described in this application embodiment can be implemented on integrated circuits (ICs), analog ICs, radio frequency integrated circuits (RFICs), mixed-signal ICs, application-specific integrated circuits (ASICs), printed circuit boards (PCBs), or electronic devices, etc.

[0424] This application also provides a computer-readable storage medium storing a computer program or instructions that, when executed on a computer, cause the computer to perform the methods of the embodiments described above. The computer-readable storage medium can be any available medium accessible to a computer, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)). The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0425] It should be noted that those skilled in the art will recognize that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware, and this 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, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0426] This application also provides a chip, which includes: a communication interface and a processor; the communication interface is used for signal transmission and reception of the chip; the processor is used to execute computer program instructions, causing a data processing device including the chip to perform the method as described in the above embodiments.

[0427] This application also provides a map data update system, including the aforementioned EHR and EHP.

[0428] This application also provides a computer program product comprising instructions or a computer program that, when executed on a computer, causes the methods described in the above embodiments to be performed. The computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated.

[0429] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented in software, they can be implemented, in whole or in part, as a computer program product.

[0430] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0431] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0432] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the connections, couplings, or communication connections shown or discussed may be through interfaces, indirect connections or communication connections between devices or units, and may be electrical or other forms.

[0433] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0434] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0435] The technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer program product is stored in a storage medium and includes several instructions to cause a device (which may be a terminal device, network device, vehicle device, router, server, robot, chip, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

Claims

1. A map data update system, characterized in that, The system includes: Electronic Horizon Reconstructor (EHR) and Electronic Horizon Provider (EHP); The EHP sends a first electronic horizon to the EHR; The EHP sends a second electronic horizon to the EHR; Wherein, 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, 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, characterized in that, The method is applied to the Electronic Horizon Reconstructor (EHR), and the method includes: Receive the first electronic horizon from the electronic horizon provider EHP; Receive a second electronic horizon from the EHP; Wherein, 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, 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, characterized in that, The first electronic horizon includes at least one of the following map elements: road topology information, road driving rules, and traffic flow information; the second electronic horizon includes at least one of the following map elements: lane information, sign 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 segments, and road condition information.

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

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

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

7. The method according to claim 4, characterized in that, Sending the first message to the EHP includes: Before the vehicle leaves the geographic coverage area 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 those included in the second electronic horizon. Some geographic coverage areas in the geographic coverage area corresponding to the second electronic horizon are not included in the geographic coverage area corresponding to the third electronic horizon. The geographic coverage area corresponding to the first electronic horizon is greater than and includes the geographic coverage area corresponding to the third electronic horizon.

8. The method according to claim 7, characterized in that, Before sending the first message, the method further includes: Based on the expected second-layer geographic coverage of the EHR and the existing second-layer geographic coverage of the EHR, the incremental range of the second-layer geographic coverage is determined, 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, characterized in that, The first message further includes at least one of the following: second map element information, the second map element being used to indicate the map element corresponding to the second electronic horizon; second restriction information, the second restriction information being used to restrict or indicate the data size of the second electronic horizon; and second path identification information, the second path identification information being used to indicate the path contained in the second electronic horizon.

10. The method according to claim 4, characterized in that, Sending the first message to the EHP includes: After the vehicle leaves the geographic coverage area corresponding to the third layer map data, 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 those included in the second electronic horizon. Some geographic coverage areas in the geographic coverage area corresponding to the second electronic horizon are not included in the geographic coverage area corresponding to the third electronic horizon.

11. The method according to claim 10, characterized in that, The first message further includes at least one of the following: second map element information, which indicates the map element corresponding to the second electronic horizon; second restriction information, which restricts or indicates the data size of the second electronic horizon; second path identification information, which indicates the path contained in the second electronic horizon; and information on the planned driving path of the vehicle.

12. A method for layered transmission of map data, characterized in that, The method is applied to Electronic Horizons (EHP) providers, and the method includes: Send the first electronic horizon to the Electronic Horizon Reconstructor (EHR); Send a second electronic horizon to the EHR; Wherein, 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, 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, characterized in that, The first electronic horizon includes at least one of the following map elements: road topology information, road driving rules, and traffic flow information; the second electronic horizon includes at least one of the following map elements: lane information, sign 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 segments, and road condition information.

14. The method according to claim 12 or 13, characterized in that, The method further includes: The vehicle receives 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 including at least one of vehicle location information and range information, the range information being used to indicate the geographic coverage area corresponding to the first electronic horizon and / or the geographic coverage area corresponding to the second electronic horizon, the vehicle being equipped 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, characterized in that, The first message is an initialization request message, which is used to request the first electronic horizon and the second electronic horizon, and includes the vehicle's location information; Before sending the first electronic horizon and / or the second electronic horizon to the EHR based on the first message, the method further includes: Based on the vehicle's location information, the vehicle's travel path is determined; The second electronic horizon is constructed based on the information of the driving path and the information of the sub-paths of the driving path; The first electronic horizon is constructed based on the topological information of the roads connected to the vehicle's travel path.

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

17. The method according to claim 14, characterized in that, The first message is an update request message, 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 vehicle's driving path and the information of the sub-paths of the driving path.

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

19. The method according to claim 17 or 18, characterized in that, The range information is used to indicate the incremental range of the second-layer geographic coverage area expected by the EHR relative to the existing second-layer geographic coverage area of ​​the EHR. The existing second-layer geographic coverage area of ​​the EHR is the geographic coverage area 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 those 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 constructed 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.

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

21. A vehicle control method, characterized in that, The method includes: Determine whether the vehicle has left the geographic coverage area corresponding to the second electronic horizon; 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, wherein the perception data is data obtained by perceiving the surrounding environment of the vehicle. Wherein, 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, 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, characterized in that, The method further includes: If the vehicle does not leave the geographical coverage area corresponding to the second electronic horizon, path planning is performed based on the second electronic horizon and perception data.

23. The method according to claim 22, characterized in that, The method further includes: If the vehicle does not leave the geographical coverage area corresponding to the second electronic horizon, the vehicle is navigated to its destination based on the second electronic horizon.

24. The method according to any one of claims 21 to 23, characterized in that, The method further includes: If the vehicle leaves the geographic 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 apparatus, characterized in that, Includes modules for implementing the method according to any one of claims 2 to 11.

26. A data processing apparatus, characterized in that, Includes modules for implementing the method according to any one of claims 12 to 20.

27. A data processing apparatus, characterized in that, Includes modules for implementing the method of any one of claims 21 to 24.

28. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the method described in any one of claims 2 to 24 to be performed.

29. A data processing apparatus, characterized in that, Includes a processor, which, when executing instructions, causes the data processing apparatus to perform the method as described in any one of claims 2 to 24.

30. A chip, characterized in that, include: A communication interface is used for signal transmission and reception of the chip. A processor for executing computer program instructions, causing a data processing apparatus including the chip to perform the method as described in any one of claims 2 to 24.

31. A computer program product, characterized in that, When the computer program product is run on a computer, it causes the computer to perform the method as described in any one of claims 1 to 24.

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