CN108332761B

CN108332761B - Method and equipment for using and creating road network map information

Info

Publication number: CN108332761B
Application number: CN201810122312.8A
Authority: CN
Inventors: 齐歆瑜; 周小成; 曾侠; 姜岩; 马万里; 张丹
Original assignee: Uisee Shanghai Automotive Technologies Ltd
Current assignee: Uisee Shanghai Automotive Technologies Ltd
Priority date: 2018-02-07
Filing date: 2018-02-07
Publication date: 2022-10-28
Anticipated expiration: 2038-02-07
Also published as: CN108332761A

Abstract

The application aims to provide a method and equipment for using and creating road network map information; the method comprises the steps of obtaining road network map information, wherein the road network map information comprises road network units and unit description information corresponding to the road network units, and the road network units comprise at least one of the following items: road network coordinate system, road network points, road sections, parking spaces, static barriers and parking observation points; using the road network map information. Compared with the prior art, the method and the device have the advantages that the content form and the use scene of the road network map information can be greatly expanded, the specific requirements on the road network information in different scenes, such as a limited scene, can be met, the driving execution rate of vehicles in the limited scene can be improved, more valuable information can be provided for controlling the driving of the vehicles, and the like, and meanwhile, the support can be provided for common traffic scenes.

Description

Method and equipment for using and creating road network map information

Technical Field

The present application relates to the field of automatic driving, and more particularly, to a technique for using and creating road network map information.

Background

The current unmanned industry is divided into two technical directions, wherein one direction is the unmanned technology research facing the open world, namely the unmanned driving is carried out on public traffic roads such as roads and expressways in the real sense, the technical requirement of the direction is universal and universal, and all possible situations in traffic can be met; the other direction is unmanned research under a limited scene, such as indoor and outdoor parking lots, parks, airports, construction sites and workshops, and the like. The existing high-precision map mainly provides road information in an open scene, the description format of the road information is complex and not concise, and the road information in the existing open scene cannot meet certain specific requirements in a limited scene, particularly in an unmanned driving technology.

Disclosure of Invention

The application aims to provide a method and equipment for using and creating road network map information.

According to an aspect of the present application, there is provided a method of using road network map information, including:

the method comprises the steps of obtaining road network map information, wherein the road network map information comprises road network units and unit description information corresponding to the road network units, and the road network units comprise at least one of the following items: road network coordinate system, road network points, road sections, parking spaces, static barriers and parking observation points;

and using the road network map information.

According to another aspect of the present application, there is provided a method of creating road network map information, including:

acquiring original road network information of a target road network;

determining corresponding road network units based on the original road network information;

determining unit description information for describing the road network units, wherein the unit description information comprises road network point related information for limiting a road network point sequence of the road network units.

According to another aspect of the present application, there is provided an apparatus for using road network map information, including:

the road network map information acquisition device is used for acquiring road network map information, wherein the road network map information comprises road network units and unit description information corresponding to the road network units, and the road network units comprise at least one of the following items: road network coordinate system, road network points, road sections, parking spaces, static barriers and parking observation points;

and the using device is used for using the road network map information.

According to another aspect of the present application, there is also provided an apparatus for creating road network map information, including:

the second acquisition device is used for acquiring original road network information of the target road network;

first determining means for determining a corresponding road network unit based on the original road network information;

a second determining device, configured to determine unit description information for describing the road network unit, where the unit description information includes road network point related information for defining a road network point sequence of the road network unit.

According to another aspect of the present application, there is also provided an apparatus for using road network map information, including:

one or more processors;

a memory; and

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for:

using the road network map information.

According to another aspect of the present application, there is also provided a computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to:

using the road network map information.

one or more processors;

a memory; and

acquiring original road network information of a target road network;

determining unit description information for describing the road network units, wherein the unit description information comprises road network point related information for defining a road network point sequence of the road network units.

Compared with the prior art, the method and the equipment for using the road network map information have the advantages that the road network map information comprising road network units and unit description information corresponding to the road network units is obtained, and the road network map information is used. According to the method and the device, road network units in traffic scenes, particularly in limited scenes, such as road network coordinate systems, road network points, road sections, parking spaces, static obstacles, parking observation points and the like can be described, so that the road network units can be effectively used. Therefore, the content form and the use scene of the road network map information are greatly expanded, the specific requirements on the road network information under different scenes, such as limited scenes, are met, the driving execution rate of vehicles under the limited scenes can be improved, more valuable information can be provided for controlling the driving of the vehicles, and the like, and meanwhile, the support can be provided for common traffic scenes.

Further, the application also provides a method and equipment for creating road network map information, original road network information of a target road network is obtained, and then corresponding road network units are determined based on the original road network information; thereby determining unit description information for describing the road network units, wherein the unit description information comprises road network point related information for defining a road network point sequence of the road network units. Here, the road network unit and the unit description information corresponding to the road network unit are created, so that effective description of a traffic scene, particularly some limited scenes, is realized, and meanwhile, the traffic information description of a common traffic scene can be supported. Therefore, the content form and the use scene of the road network map information are greatly expanded, for example, based on the road network unit and the unit description information corresponding to the road network unit provided by the application, more effective and accurate information support can be provided for controlling the driving of vehicles in the corresponding road network, and further, the use capacity and the use efficiency of the vehicles for the map can be improved.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:

FIG. 1 illustrates a flow chart of a method of using road network map information in accordance with an aspect of the subject application;

FIG. 2 illustrates a flow diagram of a method of creating road network map information according to an aspect of the subject application;

FIG. 3 illustrates an exemplary system that can be used to implement the various embodiments described herein;

FIG. 4 illustrates a device diagram of a device for using road network map information, according to an aspect of the subject application;

fig. 5 is a schematic diagram of an apparatus for creating road network map information according to an aspect of the present application;

FIG. 6 is a diagram illustrating road network elements and an example of corresponding element description information for the road network elements according to an embodiment of an aspect of the present application;

FIG. 7 illustrates an exemplary graph of road network map information according to an embodiment of an aspect of the present application;

FIG. 8 illustrates an exemplary graph of road network map information according to an embodiment of another aspect of the present application;

the same or similar reference numbers in the drawings identify the same or similar elements.

Detailed Description

The present application is described in further detail below with reference to the attached drawing figures.

In a typical configuration of the present application, the terminal, the device serving the network, and the computing device include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.

The device referred to in the present application includes, but is not limited to, a user equipment, a network device, or a device formed by integrating a user equipment and a network device through a network. The user equipment includes, but is not limited to, any mobile electronic product capable of performing human-computer interaction with a user (e.g., human-computer interaction through a touch panel), such as a smart phone, a tablet computer, and the like, and the mobile electronic product may employ any operating system, such as an android operating system, an iOS operating system, and the like. The network device includes an electronic device capable of automatically performing numerical calculation and information processing according to a preset or stored instruction, and hardware thereof includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like. The network device includes but is not limited to a computer, a network host, a single network server, a plurality of network server sets or a cloud of a plurality of servers; here, the Cloud is composed of a large number of computers or network servers based on Cloud Computing (Cloud Computing), which is a kind of distributed Computing, one virtual supercomputer consisting of a collection of loosely coupled computers. Including, but not limited to, the internet, a wide area network, a metropolitan area network, a local area network, a VPN network, a wireless Ad Hoc network (Ad Hoc network), etc.

Fig. 1 illustrates a flow chart of a method of using road network map information according to an aspect of the present application. Wherein the method comprises step 11 and step 12. In one implementation of the present application, the method may be performed on a device 1 that uses road network map information.

In step 11, road network map information may be obtained, where the road network map information includes road network units and unit description information corresponding to the road network units, and the road network units include at least one of the following: road network coordinate system, road network points, road sections, parking spaces, static barriers and parking observation points; next, in step 12, the road network map information may be used.

Specifically, in step 11, road network map information may be acquired, where the road network map information includes road network units and unit description information corresponding to the road network units, and the road network units include at least one of the following: road network coordinate system, road network point, road section, parking space, static barrier, parking observation point. In one implementation, the road network map information may include, but is not limited to, high-precision map information, other types of electronic map information, and the like. In one implementation, the road network map information may be used to describe any road network related information required by a driving system in practical applications, including unit description information corresponding to the road network unit. Here, the road network unit includes at least any one of: road network coordinate system, road network point, road section, parking space, static barrier, parking observation point. As shown in fig. 6, the road network map information may include road network coordinate system, road network points, road segments, parking spaces, static obstacles, parking observation points, and other road network elements. The unit description information is used for describing the road network unit, so that the road network unit is characterized.

In one implementation, the unit description information corresponding to the road network coordinate system may include coordinate system type information, as shown in fig. 6, where the coordinate system type information is used to describe the road network coordinate system. The coordinate system type information is used for specifying a coordinate system unit adopted by the road network. For example, if true, it means that the road network adopts longitude and latitude and altitude, that is, the road network points in the road network adopt longitude and latitude and altitude descriptions; and setting false, namely, the road network adopts a three-dimensional rectangular coordinate system, namely, the road network points in the road network are described by adopting three-dimensional rectangular coordinates.

In an implementation manner, the unit description information corresponding to the road network point includes attribute information of a road network point, as shown in fig. 6, where the attribute information of the road network point is used to describe the road network point. Here, the waypoint may include any point on the waypoint as a mark, such as a certain point on a road lane or a certain point on a parking space, and in one implementation, the waypoint may be determined based on the needs of a scene application. In one implementation, the unit description information corresponding to the road network point includes, but is not limited to, identification information of a road network point, for example, a sequential number of the road network point; the coordinate information of the road network points, for example, the coordinate information of the road network points may be determined based on the type of a coordinate system set in the road network map information, for example, the coordinate information of the road network points may be set to be described by longitude and latitude and altitude, and for example, the coordinate information of the road network points may also be set to be described by a three-dimensional rectangular coordinate system; the type information of the road network points can be set according to actual needs, for example, the types of the road network points can be distinguished according to the position information of the road network points, the network points arranged on a lane can be classified into one type, the network points arranged on a parking space can be classified into another type, and the like; the turning radius of the road network point can be set to be 0 under the scene that the information is uncertain; and the gradient information of the road network points can be set to be 0 under the scene that the information is uncertain. In an example of the road network map information shown in fig. 7, the road network unit may include road network points node1, node2, node3, node4, node5, and node6, and each road network point may constitute a road network point set. Here, the identification information of the routing points of each routing point corresponds to

id

1,2, 3, 4, 5, 6 in sequence; each road network point corresponds to a group of coordinates x, y and z, wherein the coordinates information describing the road network point by longitude and latitude and altitude can be set, and the x, y and z represent the longitude, latitude and altitude respectively, and the coordinates information describing the road network point by a three-dimensional rectangular coordinate system can be set, and the x, y and z represent the x-axis coordinate, the y-axis coordinate and the z-axis coordinate respectively.

The road section comprises a continuous road surface for the vehicle to travel and comprises one or more lanes. In one implementation, the road segment includes one or more atomic lanes, the atomic lanes are determined based on road segment attribute information of the road segment, the atomic lanes include corresponding road network point sequences, and the unit description information corresponding to the road segment includes lane related information corresponding to the atomic lanes and road network point related information corresponding to the road network point sequences, as shown in fig. 6, the lane related information and the road network point related information are used for describing the road segment. In one implementation, the lanes may be segmented according to lane change information of the lanes in the road section until each lane segment satisfies: the feasibility of changing the lane from any point on the lane to the adjacent lane and the feasibility of changing the lane from the adjacent lane to any point on the lane are the same, each lane is called as an atomic lane, and the road section attribute information of the road section can comprise lane changing information of the lane, lane type information of the lane, speed limiting information of the lane and traffic limiting information of the lane; curvature information of the track; road surface information of the lane; the road section attribute information of the road section may also include other road information according to the actual situation, and is not described herein again and is included herein by way of reference. Here, the atomic lane may satisfy atomicity, that is: firstly, the lane changing behaviors between adjacent atomic lanes are consistent everywhere, namely, any one of the atomic lanes can be changed to the same adjacent atomic lane or changed into the same adjacent atomic lane, or any one of the atomic lanes cannot be changed to the same adjacent atomic lane or changed into the same adjacent atomic lane; secondly, the end point of one section of atomic lane can be connected with the start point of one or more other sections of atomic lanes, and the start point of one section of atomic lane can also be connected with the end point of one or more other sections of atomic lanes. For example, when an autonomous vehicle is traveling in an atomic lane, in addition to the lane change situation, along the atomic lane, it is driven from the start point of the atomic lane to the end point of the atomic lane.

Here, the lane-related information corresponding to the atomic lane may be information determined based on link attribute information of a link to which the atomic lane is subordinate. In one implementation, the lane-related information may include numbering information of the atomic lanes, for example, may be arranged in an order, such as numbering from left lane to right lane; lane line type information of the atomic lane, for example, left and right lane line type information, such as various solid lines, broken lines, and the like, may also be included, where based on the type of the lane line, it may be determined whether lane change between adjacent lanes, lane borrowing and passing, and the like are possible; lane type information of the atomic lane, such as a one-way lane, a two-way lane, a straight lane, a turning lane, a roundabout road, a driving track and the like; speed limit information of the atomic lane, for example, a speed limit when a vehicle passes through the atomic lane; restriction information for the atomic lanes may also be included, e.g., whether the respective atomic lane is passable at a particular time and/or for a particular vehicle; the curvature information of the atomic lane is used for providing the turning radius of the curve, for example, a vehicle control module of the unmanned vehicle can set a front wheel deflection angle in a targeted manner, so that the front wheel is prevented from shaking during turning, and the riding experience of the vehicle is improved; the road information of the atomic lane can include providing road material type information, such as that the road is an asphalt road, a concrete road, a mud road or a gravel road, and further determining a proper driving speed according to the road material type information; the environmental information of the atomic lane may include that the road to which the lane belongs is an expressway, an urban highway, a tunnel, a bridge, etc., and may be used to determine an appropriate driving mode, driving style, etc., and may also be used to control vehicle lights, etc., for example, a high beam may be continuously used on the expressway, while a high beam may not be continuously used on the urban highway. It should be understood by those skilled in the art that the above-mentioned lane-related information is merely an example, and other lane-related information that may exist or come in the future is included in the scope of the present application if applicable to the present application and is included herein by reference.

The atomic lane comprises a sequence of road network points. The road network point sequence comprises one or more road network points. The sequence of road network points corresponds to road network point related information, which in one implementation may include, but is not limited to: the road network points are numbered in sequence; the coordinate information of the road network point may be determined based on the type of a coordinate system set in the road network map information, for example, the coordinate information describing the road network point by using longitude, latitude and altitude may be set, and, for example, the coordinate information describing the road network point by using a three-dimensional rectangular coordinate system may also be set; the type information of the road network points can be set according to actual needs, for example, the types of the road network points can be distinguished according to the position information of the road network points, the network points arranged on a lane can be classified into one type, the network points arranged on a parking space can be classified into another type, and the like; the turning radius of the road network point can be set to be 0 under the scene that the information is uncertain; the method comprises the following steps that (1) the gradient information of a road network point can be set to be 0 under the scene that the information is uncertain; position information of road network points relative to the lanes, the road segment containing one or more parallel atomic lanes, each road network point on the target road segment being located at least any one of: on the left lane line of an atomic lane, on the right lane line of an atomic lane, on the lane center line of an atomic lane. In one implementation, if the road segment includes only one atomic lane, it can be used to describe the driving path in practical application; the order information of the road nodes, for example, the order information of the road nodes corresponding to the same atomic lane, here, the traveling direction and the position of the lane may be represented based on the order information of the road nodes and the coordinate information of the road nodes. It should be understood by those skilled in the art that the above-mentioned road network point related information is only an example, and other road network point related information existing or appearing in the future should be included in the scope of the present application if applicable to the present application, and is included herein by reference.

In an example of the road network map information shown in fig. 7, the road network units may include road segments, each road segment constitutes a road segment set, and the unit description information of each road segment includes number information of atomic lanes, such as segment set: [ { id:1. } ]; identification information of a node point, such as node list [1,2]; lane line type information of the atomic lane, etc., for example, left line type: solid line, left of road network point is solid line, right lane type: indicating a dashed line to the right of the waypoint.

In one implementation manner, the unit description information of the parking space includes positioning information of the parking space determined based on the parking space type information of the parking space and the relative position relationship between the parking space and the relevant lane, as shown in fig. 6, the positioning information includes a start road node and an end road node, and the parking space type information and the positioning information of the parking space are used for describing the parking space.

Specifically, in one implementation, the parking space type information includes a lateral parking space and a general parking space. Here, the parking space type information may be directly acquired; the parking space center line of the parking space is parallel to the corresponding lane of the parking space, for example, the parking space is a lateral parking space, and the parking space is a normal parking space. Here, the unit description information includes positioning information determined based on the parking space type information and a relative position relationship between the parking space and a related lane, in one implementation, the parking space may be a quadrangle, such as a parallelogram, and the parking space may be described by the start road node and the end road node, in one implementation, the start road node may be located on a parking space center line, and if the parking space is a common parking space, the point is a point close to the related lane; if the parking space is a lateral parking space, the point is located at the right position by taking the direction from the lane to the lateral parking space as the upward direction. In one implementation, the termination road point may be located on a parking space centerline. If the parking space is a common parking space, the point is a point far away from the relevant lane. If the parking space is a lateral parking space, the point is located at the left position by taking the direction from the lane to the lateral parking space as the upward direction. Here, the unit description information may include the parking space type information and the location information of the parking space for describing the parking space.

In an example of the road network map information shown in fig. 8, the road network unit may include parking spaces. In a common parking space 1, a common parking space 2, a common parking space 3 and a lateral parking space 4, a first node is the starting road junction point, and a last node is the stopping road junction point, wherein the first node and the last node are positioned on a parking space central line.

Further, in an implementation manner, a parking space parking method may be set based on the parking space, the corresponding parking space type information, and the positioning information of the parking space, for example, for a vertical parking space, two manners of a vehicle head facing inward and a vehicle head facing outward may be set, and a corresponding selection mechanism is set, so that a parking determination process is greatly simplified.

In one implementation, the unit description information further includes a parking space shape angle determined based on the positioning information of the parking space, as shown in fig. 6; the parking space type information and the positioning information of the parking space are used for describing that the parking space comprises the parking space type information, the positioning information of the parking space and the parking space shape angle and are used for describing the parking space. Here, the direction of the connection from the start point to the end point may be set as the positive direction of the connection, and the direction may be set as the upper direction. And setting the right side of the side where the initial road network point is positioned as the positive direction of the side. The parking space shape angle is defined as an included angle between the direction of the connecting line of the starting road network point and the ending road network point e and the direction of the edge where the starting road network point is located. The angle of the angle is the parking space shape angle. In one implementation, the parking space shape angle can be set to be in a range from 0 degree to 180 degrees. In an example of the road network map information shown in fig. 8, in the general parking space 1, the general parking space 2, the general parking space 3, and the side parking space 4, theta is the parking space shape angle.

In one implementation, the unit description information further includes parking space width information, as shown in fig. 6; the parking space type information and the positioning information of the parking space are used for describing that the parking space comprises the parking space type information, and the positioning information of the parking space and the parking space width information are used for describing the parking space. In one implementation, the parking space width information includes a length of a parking space broadside, that is, a length of a parking space side where the start road network point or the end road network point is located. In an implementation of this application, the locating information on parking stall combines parking stall width information with parking stall shape angle can restore the original appearance of parking stall more completely promptly. In an example of the road network map information shown in fig. 8, the lengths width of the parking spaces corresponding to the normal parking space 1, the normal parking space 2, the normal parking space 3, and the lateral parking space 4 are the parking space width information.

In one implementation, the unit description information further includes locator information of a parking space, as shown in fig. 6; the parking space type information and the positioning information of the parking space are used for describing that the parking space comprises the parking space type information, and the positioning information of the parking space and the locator information of the parking space are used for describing the parking space. Here, the locator information may include a locator position, and for example, a road network point indicating the locator position may be located on a center line of the parking space. Here, if there is no locator in the parking space, the information may be left blank. In an example of the road network map information shown in fig. 8, the general parking space 1 includes a locator, and the road network point locator node representing the position of the locator may be located on the central line of the parking space corresponding to the locator.

In one implementation, the unit description information corresponding to the static obstacle includes shape information of the static obstacle determined by a road junction point sequence on the static obstacle, as shown in fig. 6, where the shape information of the static obstacle is used to describe the static obstacle. In one implementation, the static obstacles include, but are not limited to curbs, walls, and the like. The unit description information of the static barrier can effectively supplement the sensing result and provide more valuable information for controlling the vehicle to run. Further, in an implementation manner, the unit description information includes shape information of the static obstacle determined by the static obstacle routing point sequence, and the unit description information includes shape information of the static obstacle determined by a reference line segment composed of two routing points in the static obstacle routing point sequence. For example, two road network points are selected from the road network point sequence to form a road network point pair, each road network point pair forms a reference line segment, and then the shape information of the static obstacle can be drawn based on a plurality of reference line segments formed by two road network points. It should be understood by those skilled in the art that the above types of static barriers are merely examples, and other types of static barriers, which may be present or later come into existence, should be included in the scope of the present application if applicable, and are herein incorporated by reference.

In one implementation, the cell description information further includes position information of a static obstacle determined by a sequence of waypoint points on the static obstacle, as shown in fig. 6; the shape information of the static obstacle is used for describing the static obstacle, and the shape information of the static obstacle and the position information of the static obstacle are used for describing the static obstacle. For example, the position information of the static obstacle is determined by a reference line segment formed by two road network points in the road network point sequence on the static obstacle.

In one implementation, the unit description information further includes type information of a static obstacle, and as shown in fig. 6, the shape information of the static obstacle is used to describe that the static obstacle includes the shape information of the static obstacle and the type information of the static obstacle is used to describe the static obstacle. Here, the static obstacle type may include, but is not limited to, a wall, a pillar, a curb, a speed bump, a traffic light, a green belt, a fence, and the like.

In one implementation manner, the unit description information corresponding to the parking observation point includes road network point related information of a road network point sequence constituting the parking observation point and yielding lane information determined based on lane information of a road segment where the parking observation point is located, as shown in fig. 6, where the road network point related information and the yielding lane information are used for describing the parking observation point. In one implementation, the parking observation point may correspond to one or more road junction points, that is, a road junction point sequence, and the information related to the road junction point may include sign information, such as number information, of the road junction point, and may further include coordinate information of the road junction point, and the like. Here, the yielding lane information may include a list of lanes that require yielding. The traffic lane information may be determined based on the lane information of the road segment where the parking observation point is located, and in an implementation manner, the lane information may include, but is not limited to, information about the number of lanes of the road segment, information about the type of lane, statistical information about the traffic flow of each lane of the road segment, and the like, which may be used to help determine the traffic lane. In an example of the road network map information shown in fig. 7, the road network units may include respective parking observation points, a parking observation point set stop sign set is formed by the respective parking observation points, and the unit description information of each parking observation point may include mark information of the road network point, such as number information, for example, node id:3.

next, in step 12, the road network map information may be used. In one implementation, the using the road network map information includes at least any one of: firstly, the road network map information can be provided to other information using equipment; second, can present the map information of said road network; thirdly, the corresponding vehicle driving information can be determined based on the road network unit and the unit description information in the road network map information. For example, when the road network unit includes a road segment, based on the unit description information, the connection information between lanes, the lane change information, and the like may be known, so that a corresponding path planning, a control strategy formulation, and the like may be performed. For another example, when the road network unit includes a parking space, a parking space parking method may be set based on the parking space, the corresponding parking space type information, and the positioning information of the parking space, for example, for a vertical parking space, two ways of a vehicle head facing inward and a vehicle head facing outward may be set, and a corresponding selection mechanism is set, so that a parking determination process is greatly simplified. In one implementation, the vehicle corresponding to the vehicle driving information may include, but is not limited to, a vehicle that drives in any mode, such as a full human driving mode, an assisted driving mode, a partial automatic driving mode, a conditional automatic driving mode, a highly automatic driving mode, or a full automatic driving mode.

Here, the present application may acquire road network map information including road network elements and element description information corresponding to the road network elements, and use the road network map information. According to the method and the system, road network units in traffic scenes, particularly in limited scenes, such as road network coordinate systems, road network points, road sections, parking spaces, static obstacles, parking observation points and the like can be described, so that the road network units can be effectively used. Therefore, the content form and the use scene of the road network map information are greatly expanded, the specific requirements on the road network information under different scenes, such as limited scenes, are met, the driving execution rate of vehicles under the limited scenes can be improved, more valuable information can be provided for controlling the driving of the vehicles, and the like, and meanwhile, the support can be provided for common traffic scenes.

The application also provides a method for creating road network map information. Fig. 2 illustrates a flow chart of a method for creating road network map information according to an aspect of the present application. Wherein the method comprises step 21, step 22 and step 23. In one implementation of the present application, the method may be executed on a device 1 for creating road network map information.

In step 21, original road network information of the target road network may be obtained; next, in step 22, a corresponding road network unit may be determined based on the original road network information; next, in step 23, unit description information for describing the road network unit may be determined, wherein the unit description information includes road network point related information for defining a road network point sequence of the road network unit.

Specifically, in step 21, original road network information of the target road network may be obtained, where the original road network information may include extracting existing road network information from map information of an existing map, including but not limited to existing road information, coordinate information of relevant points, obstacle information, other environment information, and the like. In one implementation, the existing map information may include related information obtained from an electronic map such as a high-precision map or a general navigation map, or may include related information obtained from another map information providing platform such as a website providing GPS coordinate information. Next, in step 22, a corresponding road network unit may be determined based on the original road network information, and in one implementation, the road network unit includes at least any one of the following: road network coordinate system, road network point, road section, parking space, static barrier, parking observation point. In one implementation, the determination of the road network elements may be based on the requirements of some defined scenarios. Next, in step 23, unit description information for describing the road network unit may be determined, wherein the unit description information includes road network point related information for defining a road network point sequence of the road network unit. In one implementation, the road network unit may include a road network point sequence, that is, one or more road network points, and the road network unit may be described by road network point related information corresponding to the road network point sequence. In one implementation, the waypoint-related information may include identification information of at least any one of the following waypoints; coordinate information of the road network points; type information of the road network points; the turning radius of the road network point; gradient information of road network points; road network point position information, for example, position information of a road network point relative to a lane; order information of the waypoint points, etc.; further, for different road network units, the content of the corresponding road network point related information can be differentiated. In one implementation, each road network point in the road network point sequence is determined based on a coordinate system of the target road network, for example, coordinate information describing the road network point by longitude, latitude and altitude may be set, and for example, coordinate information describing the road network point by a three-dimensional rectangular coordinate system may also be set. Further, in an implementation manner, the road network point related information may jointly characterize the road network element in combination with other element description information.

In one implementation, the method further comprises the steps of: the road network map information corresponding to the target road network can be established or updated according to the unit description information of the road network unit. Further, the road network map information established or updated may be used, including but not limited to, the road network map information may be provided to other information using devices; the road network map information can also be presented; the corresponding vehicle driving information can be determined based on the road network unit and the unit description information in the road network map information.

In one implementation, the road network units include road segments; in step 23, one or more atomic lanes corresponding to the road segment may be determined based on the road segment attribute information of the road segment; then, determining the lane related information of the atomic lane based on the link attribute information of the link to which the atomic lane belongs; then, determining a road network point sequence corresponding to the atomic lane and corresponding road network point related information; and the lane related information of the atomic lane and the road junction related information are used for describing the road section.

Specifically, one or more atomic lanes corresponding to the road segment may be determined based on road segment attribute information of the road segment. The road section comprises a continuous road surface for the vehicle to travel and comprises one or more lanes. In one implementation, the lanes may be segmented according to the lane change information of the lanes in the road segment until each lane satisfies: the feasibility of changing the lane from any point on the lane to the adjacent lane and the feasibility of changing the lane from the adjacent lane to any point on the lane are the same, each lane is called as an atomic lane, and the road section attribute information of the road section can comprise lane changing information of the lane, lane type information of the lane, speed limiting information of the lane and traffic limiting information of the lane; curvature information of the track; road surface information of the lane; the environmental information of the lane, and the like, and similarly, the link attribute information of the link may further include other road information according to the actual situation, which is not described herein again and is included herein by way of reference. Here, the atomic lane may satisfy atomicity, that is: firstly, the lane changing behaviors between adjacent atomic lanes are consistent everywhere, namely, any one of the atomic lanes can be changed to the same adjacent atomic lane or changed into the same adjacent atomic lane, or any one of the atomic lanes cannot be changed to the same adjacent atomic lane or changed into the same adjacent atomic lane; secondly, the end point of one section of atomic lane can be connected with the start point of one or more other sections of atomic lanes, and the start point of one section of atomic lane can also be connected with the end point of one or more other sections of atomic lanes. For example, when an autonomous vehicle is traveling in an atomic lane, in addition to the lane change situation, along the atomic lane, it is driven from the start point of the atomic lane to the end point of the atomic lane.

Then, the lane-related information of the atomic lane may be determined based on the link attribute information of the link to which the atomic lane is subordinate. In one implementation, the lane-related information may include numbering information of the atomic lanes, for example, may be arranged in a certain order, such as numbering from left lane to right lane; lane line type information of the atomic lane, for example, left and right lane line type information, such as various solid lines, broken lines, and the like, may also be included, where based on the type of the lane line, it may be determined whether lane change between adjacent lanes, lane borrowing and passing are possible, and the like; lane type information of the atomic lane, such as a one-way lane, a two-way lane, a straight lane, a turning lane, a roundabout road, a driving track, and the like, may also be included; speed limit information of the atomic lane, for example, a speed limit when a vehicle passes through the atomic lane, may also be included; restriction information for the atomic lanes may also be included, e.g., whether the respective atomic lane is passable at a particular time and/or for a particular vehicle; the curvature information of the atomic lane is used for providing the turning radius of the curve, for example, a vehicle control module of the unmanned vehicle can set a front wheel deflection angle in a targeted manner, so that the front wheel is prevented from shaking during turning, and the riding experience of the vehicle is improved; the road information of the atomic lane can include providing road material type information, such as that the road is an asphalt road, a concrete road, a mud road or a gravel road, and further determining a proper driving speed according to the road material type information; the environmental information of the atomic lane may include that the road to which the lane belongs is an expressway, an urban highway, a tunnel, a bridge, etc., and may be used to determine an appropriate driving mode, driving style, etc., and may also be used to control vehicle lights, etc., for example, a high beam may be continuously used on the expressway, while a high beam may not be continuously used on the urban highway. Here, it should be understood by those skilled in the art that the above-mentioned lane-related information of the atomic lane is only an example, and other lane-related information existing or appearing in the future should be included in the scope of the present application if applicable to the present application and is included herein by reference.

In addition, the road network point sequence corresponding to the atomic lane and the corresponding road network point related information can be determined. The atomic lane comprises a sequence of road network points. The road network point sequence comprises one or more road network points. The sequence of road network points corresponds to road network point related information, which in one implementation may include, but is not limited to: the road network points are numbered in sequence; the coordinate information of the road network points, for example, the coordinate information of the road network points may be determined based on the type of a coordinate system set in the road network map information, for example, the coordinate information of the road network points may be set to be described by longitude and latitude and altitude, and for example, the coordinate information of the road network points may also be set to be described by a three-dimensional rectangular coordinate system; the type information of the road network points can be set according to actual needs, for example, the types of the road network points can be distinguished according to the position information of the road network points, the network points arranged on a lane can be classified into one type, the network points arranged on a parking space can be classified into another type, and the like; the turning radius of the road network point can be set to be 0 under the scene that the information is uncertain; the method comprises the following steps that (1) the gradient information of a road network point can be set to be 0 under the scene that the information is uncertain; position information of road network points relative to the lanes, the road segment containing one or more parallel atomic lanes, each road network point on the target road segment being located at least any one of: on the left lane line of an atomic lane, on the right lane line of an atomic lane, on the lane center line of an atomic lane. In one implementation, if the road segment includes only one atomic lane, it can be used to describe the driving track in practical application; the order information of the road nodes, for example, the order information of the road nodes corresponding to the same atomic lane, here, the travel direction and the position of the lane can be represented based on the order information of the road nodes and the coordinate information of the road nodes. It should be understood by those skilled in the art that the above-mentioned road network point related information is only an example, and other road network point related information existing or appearing in the future should be included in the scope of the present application if applicable to the present application, and is included herein by reference.

In one implementation, the road network unit includes a parking space; in step 23, positioning information of the parking space may be determined based on parking space type information of the parking space and a relative position relationship between the parking space and a relevant lane, where the positioning information includes a start road node and an end road node; the parking space type information and the positioning information of the parking space are used for describing the parking space.

Specifically, in one implementation, the parking space type information may include a lateral parking space and a general parking space. Here, the parking space type information may be directly acquired; or may be determined based on other information. In one implementation manner, in step 23, the parking space type information of the parking space may be further determined based on information of an included angle between a parking space center line of the parking space and a relevant lane corresponding to the parking space. Further, in an implementation manner, based on the parking space center line of the parking space and the included angle information between the relevant lanes corresponding to the parking space, determining the parking space type information of the parking space may include: if the minimum included angle between the parking space center line of the parking space and the corresponding related lane of the parking space is greater than or equal to 0 degree and smaller than a preset included angle threshold value, determining that the parking space type information of the parking space is a side parking space; and if the minimum included angle between the parking space center line of the parking space and the relevant lane corresponding to the parking space is greater than or equal to a preset included angle threshold value and is less than 90 degrees, determining that the parking space type information of the parking space is a common parking space. For example, the parking space center line of the parking space is parallel to the corresponding lane of the parking space, and is a side parking space, and the vertical parking space is a common parking space.

Here, the positioning information of the parking space may be determined based on the space type information of the parking space and the relative positional relationship of the parking space and the relevant lane. In one implementation, the parking space may be a quadrangle, such as a parallelogram, and the parking space may be described by the starting road point and the ending road point, and in one implementation, the starting road point may be located on a central line of the parking space, and if the parking space is a common parking space, the point is a point close to a related lane; if the parking space is a side parking space, the point is located at the right side position by taking the direction from the lane to the side parking space as the upward direction. In one implementation, the termination road point may be located on a parking space centerline. If the parking space is a common parking space, the point is a point far away from the relevant lane. If the parking space is a lateral parking space, the point is located at the left position by taking the direction from the lane to the lateral parking space as the upward direction. Here, the unit description information may include the parking space type information and the location information of the parking space for describing the parking space.

In one implementation, the unit description information further includes a parking space shape angle determined based on the positioning information of the parking space. Here, the direction of the connection from the starting point to the ending point may be a positive direction of the connection, and the direction may be an upward direction. And setting the right side of the side where the initial road network point is positioned as the positive direction of the side. And the parking space shape angle is defined as an included angle between the direction of the connecting line of the starting road network point and the ending road network point e and the direction of the edge of the starting road network point. The angle of the angle is the parking space shape angle. In one implementation, the parking space shape angle can be set to be in a range from 0 degree to 180 degrees.

In one implementation, the unit description information further includes parking space width information; in one implementation, the length of the parking space broadside may be determined, that is, the length of the parking space broadside where the start road network point or the end road network point is located is the parking space width information. In an implementation of this application, the locating information on parking stall combines parking stall width information with parking stall shape angle can restore the original form of parking stall more completely promptly.

In one implementation, the unit description information further includes locator information of a parking space; here, determining the locator information may include determining a locator position, and for example, it may be determined that the position information of a road dot located on a center line of a parking space corresponds to a representative locator position. Here, if there is no locator in the parking space, the information may be left blank.

In one implementation, the road network elements comprise static obstacles; wherein, in step 23, the shape information of the static obstacle may be determined based on the static obstacle passing point sequence; wherein the shape information of the static obstacle is used to describe the static obstacle. In one implementation, the static obstacles include, but are not limited to curbs, walls, and the like. The unit description information of the static obstacles can effectively supplement the sensing result and provide more valuable information for controlling the vehicle to run. Further, in one implementation, the determining the shape information of the static obstacle based on the sequence of road network points on the static obstacle includes determining one or more reference line segments based on the sequence of road network points, wherein each of the reference line segments is determined by two road network points in the sequence of road network points; further, shape information of the static obstacle is determined based on the reference line segment. For example, two road network points are selected from the road network point sequence to form a road network point pair, each road network point pair forms a reference line segment, and then the shape information of the static obstacle can be drawn based on a plurality of reference line segments formed by two road network points.

Further, in one implementation, the unit description information further includes location information of a static obstacle determined by a road junction point sequence on the static obstacle. For example, the position information of the static obstacle is determined by a reference line segment formed by two road nodes in the road node sequence on the static obstacle. In one implementation, the unit description information further includes type information of a static obstacle. Here, the static obstacle type may include, but is not limited to, a wall, a pillar, a curb, a deceleration strip, a traffic light, a green belt, a fence, and the like.

In one implementation, the road network unit comprises a parking observation point; in step 23, the corresponding road network point related information may be determined based on the road network point sequence corresponding to the parking observation point; then, determining traffic lane giving information based on the lane information of the road section where the parking observation point is located; the road network point related information and the yielding lane information are used for describing the parking observation point.

Specifically, in one implementation, the parking observation point may correspond to one or more road network points, that is, a road network point sequence, and the related information of the road network point may include sign information, such as number information, of the road network point, and may further include coordinate information of the road network point, and the like, where the corresponding related information of the road network point may be determined based on the one or more road network points corresponding to the parking observation point. Then, the yielding lane information may be determined based on the lane information of the road segment where the parking observation point is located, and in an implementation manner, the lane information may include, but is not limited to, information about the number of lanes of the road segment, information about the type of lane, further, statistical information about the traffic flow of each lane of the road segment, and the like, which may be used to help determine the yielding lane.

Further, in one implementation, the determining yielding lane information based on the lane information of the road section where the parking observation point is located may include determining yielding lane information based on the lane information of the road section where the parking observation point is located and a preset lane yielding rule. In one implementation, the lane yielding rule may be established based on an existing traffic rule, and in another implementation, the lane yielding rule may be determined by other self-defined rules. For example, the lane yielding rule may be set to include a slow lane yielding a fast lane; a left lane can be arranged to allow a right lane to run; a lane with a small average traffic flow may be set to give way to a lane with a large average traffic flow, and the like. It should be understood by those skilled in the art that the above-mentioned lane giving rules are merely examples, and that other lane giving rules, which may be present or later come, if applicable to the present application, are intended to be included within the scope of the present application and are herein incorporated by reference.

The method comprises the steps that original road network information of a target road network can be obtained, and then corresponding road network units are determined based on the original road network information; thereby determining unit description information for describing the road network unit, wherein the unit description information comprises road network point related information for defining a road network point sequence of the road network unit. Here, the road network unit and the unit description information corresponding to the road network unit are created, so that effective description of a traffic scene, particularly some limited scenes, is realized, and meanwhile, the traffic information description of a common traffic scene can be supported. Therefore, the content form and the use scene of the road network map information are greatly expanded, for example, based on the road network unit and the unit description information corresponding to the road network unit provided by the application, more effective and accurate information support can be provided for controlling the driving of vehicles in the corresponding road network, and further, the use capacity and the use efficiency of the vehicles for the map can be improved.

Fig. 4 shows a schematic diagram of an apparatus 1 for using road network map information according to an aspect of the present application. Wherein the device 1 comprises first acquisition means 41 and usage means 42.

The first obtaining device 41 may obtain road network map information, where the road network map information includes road network units and unit description information corresponding to the road network units, and the road network units include at least one of the following: road network coordinate system, road network points, road sections, parking spaces, static obstacles and parking observation points; the use means 42 may use the road network map information.

Specifically, the first obtaining device 41 may obtain road network map information, where the road network map information includes road network units and unit description information corresponding to the road network units, and the road network units include at least one of the following: road network coordinate system, road network point, road section, parking space, static barrier, parking observation point. In one implementation, the road network map information may include, but is not limited to, high precision map information, other types of electronic map information, and the like. In one implementation, the road network map information may be used to describe any road network related information required by a driving system in practical applications, including unit description information corresponding to the road network unit. Here, the road network unit includes at least any one of: road network coordinate system, road network point, road section, parking space, static barrier, parking observation point. As shown in fig. 6, the road network map information may include road network elements such as a road network coordinate system, road network points, road segments, parking spaces, static obstacles, and parking observation points. The unit description information is used for describing the road network units, so that the road network units are characterized.

In an implementation manner, the unit description information corresponding to the road network point includes road network point attribute information, as shown in fig. 6, where the road network point attribute information is used to describe the road network point. Here, the waypoint may include any point on the waypoint as a mark, such as a point on a road section lane or a point on a parking space, and in one implementation, the waypoint may be determined based on the needs of a scene application. In one implementation, the unit description information corresponding to the road network point includes, but is not limited to, identification information of a road network point, for example, a sequential number of the road network point; the coordinate information of the road network points, for example, the coordinate information of the road network points may be determined based on the type of a coordinate system set in the road network map information, for example, the coordinate information of the road network points may be set to be described by longitude and latitude and altitude, and for example, the coordinate information of the road network points may also be set to be described by a three-dimensional rectangular coordinate system; the type information of the road network points can be set according to actual needs, for example, the types of the road network points can be distinguished according to the position information of the road network points, the road network points arranged on a lane can be classified into one type, the road network points arranged on a parking space can be classified into another type, and the like; the turning radius of the road network point can be set to be 0 under the scene that the information is uncertain; and the gradient information of the road network point can be set to be 0 under the scene that the information is uncertain. In an example of the road network map information shown in fig. 7, the road network unit may include road network points node1, node2, node3, node4, node5, and node6, and each road network point may constitute a road network point set. Here, the identification information of the routing points of each routing point corresponds to

id

The road section comprises a continuous road surface for the vehicle to travel and comprises one or more lanes. In one implementation, if the road network unit includes a road segment, the road segment includes one or more atomic lanes, the atomic lanes are determined based on road segment attribute information of the road segment, the atomic lanes include corresponding road network point sequences, and the unit description information corresponding to the road segment includes lane related information corresponding to the atomic lane and road network point related information corresponding to the road network point sequences, as shown in fig. 6, the lane related information and the road network point related information are used for describing the road segment. In one implementation, the lanes may be segmented according to lane change information of the lanes in the road section until each lane segment satisfies: the feasibility of changing the lane from any point on the lane to the adjacent lane and the feasibility of changing the lane from the adjacent lane to any point on the lane are the same, each lane is called as an atomic lane, and the road section attribute information of the road section can comprise lane changing information of the lane, lane type information of the lane, speed limiting information of the lane and traffic limiting information of the lane; curvature information of the track; road surface information of the lane; the road section attribute information of the road section may also include other road information according to the actual situation, and is not described herein again and is included herein by way of reference. Here, the atomic lane may satisfy atomicity, that is: firstly, the lane changing behaviors between adjacent atomic lanes are consistent everywhere, namely, any one of the atomic lanes can be changed to the same adjacent atomic lane or changed into the same adjacent atomic lane, or any one of the atomic lanes cannot be changed to the same adjacent atomic lane or changed into the same adjacent atomic lane; secondly, the end point of one section of atomic lane can be connected with the start points of other one or more sections of atomic lanes, and the start point of one section of atomic lane can also be connected with the end points of other one or more sections of atomic lanes. For example, when an autonomous vehicle travels in an atomic lane, in addition to a lane change situation, along the atomic lane, it is driven from the start point of the atomic lane to the end point of the atomic lane.

Here, the lane-related information corresponding to the atomic lane may be information determined based on link attribute information of a link to which the atomic lane is subordinate. In one implementation, the lane-related information may include numbering information of the atomic lanes, for example, may be arranged in an order, such as numbering from left lane to right lane; lane line type information of the atomic lane, for example, left and right lane line type information, such as various solid lines, broken lines, and the like, may also be included, where based on the type of the lane line, it may be determined whether lane change between adjacent lanes, lane borrowing and passing, and the like are possible; lane type information of the atomic lane, such as a one-way lane, a two-way lane, a straight lane, a turning lane, a roundabout road, a driving track, and the like, may also be included; speed limit information of the atomic lane, for example, a speed limit when a vehicle passes through the atomic lane, may also be included; restriction information for the atomic lanes may also be included, e.g., whether the respective atomic lane is passable at a particular time and/or for a particular vehicle; the curvature information of the atomic lane is used for providing the turning radius of a curve, for example, a front wheel deflection angle can be set in a targeted manner by a vehicle control module of the unmanned vehicle, so that the front wheel is prevented from shaking during turning, and the riding experience of the vehicle is improved; the road information of the atomic lane can include providing road material type information, such as that the road is an asphalt road, a concrete road, a mud road or a gravel road, and further determining a proper driving speed according to the road material type information; the environmental information of the atomic lane may include that the road to which the lane belongs is an expressway, an urban highway, a tunnel, a bridge, and the like, may be used to determine a suitable driving mode, driving style, and the like, and may also be used to control vehicle lights and the like, for example, the high beam may be continuously used on the expressway, whereas the high beam may not be continuously used on the urban highway. It should be understood by those skilled in the art that the above-mentioned lane-related information is merely an example, and other existing or future lane-related information, if applicable to the present application, should be included within the scope of the present application and is included herein by reference.

The atomic lane comprises a sequence of road network points. The road network point sequence comprises one or more road network points. The road network point sequence corresponds to road network point related information, and in one implementation, the road network point related information may include, but is not limited to: the road network points are numbered in sequence; the coordinate information of the road network point may be determined based on the type of a coordinate system set in the road network map information, for example, the coordinate information describing the road network point by using longitude, latitude and altitude may be set, and, for example, the coordinate information describing the road network point by using a three-dimensional rectangular coordinate system may also be set; the type information of the road network points can be set according to actual needs, for example, the types of the road network points can be distinguished according to the position information of the road network points, the network points arranged on a lane can be classified into one type, the network points arranged on a parking space can be classified into another type, and the like; the turning radius of the road network point can be set to be 0 under the scene that the information is uncertain; the method comprises the following steps that (1) the gradient information of a road network point can be set to be 0 under the scene that the information is uncertain; position information of road network points relative to the lanes, the road segment containing one or more parallel atomic lanes, each road network point on the target road segment being located at least any one of: on the left lane line of an atomic lane, on the right lane line of an atomic lane, on the lane center line of an atomic lane. In one implementation, if the road segment includes only one atomic lane, it can be used to describe the driving track in practical application; the order information of the road nodes, for example, the order information of the road nodes corresponding to the same atomic lane, here, the traveling direction and the position of the lane may be represented based on the order information of the road nodes and the coordinate information of the road nodes. It should be understood by those skilled in the art that the above-mentioned road network point related information is only an example, and other road network point related information existing or appearing in the future should be included in the scope of the present application if applicable to the present application, and is included herein by reference.

In one implementation, the unit description information of the parking space includes positioning information of the parking space determined based on the parking space type information of the parking space and the relative position relationship between the parking space and the relevant lane, as shown in fig. 6, the positioning information includes a start road node and a stop road node, and the parking space type information and the positioning information of the parking space are used for describing the parking space.

Specifically, in one implementation, the parking space type information includes a lateral parking space and a general parking space. Here, the parking space type information may be directly acquired; the parking space center line of the parking space is parallel to the corresponding lane of the parking space, for example, the parking space is a side parking space, and the parking space is a normal parking space. Here, the unit description information includes positioning information determined based on the parking space type information and a relative position relationship between the parking space and a related lane, in one implementation, the parking space may be a quadrangle, such as a parallelogram, and the parking space may be described by the start road node and the end road node, in one implementation, the start road node may be located on a parking space center line, and if the parking space is a common parking space, the point is a point close to the related lane; if the parking space is a lateral parking space, the point is located at the right position by taking the direction from the lane to the lateral parking space as the upward direction. In one implementation, the termination road point may be located on a parking space centerline. If the parking space is a common parking space, the point is a point far away from the relevant lane. If the parking space is a lateral parking space, the point is located at the left position by taking the direction from the lane to the lateral parking space as the upward direction. Here, the unit description information may include the parking space type information and the location information of the parking space for describing the parking space.

In an example of the road network map information shown in fig. 8, the road network unit may include parking spaces. In the ordinary parking space 1, the ordinary parking space 2, the ordinary parking space 3 and the side parking space 4, the first node is the starting road node point, the last node is the ending road node point, and the first node and the last node are located on the parking space central line.

In one implementation, the unit description information further includes a parking space shape angle determined based on the positioning information of the parking space, as shown in fig. 6; the parking space type information and the positioning information of the parking space are used for describing the parking space, and the parking space comprises the parking space type information, the positioning information of the parking space and the parking space shape angle and is used for describing the parking space. Here, the direction of the connection from the starting point to the ending point may be a positive direction of the connection, and the direction may be an upward direction. And setting the right side of the side where the initial road network point is positioned as the positive direction of the side. The parking space shape angle is defined as an included angle between the direction of the connecting line of the starting road network point and the ending road network point e and the direction of the edge where the starting road network point is located. The angle of the angle is the parking space shape angle. In one implementation, the value range of the parking space shape angle can be set to be 0-180 degrees. In an example of the road network map information shown in fig. 8, in the general parking space 1, the general parking space 2, the general parking space 3, and the side parking space 4, theta is the parking space shape angle.

In one implementation, the unit description information further includes parking space width information, as shown in fig. 6; the parking space type information and the positioning information of the parking space are used for describing that the parking space comprises the parking space type information, and the positioning information of the parking space and the parking space width information are used for describing the parking space. In one implementation, the parking space width information includes a length of a parking space broadside, that is, a length of a parking space side where the starting road network point or the ending road network point is located. In an implementation of this application, the locating information on parking stall combines parking stall width information with parking stall shape angle can restore the original appearance of parking stall more completely promptly. In an example of the road network map information shown in fig. 8, the lengths width of the parking spaces corresponding to the normal parking space 1, the normal parking space 2, the normal parking space 3, and the lateral parking space 4 are the parking space width information.

In one implementation, the unit description information further includes locator information of a parking space, as shown in fig. 6; the parking space type information and the positioning information of the parking space are used for describing that the parking space comprises the parking space type information, and the positioning information of the parking space and the locator information of the parking space are used for describing the parking space. Here, the locator information may include a locator position, and for example, a road network point indicating the locator position may be located on a center line of the parking space. Here, if there is no locator in the parking space, this information may be left blank. In an example of the road network map information shown in fig. 8, the general parking space 1 includes a locator, and the road network point locator node representing the position of the locator may be located on the central line of the parking space corresponding to the locator.

In one implementation, the unit description information further includes location information of a static obstacle determined by a waypoint point sequence on the static obstacle, as shown in fig. 6; the shape information of the static obstacle is used for describing the static obstacle, and the shape information of the static obstacle and the position information of the static obstacle are used for describing the static obstacle. For example, the position information of the static obstacle is determined by a reference line segment formed by two road network points in the road network point sequence on the static obstacle.

In one implementation, the unit description information further includes type information of a static obstacle, and as shown in fig. 6, the shape information of the static obstacle is used to describe that the static obstacle includes the shape information of the static obstacle and the type information of the static obstacle is used to describe the static obstacle. Here, the static obstacle type may include, but is not limited to, a wall, a pillar, a curb, a deceleration strip, a traffic light, a green belt, a fence, and the like.

In one implementation manner, the unit description information corresponding to the parking observation point includes road network point related information of a road network point sequence constituting the parking observation point and yielding lane information determined based on lane information of a road segment where the parking observation point is located, as shown in fig. 6, where the road network point related information and the yielding lane information are used for describing the parking observation point. In one implementation, the parking observation point may correspond to one or more road junction points, that is, a road junction point sequence, and the information related to the road junction point may include sign information, such as number information, of the road junction point, and may further include coordinate information of the road junction point, and the like. Here, the concession lane information may include a list of lanes to be conceded. The lane information may be determined based on the lane information of the road segment where the parking observation point is located, and in one implementation, the lane information may include, but is not limited to, information about the number of lanes of the road segment, information about the type of lane, statistical information about the traffic flow of each lane of the road segment, and the like, which may be used to help determine the lane to be traveled. In an example of the road network map information shown in fig. 7, the road network units may include respective parking observation points, a parking observation point set stop sign set is formed by the respective parking observation points, and the unit description information of each parking observation point may include mark information of the road network point, such as number information, for example, node id:3.

here, the road network map information may be used by the use device 42. In one implementation, the using means comprises at least any one of a first unit (not shown), a second unit (not shown), and a third unit (not shown). The first unit may provide the road network map information to other information using devices; the second unit may present the road network map information; the third unit may determine corresponding vehicle driving information based on the road network unit and the unit description information in the road network map information. For example, when the road network unit includes a road segment, based on the unit description information, such as the lane related information and the road junction related information, the connection information between lanes, the lane change information, and the like can be known, so that the corresponding path planning, the control strategy formulation, and the like can be performed. For another example, when the road network unit includes a parking space, a parking space parking method may be set based on the parking space, the parking space type information corresponding to the parking space, and the positioning information of the parking space, for example, for a vertical parking space, two ways of a vehicle head facing inward and a vehicle head facing outward may be set, and a corresponding selection mechanism is set, so that a parking determination process is greatly simplified. In one implementation, the vehicle corresponding to the vehicle driving information may include, but is not limited to, a vehicle that drives in any mode, such as a full human driving mode, an assisted driving mode, a partial automatic driving mode, a conditional automatic driving mode, a highly automatic driving mode, or a full automatic driving mode.

Here, the present application may acquire road network map information including road network units and unit description information corresponding to the road network units, and use the road network map information. According to the method and the system, road network units in traffic scenes, particularly in limited scenes, such as road network coordinate systems, road network points, road sections, parking spaces, static obstacles, parking observation points and the like can be described, so that the road network units can be effectively used. Therefore, the content form and the use scene of the road network map information are greatly expanded, the specific requirements on the road network information in different scenes, such as limited scenes, are met, the driving execution rate of vehicles in the limited scenes can be improved, more valuable information can be provided for controlling the driving of the vehicles, and the like, and meanwhile, the support can be provided for common traffic scenes.

Fig. 5 is a schematic diagram of an apparatus 2 for creating road network map information according to an aspect of the present application. Wherein the device 2 comprises second obtaining means 51, first determining means 52 and second determining means 53.

The second obtaining device 51 may obtain original road network information of the target road network; then, the first determining device 52 may determine the corresponding road network unit based on the original road network information; next, the second determining means 53 may determine unit description information for describing the road network unit, wherein the unit description information includes road network point related information for defining a road network point sequence of the road network unit.

Specifically, the second obtaining device 51 may obtain original road network information of the target road network, where the original road network information may include extracting existing road network information from map information of an existing map, including but not limited to existing road information, coordinate information of relevant points, obstacle information, other environment information, and the like. In one implementation, the existing map information may include related information obtained from an electronic map such as a high-precision map or a general navigation map, or may include related information obtained from another map information providing platform such as a website providing GPS coordinate information. The first determining means 52 may determine the corresponding road network unit based on the original road network information, and in an implementation, the road network unit includes at least any one of the following: road network coordinate system, road network point, road section, parking space, static barrier, parking observation point. In one implementation, the determination of the road network elements may be based on the requirements of some defined scenarios. The second determining means 53 may determine unit description information for describing the road network unit, wherein the unit description information comprises road network point related information for defining a road network point sequence of the road network unit. In one implementation, the road network unit may include a road network point sequence, that is, one or more road network points, and the road network unit may be described by road network point related information corresponding to the road network point sequence. In one implementation, the waypoint-related information may include identification information of at least any one of the following waypoints; coordinate information of the road network points; type information of the road network points; the turning radius of the road network point; gradient information of the road network points; road network point position information, for example, position information of a road network point relative to a lane; order information of the road network points, etc.; further, for different road network units, the content of the corresponding road network point related information can be differentiated. In one implementation, each road network point in the road network point sequence is determined based on a coordinate system of the target road network, for example, coordinate information describing the road network point by longitude, latitude and altitude may be set, and for example, coordinate information describing the road network point by a three-dimensional rectangular coordinate system may also be set. Further, in an implementation manner, the road network point related information may jointly characterize the road network element in combination with other element description information.

In one implementation, the apparatus 2 further includes a creating or updating device, and the creating or updating device may create or update road network map information corresponding to the target road network according to the unit description information of the road network unit. Further, the road network map information established or updated may be used, including but not limited to, the road network map information may be provided to other information using devices; the road network map information can also be presented; the corresponding vehicle driving information can be determined based on the road network unit and the unit description information in the road network map information.

In one implementation, the road network units include road segments; wherein the second determining device 53 may determine one or more atomic lanes corresponding to the road segment based on the road segment attribute information of the road segment; then, determining the lane related information of the atomic lane based on the link attribute information of the link to which the atomic lane belongs; then, determining a road network point sequence corresponding to the atomic lane and corresponding road network point related information; and the lane related information of the atomic lane and the road network point related information are used for describing the road section.

Specifically, one or more atomic lanes corresponding to the road segment may be determined based on road segment attribute information of the road segment. The road section comprises a continuous road surface for the vehicle to travel and comprises one or more lanes. In one implementation, the lanes may be segmented according to the lane change information of the lanes in the road segment until each lane satisfies: the feasibility of changing the lane from any point on the lane to the adjacent lane and the feasibility of changing the lane from the adjacent lane to any point on the lane are the same, each lane is called as an atomic lane, and the road section attribute information of the road section can comprise lane changing information of the lane, lane type information of the lane, speed limiting information of the lane and traffic limiting information of the lane; curvature information of the track; road surface information of the lane; the road section attribute information of the road section may also include other road information according to the actual situation, and is not described herein again and is included herein by way of reference. Here, the atomic lane may satisfy atomicity, that is: firstly, the lane changing behaviors between adjacent atomic lanes are consistent everywhere, namely, any one of the atomic lanes can be changed to the same adjacent atomic lane or changed from the same adjacent atomic lane, or any one of the atomic lanes cannot be changed to the same adjacent atomic lane or changed from the same adjacent atomic lane; secondly, the end point of one section of atomic lane can be connected with the start point of one or more other sections of atomic lanes, and the start point of one section of atomic lane can also be connected with the end point of one or more other sections of atomic lanes. For example, when an autonomous vehicle is traveling in an atomic lane, in addition to the lane change situation, along the atomic lane, it is driven from the start point of the atomic lane to the end point of the atomic lane.

Then, the lane-related information of the atomic lane may be determined based on the link attribute information of the link to which the atomic lane is subordinate. In one implementation, the lane-related information may include numbering information of the atomic lanes, for example, may be arranged in an order, such as numbering from left lane to right lane; lane line type information of the atomic lane, for example, left and right lane line type information, such as various solid lines, broken lines, and the like, may also be included, where based on the type of the lane line, it may be determined whether lane change between adjacent lanes, lane borrowing and passing, and the like are possible; lane type information of the atomic lane, such as a one-way lane, a two-way lane, a straight lane, a turning lane, a roundabout road, a driving track, and the like, may also be included; speed limit information of the atomic lane, for example, a speed limit when a vehicle passes through the atomic lane; restriction information for the atomic lanes may also be included, e.g., whether the respective atomic lane is passable at a particular time and/or for a particular vehicle; the curvature information of the atomic lane is used for providing the turning radius of the curve, for example, a vehicle control module of the unmanned vehicle can set a front wheel deflection angle in a targeted manner, so that the front wheel is prevented from shaking during turning, and the riding experience of the vehicle is improved; the road information of the atomic lane can include providing road material type information, such as that the road is an asphalt road, a concrete road, a mud road or a gravel road, and further determining a proper driving speed according to the road material type information; the environmental information of the atomic lane may include that the road to which the lane belongs is an expressway, an urban highway, a tunnel, a bridge, etc., and may be used to determine an appropriate driving mode, driving style, etc., and may also be used to control vehicle lights, etc., for example, a high beam may be continuously used on the expressway, while a high beam may not be continuously used on the urban highway. Here, it should be understood by those skilled in the art that the above-mentioned lane-related information of the atomic lane is only an example, and other lane-related information existing or appearing in the future should be included in the scope of the present application if applicable to the present application and is included herein by reference.

In addition, the road network point sequence corresponding to the atomic lane and the corresponding road network point related information can be determined. The atomic lane comprises a sequence of road network points. The road network point sequence comprises one or more road network points. The sequence of road network points corresponds to road network point related information, which in one implementation may include, but is not limited to: the road network points are numbered in sequence; the coordinate information of the road network points, for example, the coordinate information of the road network points may be determined based on the type of a coordinate system set in the road network map information, for example, the coordinate information of the road network points may be set to be described by longitude and latitude and altitude, and for example, the coordinate information of the road network points may also be set to be described by a three-dimensional rectangular coordinate system; the type information of the road network points can be set according to actual needs, for example, the types of the road network points can be distinguished according to the position information of the road network points, the network points arranged on a lane can be classified into one type, the network points arranged on a parking space can be classified into another type, and the like; the turning radius of the road network point can be set to be 0 under the scene that the information is uncertain; the method comprises the following steps that (1) the gradient information of a road network point can be set to be 0 under the scene that the information is uncertain; position information of road network points relative to the lanes, the road segment containing one or more parallel atomic lanes, each road network point on the target road segment being located at least any one of: on the left lane line of an atomic lane, on the right lane line of an atomic lane, on the lane center line of an atomic lane. In one implementation, if the road segment includes only one atomic lane, it can be used to describe the driving track in practical application; the order information of the road nodes, for example, the order information of the road nodes corresponding to the same atomic lane, here, the traveling direction and the position of the lane may be represented based on the order information of the road nodes and the coordinate information of the road nodes. It should be understood by those skilled in the art that the above-mentioned road network point related information is only an example, and other road network point related information existing or appearing in the future should be included in the scope of the present application if applicable to the present application, and is included herein by reference.

In one implementation, the road network unit includes a parking space; the second determining device 53 may determine, based on the parking space type information of the parking space and the relative position relationship between the parking space and the relevant lane, the positioning information of the parking space, where the positioning information includes a start road node and an end road node; and the parking space type information and the positioning information of the parking space are used for describing the parking space.

Specifically, in one implementation, the parking space type information may include a lateral parking space and a general parking space. Here, the parking space type information may be directly acquired; or may be determined based on other information. In one implementation, the second determining device 53 may further determine the parking space type information of the parking space based on an included angle information between a parking space center line of the parking space and a related lane corresponding to the parking space. Further, in an implementation manner, based on the included angle information between the parking space center line of the parking space and the relevant lane corresponding to the parking space, determining the parking space type information of the parking space may include: if the minimum included angle between the parking space center line of the parking space and the relevant lane corresponding to the parking space is greater than or equal to 0 degree and smaller than a preset included angle threshold value, determining that the parking space type information of the parking space is a side parking space; and if the minimum included angle between the parking space center line of the parking space and the relevant lane corresponding to the parking space is greater than or equal to a preset included angle threshold value and is less than 90 degrees, determining that the parking space type information of the parking space is a common parking space. For example, the parking space center line of the parking space is parallel to the corresponding lane of the parking space, and is a lateral parking space, and is a normal parking space vertically.

Here, the positioning information of the parking space may be determined based on the space type information of the parking space and the relative positional relationship of the parking space and the relevant lane. In one implementation, the parking space may be a quadrangle, such as a parallelogram, and the parking space may be described by the starting road node and the ending road node, and in one implementation, the starting road node may be located on a center line of the parking space, and if the parking space is a common parking space, the point is a point close to a relevant lane; if the parking space is a side parking space, the point is located at the right side position by taking the direction from the lane to the side parking space as the upward direction. In one implementation, the termination road point may be located on a parking space centerline. If the parking space is a common parking space, the point is a point far away from the relevant lane. If the parking space is a lateral parking space, the point is located at the left position by taking the direction from the lane to the lateral parking space as the upward direction. Here, the unit description information may include the parking space type information and the location information of the parking space for describing the parking space.

In one implementation, the unit description information further includes a parking space shape angle determined based on the positioning information of the parking space. Here, the direction of the connection from the starting point to the ending point may be a positive direction of the connection, and the direction may be an upward direction. And setting the right side of the side where the initial road network point is positioned as the positive direction of the side. The parking space shape angle is defined as an included angle between the direction of the connecting line of the starting road network point and the ending road network point e and the direction of the edge where the starting road network point is located. The angle of the angle is the parking space shape angle. In one implementation, the parking space shape angle can be set to be in a range from 0 degree to 180 degrees.

In one implementation, the unit description information further includes locator information of a parking space; here, determining the locator information may include determining a locator position, and for example, it may be determined that the position information of a waypoint point located on a center line of the parking space corresponds to a representative locator position. Here, if there is no locator in the parking space, this information may be left blank.

In one implementation, the road network elements include static obstacles; wherein the second determining means 53 may determine the shape information of the static obstacle based on the static obstacle upper route point sequence; wherein the shape information of the static obstacle is used to describe the static obstacle. In one implementation, the static obstacles include, but are not limited to curbs, walls, and the like. The unit description information of the static barrier can effectively supplement the sensing result and provide more valuable information for controlling the vehicle to run. Further, in one implementation, the determining shape information of the static obstacle based on the sequence of road network points on the static obstacle includes determining one or more reference line segments based on the sequence of road network points, wherein each of the reference line segments is determined by two road network points in the sequence of road network points; further, shape information of the static obstacle is determined based on the reference line segment. For example, two road network points are selected from the road network point sequence to form a road network point pair, each road network point pair forms a reference line segment, and then the shape information of the static obstacle can be drawn based on a plurality of reference line segments formed by two road network points.

Further, in one implementation, the unit description information further includes location information of a static obstacle determined by a road junction point sequence on the static obstacle. For example, the position information of the static obstacle is determined by a reference line segment formed by two road network points in the road network point sequence on the static obstacle. In one implementation, the unit description information further includes type information of a static obstacle. Here, the static obstacle type may include, but is not limited to, a wall, a pillar, a curb, a deceleration strip, a traffic light, a green belt, a fence, and the like.

In one implementation, the road network units include a parking observation point; the second determining device 53 may determine corresponding road network point related information based on the road network point sequence corresponding to the parking observation point; then, determining traffic lane giving information based on the lane information of the road section where the parking observation point is located; the road network point related information and the yielding lane information are used for describing the parking observation point.

Specifically, in one implementation, the parking observation point may correspond to one or more road network points, that is, a road network point sequence, and the related information of the road network point may include sign information, such as number information, of the road network point, and may further include coordinate information of the road network point, and the like, where the corresponding related information of the road network point may be determined based on the one or more road network points corresponding to the parking observation point. Then, the lane information of the section where the parking observation point is located may be determined, and in one implementation, the lane information may include, but is not limited to, information about the number of lanes of the section, information about the type of lane, further, statistical information about the traffic flow of each lane of the section, and the like, which may be used to help determine the lane to be traveled.

Further, in an implementation manner, the determining yielding lane information based on the lane information of the road section where the parking observation point is located may include determining yielding lane information based on the lane information of the road section where the parking observation point is located and a preset lane yielding rule. In one implementation, the lane yielding rule may be established based on an existing traffic rule, and in another implementation, the lane yielding rule may be determined by other self-defined rules. For example, the lane yielding rule may be set to include a slow lane yielding a fast lane; a left lane can be arranged to allow a right lane to run; a lane with a small average traffic flow rate may be set to give way to a lane with a large average traffic flow rate. It should be understood by those skilled in the art that the above lane giving rules are merely examples, and other lane giving rules, existing or later developed, if applicable to the present application, should be included within the scope of the present application and are incorporated herein by reference.

The method comprises the steps that original road network information of a target road network can be obtained, and then corresponding road network units are determined based on the original road network information; thereby determining unit description information for describing the road network units, wherein the unit description information comprises road network point related information for defining a road network point sequence of the road network units. Here, the road network unit and the unit description information corresponding to the road network unit are created, so that effective description of a traffic scene, particularly some limited scenes, is realized, and meanwhile, the traffic information description of a common traffic scene can be supported. Therefore, the content form and the use scene of the road network map information are greatly expanded, for example, based on the road network unit and the unit description information corresponding to the road network unit provided by the application, more effective and accurate information support can be provided for controlling the driving of vehicles under the corresponding road network, and further, the map use capacity and efficiency of the vehicles can be improved.

The present application also provides an apparatus using road network map information, including:

one or more processors;

a memory; and

and using the road network map information.

Further, the program of the apparatus may also be used to perform corresponding operations in other related embodiments based on the above operations.

The present application further provides a computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to:

the method comprises the steps of obtaining road network map information, wherein the road network map information comprises road network units and unit description information corresponding to the road network units, and the road network units comprise at least one of the following items: road network coordinate system, road network points, road sections, parking spaces, static obstacles and parking observation points;

using the road network map information.

Further, the computer program may also be adapted to be executed by the processor for corresponding operations in other related embodiments based on the above-described operations.

The present application further provides an apparatus for creating road network map information, comprising:

one or more processors;

a memory; and

acquiring original road network information of a target road network;

Further, the computer program may also be executed by the processor for corresponding operations in other related embodiments based on the operations described above.

in some embodiments, as shown in fig. 3, the system 300 can be used as any one of the

devices

1 and 2 using road network map information or the device 2 creating road network map information in the embodiments shown in fig. 1,2, 4, 5 or other described embodiments. In some embodiments, system 300 may include one or more computer-readable media (e.g., system memory or NVM/storage 320) having instructions and one or more processors (e.g., processor(s) 305) coupled with the one or more computer-readable media and configured to execute the instructions to implement modules to perform the actions described herein.

For one embodiment, system control module 310 may include any suitable interface controllers to provide any suitable interface to at least one of processor(s) 305 and/or any suitable device or component in communication with system control module 310.

The system control module 310 may include a memory controller module 330 to provide an interface to the system memory 315. Memory controller module 330 may be a hardware module, a software module, and/or a firmware module.

System memory 315 may be used, for example, to load and store data and/or instructions for system 300. For one embodiment, system memory 315 may include any suitable volatile memory, such as suitable DRAM. In some embodiments, the system memory 315 may include a double data rate type four synchronous dynamic random access memory (DDR 4 SDRAM).

For one embodiment, system control module 310 may include one or more input/output (I/O) controllers to provide an interface to NVM/storage 320 and communication interface(s) 325.

For example, NVM/storage 320 may be used to store data and/or instructions. NVM/storage 320 may include any suitable non-volatile memory (e.g., flash memory) and/or may include any suitable non-volatile storage device(s) (e.g., one or more hard disk drive(s) (HDD (s)), one or more Compact Disc (CD) drive(s), and/or one or more Digital Versatile Disc (DVD) drive (s)).

NVM/storage 320 may include storage resources that are physically part of the device on which system 300 is installed or may be accessed by the device and not necessarily part of the device. For example, NVM/storage 320 may be accessible over a network via communication interface(s) 325.

Communication interface(s) 325 may provide an interface for system 300 to communicate over one or more networks and/or with any other suitable device. System 300 may wirelessly communicate with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols.

For one embodiment, at least one of the processor(s) 305 may be packaged together with logic for one or more controller(s) (e.g., memory controller module 330) of the system control module 310. For one embodiment, at least one of the processor(s) 305 may be packaged together with logic for one or more controllers of the system control module 310 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 305 may be integrated on the same die with logic for one or more controller(s) of the system control module 310. For one embodiment, at least one of the processor(s) 305 may be integrated on the same die with logic for one or more controller(s) of the system control module 310 to form a system on a chip (SoC).

In various embodiments, system 300 may be, but is not limited to being: a server, a workstation, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.). In various embodiments, system 300 may have more or fewer components and/or different architectures. For example, in some embodiments, system 300 includes one or more cameras, a keyboard, a Liquid Crystal Display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an Application Specific Integrated Circuit (ASIC), and speakers.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

It should be noted that the present invention may be implemented in software and/or in a combination of software and hardware, for example, as an Application Specific Integrated Circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present invention may be executed by a processor to implement the steps or functions described above. Likewise, the software programs (including associated data structures) of the present invention can be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Further, some of the steps or functions of the present invention may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.

In addition, some of the present invention can be applied as a computer program product, such as computer program instructions, which when executed by a computer, can invoke or provide the method and/or technical solution according to the present invention through the operation of the computer. Program instructions which invoke the methods of the present invention may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the invention herein comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or solution according to embodiments of the invention as described above.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it will be obvious that the term "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.

Various aspects of various embodiments are defined in the claims. These and other aspects of the various embodiments are specified in the following numbered clauses:

1. a method of using road network map information, wherein the method comprises:

using the road network map information.

2. The method of clause 1, wherein said using said road network map information comprises at least any one of:

providing the road network map information to other information using equipment;

presenting the road network map information;

and determining corresponding vehicle driving information based on the road network units and the unit description information in the road network map information.

3. The method according to

clause

1 or 2, wherein the unit description information corresponding to the road network coordinate system includes coordinate system type information, and the coordinate system type information is used for describing the road network coordinate system.

4. The method according to

clause

1 or 2, wherein the unit description information corresponding to the road network point includes road network point attribute information, and the road network point attribute information is used for describing the road network point.

5. The method of clause 4, wherein the routing point attribute information includes at least any one of: the method comprises the following steps of identifying information of the road network points, coordinate information of the road network points, type information of the road network points, turning radius of the road network points and gradient information of the road network points.

6. The method according to

clause

1 or 2, wherein the road segment includes one or more atomic lanes, the atomic lanes are determined based on road segment attribute information of the road segment, the atomic lanes include corresponding road network point sequences, the unit description information corresponding to the road segment includes lane related information corresponding to the atomic lanes and road network point related information corresponding to the road network point sequences, and the lane related information and the road network point related information are used for describing the road segment.

7. The method of clause 6, wherein the lane-related information comprises at least any one of:

number information of the atomic lane;

lane line type information of the atomic lane;

lane type information of the atomic lane;

speed limit information of the atomic lane;

traffic restriction information for the atomic lane;

curvature information of the atomic lane;

road surface information of the atomic lane;

environmental information of the atomic lane.

8. The method of clause 6 or 7, wherein the routing point-related information includes at least any one of:

identification information of the road network point;

coordinate information of the road network points;

type information of the road network points;

the turning radius of the road network point;

gradient information of the road network points;

position information of the road network points relative to the lane;

order information of the routing points.

9. The method according to

clause

1 or 2, wherein the unit description information corresponding to the parking space includes positioning information of the parking space determined based on parking space type information of the parking space and a relative position relationship between the parking space and a relevant lane, the positioning information includes a start road junction and a stop road junction, and the parking space type information and the positioning information of the parking space are used for describing the parking space.

10. The method according to clause 9, wherein the unit description information further includes a parking space shape angle determined based on the positioning information of the parking space;

the parking space type information and the positioning information of the parking space are used for describing that the parking space comprises the parking space type information, the positioning information of the parking space and the parking space shape angle and are used for describing the parking space.

11. The method of clause 9, wherein the unit description information further includes slot width information;

the parking space type information and the positioning information of the parking space are used for describing that the parking space comprises the parking space type information, and the positioning information of the parking space and the parking space width information are used for describing the parking space.

12. The method of clause 9, wherein the unit description information further includes locator information of a parking space;

the parking space type information and the positioning information of the parking space are used for describing that the parking space comprises the parking space type information, and the positioning information of the parking space and the locator information of the parking space are used for describing the parking space.

13. The method according to

clause

1 or 2, wherein the unit description information corresponding to the static obstacle includes shape information of the static obstacle determined by a road junction point sequence on the static obstacle, and the shape information of the static obstacle is used for describing the static obstacle.

14. The method according to clause 13, wherein the unit description information corresponding to the static obstacle including the shape information of the static obstacle determined by the static obstacle routing point sequence includes:

the unit description information includes shape information of the static obstacle determined by a reference line segment composed of two road network points in the road network point sequence on the static obstacle.

15. The method of clause 13, wherein the unit description information further includes location information for a static obstacle determined by a sequence of waypoints on the static obstacle;

wherein the shape information of the static obstacle is used for describing the static obstacle and comprises the shape information of the static obstacle and the position information of the static obstacle for describing the static obstacle.

16. The method of clause 13, wherein the unit description information further includes type information of a static obstacle, the shape information of the static obstacle describing the static obstacle including the shape information of the static obstacle and the type information of the static obstacle describing the static obstacle.

17. The method according to

clause

1 or 2, wherein the unit description information corresponding to the parking observation point includes road network point related information constituting a road network point sequence of the parking observation point and yielding lane information determined based on lane information of a road segment where the parking observation point is located, and the road network point related information and the yielding lane information are used for describing the parking observation point.

18. A method of creating road network map information, wherein the method comprises:

acquiring original road network information of a target road network;

19. The method of clause 18, wherein the method further comprises:

and establishing or updating road network map information corresponding to the target road network according to the unit description information of the road network unit.

20. The method of clause 18, wherein each road network point in the sequence of road network points is determined based on the coordinate system of the target road network.

21. The method of clause 18, wherein the road network elements comprise road segments;

wherein the determining unit description information for describing the road network unit, wherein the unit description information including road network point related information for defining a road network point sequence of the road network unit comprises:

determining one or more atomic lanes corresponding to the road segment based on road segment attribute information of the road segment;

determining lane-related information of the atomic lane based on link attribute information of a link to which the atomic lane is subordinate;

determining a road network point sequence corresponding to the atomic lane and corresponding road network point related information;

and the lane related information of the atomic lane and the road network point related information are used for describing the road section.

22. The method of clause 18, wherein the road network unit comprises a parking space;

wherein the determining unit description information for describing the road network unit, wherein the unit description information including road network point related information for defining a road network point sequence of the road network unit includes:

determining positioning information of the parking space based on the parking space type information of the parking space and the relative position relation between the parking space and a related lane, wherein the positioning information comprises an initial road network point and a termination road network point;

and the parking space type information and the positioning information of the parking space are used for describing the parking space.

23. The method according to clause 22, wherein said determining unit description information describing said road network unit, wherein said unit description information comprises road network point related information defining a road network point sequence of said road network unit further comprises:

and determining the parking place type information of the parking place based on the included angle information between the parking place central line of the parking place and the related lane corresponding to the parking place.

24. The method according to clause 23, wherein determining the parking space type information of the parking space based on the included angle information between the parking space center line of the parking space and the relevant lane corresponding to the parking space comprises:

if the minimum included angle between the parking space center line of the parking space and the relevant lane corresponding to the parking space is greater than or equal to 0 degree and smaller than a preset included angle threshold value, determining that the parking space type information of the parking space is a side parking space;

and if the minimum included angle between the parking space center line of the parking space and the relevant lane corresponding to the parking space is greater than or equal to a preset included angle threshold value and is less than 90 degrees, determining that the parking space type information of the parking space is a common parking space.

25. The method of clause 18, wherein said road network elements comprise static obstacles;

determining shape information of the static obstacle based on the road network point sequence of the static obstacle;

wherein the shape information of the static obstacle is used to describe the static obstacle.

26. The method of clause 25, wherein the determining the shape information of the static obstacle based on the sequence of static obstacle waypoints comprises:

determining one or more reference line segments based on the sequence of road network points, wherein each reference line segment is determined by two road network points in the sequence of road network points;

determining shape information of the static obstacle based on the reference line segment.

27. The method of clause 18, wherein the road network elements comprise parking observation points;

determining corresponding road network point related information based on the road network point sequence corresponding to the parking observation point;

determining giving lane information based on the lane information of the road section where the parking observation point is located;

and the road network point related information and the yielding lane information are used for describing the parking observation point.

28. The method of clause 27, wherein the determining yielding lane information based on the lane information of the road segment where the parking observation point is located comprises:

and determining yielding lane information based on the lane information of the road section where the parking observation point is located and a preset lane yielding rule.

29. An apparatus for using road network map information, wherein the apparatus comprises:

the road network map information acquisition device is used for acquiring road network map information, wherein the road network map information comprises road network units and unit description information corresponding to the road network units, and the road network units comprise at least one of the following items: road nodes, road sections, parking spaces, static obstacles and parking observation points;

and the using device is used for using the road network map information.

30. The apparatus of clause 29, wherein the means for using comprises at least any one of:

a first unit configured to provide the road network map information to other information using devices;

a second unit, configured to present the road network map information;

and the third unit is used for determining corresponding vehicle driving information based on the road network unit and the unit description information in the road network map information.

31. The apparatus according to clause 29 or 30, wherein the road network coordinate system corresponding unit description information includes coordinate system type information for describing the road network coordinate system.

32. The apparatus of clause 29 or 30, wherein the unit description information corresponding to the road network point includes road network point attribute information, and the road network point attribute information is used for describing the road network point.

33. The apparatus of clause 32, wherein the routing point attribute information comprises at least any one of: the method comprises the following steps of identifying information of the road network points, coordinate information of the road network points, type information of the road network points, turning radius of the road network points and gradient information of the road network points.

34. The apparatus according to clause 29 or 30, wherein the road segment includes one or more atomic lanes, the atomic lanes being determined based on segment attribute information of the road segment, the atomic lanes including respective sequences of road network points, the segment-corresponding unit description information including lane-related information corresponding to the atomic lanes and road network point-related information corresponding to the sequences of road network points, the lane-related information and the road network point-related information being used to describe the road segment.

35. The apparatus of clause 34, wherein the lane-related information comprises at least any one of:

number information of the atomic lane;

lane line type information of the atomic lane;

lane type information of the atomic lane;

speed limit information of the atomic lane;

traffic restriction information for the atomic lane;

curvature information of the atomic lane;

road surface information of the atomic lane;

environmental information of the atomic lane.

36. The apparatus of clause 34 or 35, wherein the routing point-related information comprises at least any one of:

identification information of the road network point;

coordinate information of the road network points;

type information of the road network points;

the turning radius of the road network point;

gradient information of road network points;

position information of the road network points relative to the lane;

order information of the routing points.

37. The apparatus according to clause 29 or 30, wherein the unit description information corresponding to the parking space includes positioning information of the parking space determined based on parking space type information of the parking space and a relative positional relationship between the parking space and a relevant lane, the positioning information includes a start road junction and a stop road junction, and the parking space type information and the positioning information of the parking space are used for describing the parking space.

38. The apparatus of clause 37, wherein the unit description information further includes a space shape angle determined based on the positioning information of the space;

the parking space type information and the positioning information of the parking space are used for describing the parking space, and the parking space comprises the parking space type information, the positioning information of the parking space and the parking space shape angle and is used for describing the parking space.

39. The apparatus of clause 37, wherein the unit description information further includes slot width information;

40. The apparatus of clause 37, wherein the unit description information further includes locator information of a parking space;

41. The apparatus of clause 29 or 30, wherein the unit description information corresponding to the static obstacle includes shape information of the static obstacle determined by a road junction point sequence on the static obstacle, the shape information of the static obstacle being used to describe the static obstacle.

42. The apparatus of clause 41, wherein the unit description information corresponding to the static obstacle including the shape information of the static obstacle determined by the static obstacle waypoint sequence includes:

43. The apparatus of clause 41, wherein the unit description information further comprises location information for a static obstacle determined by a sequence of waypoints on the static obstacle;

44. The apparatus of clause 41, wherein the unit description information further includes type information of a static obstacle, the shape information of the static obstacle describing that the static obstacle includes shape information of the static obstacle and the type information of the static obstacle describing the static obstacle.

45. The apparatus according to clause 29 or 30, wherein the unit description information corresponding to the parking observation point includes road network point-related information constituting a road network point sequence of the parking observation point and yielding lane information determined based on lane information of a road segment where the parking observation point is located, the road network point-related information and yielding lane information being used to describe the parking observation point.

46. An apparatus for creating road network map information, wherein said apparatus comprises:

47. The apparatus of clause 46, wherein the apparatus further comprises:

and the establishing or updating device is used for establishing or updating the road network map information corresponding to the target road network according to the unit description information of the road network unit.

48. The apparatus of clause 46, wherein each road network point in the sequence of road network points is determined based on the coordinate system of the target road network.

49. The apparatus of clause 46, wherein the road network elements comprise road segments;

wherein the second determining means is for:

determining one or more atomic lanes corresponding to the road segment based on the road segment attribute information of the road segment;

50. The apparatus of clause 46, wherein the road network unit comprises a parking space;

wherein the second determining means is for:

determining positioning information of the parking space based on parking space type information of the parking space and a relative position relation between the parking space and a related lane, wherein the positioning information comprises an initial road network point and a final road network point;

the parking space type information and the positioning information of the parking space are used for describing the parking space.

51. The apparatus of clause 50, wherein the second determining means is for:

52. The apparatus according to clause 51, wherein determining the space type information of the parking space based on the included angle information between the space center line of the parking space and the relevant lane corresponding to the parking space comprises:

if the minimum included angle between the parking space center line of the parking space and the corresponding related lane of the parking space is greater than or equal to 0 degree and smaller than a preset included angle threshold value, determining that the parking space type information of the parking space is a side parking space;

if the minimum included angle between the parking space central line of the parking space and the relevant lane corresponding to the parking space is greater than or equal to a preset included angle threshold value and is smaller than 90 degrees, determining that the parking space type information of the parking space is an ordinary parking space.

53. The apparatus of clause 46, wherein said road network elements comprise static obstacles;

wherein the second determining means is for:

determining shape information of a static obstacle based on a road network point sequence on the static obstacle;

54. The apparatus of clause 53, wherein the determining the shape information of the static obstacle based on the sequence of static obstacle waypoints comprises:

55. The apparatus of clause 46, wherein the road network unit comprises a parking observation point;

wherein the second determining means is for:

56. The apparatus of clause 55, wherein the determining yielding lane information based on the lane information for the road segment on which the parking observation point is located comprises:

57. An apparatus for using road network map information, comprising:

one or more processors;

a memory; and

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the method of any of clauses 1-17.

58. A computer-readable storage medium having stored thereon a computer program executable by a processor to perform the method of any of clauses 1-17.

59. An apparatus for creating map information, comprising:

one or more processors;

a memory; and

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the method of any of clauses 18-28.

60. A computer-readable storage medium having stored thereon a computer program executable by a processor to perform the method of any of clauses 18-28.

Claims

1. A method of using parking lot road network map information, wherein the method comprises:

acquiring road network map information, wherein the road network map information comprises road network units and unit description information corresponding to the road network units, and the road network units comprise: road network coordinate system, road network points, road sections, parking spaces, static barriers and parking observation points;

the unit description information corresponding to the static obstacle comprises shape information of the static obstacle determined by a road network point sequence on the static obstacle, and the shape information of the static obstacle is used for describing the static obstacle;

the shape information of the static obstacle is determined by a reference line segment formed by two road network points in the road network point sequence;

the unit description information corresponding to the parking space comprises positioning information of the parking space determined based on parking space type information of the parking space and a relative position relation between the parking space and a related lane, the positioning information comprises an initial road network point and a final road network point, and the parking space type information and the positioning information of the parking space are used for describing the parking space;

using the road network map information.

2. The method of claim 1, wherein said using said road network map information comprises at least any one of:

presenting the road network map information;

3. The method according to claim 1 or 2, wherein said road network coordinate system corresponding unit description information comprises coordinate system type information, said coordinate system type information is used for describing said road network coordinate system.

4. The method according to claim 1 or 2, wherein said cell description information corresponding to a road network point comprises road network point attribute information, said road network point attribute information being used for describing said road network point.

5. The method of claim 4, wherein the routing point attribute information includes at least any one of: the method comprises the following steps of identifying information of the road network points, coordinate information of the road network points, type information of the road network points, turning radius of the road network points and gradient information of the road network points.

6. The method according to claim 1 or 2, wherein the road segment comprises one or more atomic lanes, the atomic lanes are determined based on road segment attribute information of the road segment, the atomic lanes comprise a corresponding road network point sequence, the unit description information corresponding to the road segment comprises lane related information corresponding to the atomic lanes and road network point related information corresponding to the road network point sequence, and the lane related information and the road network point related information are used for describing the road segment.

7. The method of claim 6, wherein the lane-related information comprises at least any one of:

number information of the atomic lane;

lane line type information of the atomic lane;

lane type information of the atomic lane;

speed limit information of the atomic lane;

traffic restriction information for the atomic lane;

curvature information of the atomic lane;

road surface information of the atomic lane;

environmental information of the atomic lane.

8. The method of claim 6, wherein the point of presence related information comprises at least any one of:

identification information of the road network point;

coordinate information of the road network points;

type information of the road network points;

the turning radius of the road network point;

gradient information of the road network points;

position information of the road network points relative to the lane;

order information of the routing points.

9. The method of claim 1, wherein the unit description information further includes a parking spot shape angle determined based on positioning information of the parking spot;

10. The method of claim 1, wherein the unit description information further includes slot width information;

11. The method of claim 1, wherein the unit description information further includes locator information of a parking space;

12. The method according to claim 1 or 2, wherein the cell description information further comprises position information of a static obstacle determined by a sequence of waypoints on the static obstacle;

the shape information of the static obstacle is used for describing the static obstacle, and the shape information of the static obstacle and the position information of the static obstacle are used for describing the static obstacle.

13. The method according to claim 1 or 2, wherein the unit description information further includes type information of a static obstacle, the shape information of the static obstacle for describing the static obstacle includes shape information of the static obstacle and the type information of the static obstacle for describing the static obstacle.

14. The method according to claim 1 or 2, wherein the unit description information corresponding to the parking observation point comprises road network point related information of a road network point sequence constituting the parking observation point and yielding lane information determined based on lane information of a road segment where the parking observation point is located, and the road network point related information and the yielding lane information are used for describing the parking observation point.

15. A method of creating parking lot road network map information, wherein the method comprises:

acquiring original road network information of a target road network;

determining a corresponding road network unit based on the original road network information, the road network unit comprising: road network coordinate system, road network points, road sections, parking spaces, static barriers and parking observation points;

determining unit description information for describing the road network units, wherein the unit description information comprises road network point related information for limiting a road network point sequence of the road network units, shape information of static obstacles, parking space type information of parking spaces, and positioning information of the parking spaces determined by relative position relations of the parking spaces and related lanes, and the positioning information comprises starting road network points and ending road network points;

the unit description information corresponding to the static obstacle comprises shape information of the static obstacle determined by a road junction point sequence on the static obstacle, and the shape information of the static obstacle is used for describing the static obstacle;

the shape information of the static barrier is determined by a reference line segment formed by two road network points in the road network point sequence;

16. The method of claim 15, wherein the method further comprises:

17. The method of claim 15 wherein each road network point in said sequence of road network points is determined based on a coordinate system of said target road network.

18. The method of claim 15, wherein said road network elements comprise road segments;

19. The method of claim 15, wherein said determining unit description information describing said road network unit, wherein said unit description information includes road network point related information defining a road network point sequence of said road network unit further comprises:

and determining the parking space type information of the parking space based on the included angle information between the parking space central line of the parking space and the related lane corresponding to the parking space.

20. The method of claim 19, wherein determining the space type information of the parking space based on the included angle information between the space center line of the parking space and the relevant lane corresponding to the parking space comprises:

21. The method of claim 15 wherein said road network elements comprise parking viewpoints;

determining traffic lane giving information based on the lane information of the road section where the parking observation point is located;

the road network point related information and the yielding lane information are used for describing the parking observation point.

22. The method of claim 21, wherein the determining yielding lane information based on the lane information for the road segment where the parking observation point is located comprises:

23. An apparatus for using parking lot road network map information, wherein the apparatus comprises:

the road network map information acquisition device is used for acquiring road network map information, wherein the road network map information comprises road network units and unit description information corresponding to the road network units, and the road network units comprise: road network coordinate system, road network points, road sections, parking spaces, static barriers and parking observation points;

and the using device is used for using the road network map information.

24. The apparatus of claim 23, wherein the means for using comprises at least any one of:

the second unit is used for presenting the road network map information;

25. The apparatus according to claim 23 or 24, wherein said road network coordinate system corresponding unit description information comprises coordinate system type information, said coordinate system type information being used for describing said road network coordinate system.

26. The apparatus according to claim 23 or 24, wherein said cell description information corresponding to a road network point comprises road network point attribute information, said road network point attribute information being used to describe said road network point.

27. The device of claim 26, wherein the routing point attribute information includes at least any one of: the method comprises the following steps of identifying information of road network points, coordinate information of the road network points, type information of the road network points, turning radii of the road network points and gradient information of the road network points.

28. The apparatus of claim 23 or 24, wherein the road segment comprises one or more atomic lanes, the atomic lanes being determined based on road segment attribute information of the road segment, the atomic lanes comprising respective sequences of road network points, the unit description information corresponding to the road segment comprising lane-related information corresponding to the atomic lanes and road network point-related information corresponding to the sequences of road network points, the lane-related information and the road network point-related information being used to describe the road segment.

29. The apparatus of claim 28, wherein the lane-related information comprises at least any one of:

number information of the atomic lane;

lane line type information of the atomic lane;

lane type information of the atomic lane;

speed limit information of the atomic lane;

traffic restriction information for the atomic lane;

curvature information of the atomic lane;

road surface information of the atomic lane;

environmental information of the atomic lane.

30. The device of claim 28, wherein the point of presence related information comprises at least any one of:

identification information of the routing point;

coordinate information of the road network points;

type information of the road network points;

the turning radius of the road network point;

gradient information of road network points;

position information of the road network points relative to the lane;

order information of the routing points.

31. The apparatus of claim 23, wherein the unit description information further includes a parking spot shape angle determined based on positioning information of the parking spot;

32. The apparatus of claim 23, wherein the unit description information further includes slot width information;

33. The apparatus of claim 23, wherein the unit description information further includes locator information of a parking space;

34. The device of claim 23 or 24, wherein the unit description information corresponding to the static obstacle comprises shape information of the static obstacle determined by a road junction point sequence on the static obstacle, the shape information of the static obstacle being used for describing the static obstacle.

35. The apparatus according to claim 23 or 24, wherein the unit description information further includes type information of a static obstacle, the shape information of the static obstacle for describing the static obstacle includes shape information of the static obstacle and the type information of the static obstacle for describing the static obstacle.

36. The apparatus according to claim 23 or 24, wherein the unit description information corresponding to the parking observation point includes road network point related information constituting a road network point sequence of the parking observation point and yielding lane information determined based on lane information of a road segment where the parking observation point is located, the road network point related information and the yielding lane information being used for describing the parking observation point.

37. An apparatus for creating road network map information, wherein the apparatus comprises:

first determining means for determining a corresponding road network unit based on the original road network information, the road network unit comprising: road network coordinate system, road network points, road sections, parking spaces, static obstacles and parking observation points;

a second determining device, configured to determine unit description information for describing the road network unit, where the unit description information includes road network point related information for defining a road network point sequence of the road network unit, shape information of a static obstacle, parking space type information of a parking space, and location information of the parking space determined by a relative location relationship between the parking space and a relevant lane, where the location information includes a start road network point and an end road network point;

38. The apparatus of claim 37, wherein the apparatus further comprises:

39. The apparatus of claim 37 wherein each road network point in said sequence of road network points is determined based on a coordinate system of said target road network.

40. The apparatus of claim 37, wherein said road network elements comprise road segments;

wherein the second determining means is for:

and the lane related information of the atomic lane and the road junction related information are used for describing the road section.

41. The apparatus of claim 37, wherein the second determining means is configured to:

42. The apparatus of claim 41, wherein determining the space type information of the parking space based on the included angle information between the space center line of the parking space and the relevant lane corresponding to the parking space comprises:

43. The apparatus of claim 37 wherein said road network elements comprise parking viewpoints;

wherein the second determining means is for:

44. The device of claim 43, wherein the determining yielding lane information based on the lane information for the road segment where the parking viewpoint is located comprises:

45. An apparatus for using road network map information, comprising:

one or more processors;

a memory; and

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the method of any of claims 1-14.

46. A computer-readable storage medium, on which a computer program is stored which can be executed by a processor for performing the method according to any one of claims 1-14.

47. An apparatus for creating map information, comprising:

one or more processors;

a memory; and

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the method of any of claims 15-22.

48. A computer-readable storage medium, on which a computer program is stored, which computer program can be executed by a processor to perform the method of any one of claims 15-22.