CN112800156B - Method, system, equipment and storage medium for framing unit map based on road side - Google Patents
Method, system, equipment and storage medium for framing unit map based on road side Download PDFInfo
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Abstract
The application discloses a road side unit map framing method, a system, equipment and a storage medium, which comprise the following steps: when a road node to which the road side unit is not marked belongs exists, marking the road node closest to the road side unit as the road side unit, and setting the road node as a departure node; traversing the downstream nodes of the departure nodes, marking the downstream nodes which meet the preset maximum distance or do not belong to other road side units and belong to the road side units; and when no road node to which the road side unit is not marked belongs exists, generating map framing data according to the road node marking result. The application has the technical effects that: by classifying each road node onto the corresponding road side unit equipment, the map range corresponding to each road side unit equipment is classified, so that map classification is performed, concise map information is realized, and bandwidth burden in the information interaction process of the Internet of vehicles is reduced.
Description
Technical Field
The application relates to map framing, in particular to a map framing method, system, equipment and storage medium based on road side units.
Background
V2X is a generic term for wireless information exchange technology between a vehicle and the outside world, and is classified according to link types in LTE-V2X communication mode, and includes four types V2V, V2I, V P and V2N. Wherein V2I is a generic term for information exchange technology links between a vehicle Unit (OBU, onhead Unit) and a Road Side Unit (RSU, road Side Unit); an important message in the V2I communication scenario is that the road side unit broadcasts a map of a local area to the vehicle, including intersection information, link information (Link), and Link information (Node) between roads. Because Uu port communication is adopted between the road side units and the vehicles according to a network connection mode (a communication mode through a base station), the bandwidth limitation of the air port communication is that map messages need to be simplified as much as possible, and maps between adjacent road side units are not omitted, so map framing based on the positions of the road side units becomes very critical.
The conventional map is divided into rectangular areas or approximately trapezoidal areas with fixed sizes by dividing the map into rectangular frames or longitude and latitude frames. The framing method is not suitable for map framing in the V2I scene, because the road side units broadcast the map in the communication service range of the road side units to the vehicle, the distribution of the road side units is irregular and distributed along the road network according to the communication scene and the bridge-tunnel slope, and the road trend is considered under special conditions, and only the map in a single direction is broadcast. In addition, the road side unit broadcasts to the vehicle a road segment which is generally in communication with the current road segment of the vehicle, and the conventional framing method can have a lot of redundant road information which is irrelevant to the current road segment. Therefore, the conventional map framing method is not applicable to V2I scenes.
Disclosure of Invention
In order to solve the technical problems, the application provides a road side unit map framing method, a system, equipment and a storage medium, which concretely comprises the following technical scheme:
in one aspect, a map framing method based on a road side unit is provided, including:
when a road node which is not marked with a home road side unit exists, marking the road node closest to the road side unit as the road side unit, and setting the road node as a departure node;
traversing the downstream nodes of the departure nodes, marking the downstream nodes which meet the preset maximum distance or do not belong to other road side units and belong to the road side units;
and when no road node of the home road side unit is marked, generating map framing data according to the road node marking result.
In the technical scheme, each road node is classified on the corresponding road side unit equipment, so that the map range corresponding to each road side unit equipment is classified, and the map is classified, so that concise map information is realized, and the bandwidth burden in the information interaction process of the Internet of vehicles is reduced.
Preferably, the method further comprises: when a road node which is not marked to be attributed exists, acquiring a road side unit closest to the road node, marking the node to be attributed to the road side unit, and marking the road node as a departure node;
and executing the traversing of the downstream nodes of the departure nodes, and marking that the downstream nodes which are satisfied to be within a preset maximum distance or not belong to other road side units belong to the road side units.
According to the technical scheme, through a traversal algorithm, each road node is effectively guaranteed to have corresponding attribution, and the simplification and effectiveness of map information and seamless coverage between adjacent road side units are guaranteed.
Preferably, the traversing the downstream nodes of the departure node and marking that the downstream nodes which are satisfied to be within a preset maximum distance or do not belong to other road side units belong to the road side unit; the method specifically comprises the following steps:
setting the departure node as a current traversed node, traversing all downstream nodes of the current traversed node, and marking all traversed road nodes to be attributed to the road side units unless the distance from the current traversed node to the road side units exceeds a preset maximum distance or the current traversed node is marked to be attributed to other road side units;
if the distance from the current traversed node to the road side unit exceeds a preset maximum distance or the current traversed node is marked as belonging to other road side units, setting an upstream node of the current traversed node as the current traversed node, and continuing to traverse other downstream nodes.
Preferably, the method further comprises: and when the state of the road side unit is changed, clearing all attribution marks of the road nodes attributed to the road side unit.
According to the technical scheme, when the road network or the road side unit is changed, the map can be cut again in time, and timeliness of map information is guaranteed.
On the other hand, the road side unit map framing system is characterized by comprising a plurality of road side unit devices and a road map;
the road side unit device has a unique mapping on the road map;
a plurality of road nodes are arranged on the road map; each road node belongs to one road side unit device;
the road nodes are connected through road sections;
the road map generates road framing data of each road side unit device according to a road side unit map framing method;
and the road side unit equipment broadcasts outwards according to the corresponding map framing data.
Preferably, the system further comprises a broadcasting policy control module, configured to control the broadcasting policy of the roadside unit device.
Preferably, the broadcasting policy control module controls the roadside unit to broadcast only expressway-type map data when the roadside unit is located on an expressway.
Preferably, the broadcasting policy control module controls the road side unit to broadcast only road single-side map data when the road side unit is located in the tunnel.
In another aspect, an electronic device is characterized by comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the computer program stored in the memory to implement the map framing method based on road side units.
In another aspect, a storage medium has at least one instruction stored therein, the instruction loaded and executed by a processor to implement the roadside unit map framing method.
The application at least comprises the following technical effects:
(1) By classifying each road node to the corresponding road side unit equipment, the map range corresponding to each road side unit equipment is classified, so that map classification is performed, concise map information is realized, and bandwidth burden in the information interaction process of the Internet of vehicles is reduced;
(2) Through a traversal algorithm, each road node is effectively guaranteed to have corresponding attribution, and the simplification and the effectiveness of map information and the seamless coverage between adjacent road side units are guaranteed;
(3) According to the technical scheme, when the road network or the road side unit is changed, the map can be cut again in time, and timeliness of map information is guaranteed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it will be apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of embodiment 1 of the present application;
FIG. 2 is a schematic flow chart of embodiment 2 of the present application;
FIG. 3 is a schematic flow chart of embodiment 3 of the present application;
FIG. 4 is a schematic structural diagram of embodiment 4 of the present application;
fig. 5 is a schematic structural diagram of embodiment 4 of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
For the sake of simplicity of the drawing, the parts relevant to the present application are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to facilitate a concise understanding of the drawings, components having the same structure or function in some of the drawings are depicted schematically only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will explain the specific embodiments of the present application with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the application, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
Example 1:
as shown in fig. 1, the present embodiment provides a road side unit map framing method, which includes:
s1: when a road node which is not marked with a home road side unit exists, marking the road node closest to the road side unit as the road side unit, and setting the road node as a departure node;
s2: traversing the downstream nodes of the departure node, and marking that the downstream nodes which are satisfied within a preset maximum distance or do not belong to other road side units belong to the road side units;
s4: and when no road node of the home road side unit is marked, generating map framing data according to the road node marking result, and returning to S1.
In the traditional map, rectangular frame division or longitude and latitude frame division is generally adopted to divide the map into rectangular areas with fixed sizes or approximately trapezoidal areas, but the map transmission method can not meet the actual requirements of the internet of vehicles, on one hand, road side units broadcast the map within the communication service range of the road side units to the vehicles, the distribution of the road side units is irregular and distributed along the road network according to the communication scene and the bridge and tunnel slope, and in special cases, the trend of the road is considered, and only the map with a single direction is broadcast. In addition, the road side unit broadcasts to the vehicle a road segment which is generally in communication with the current road segment of the vehicle, and the conventional framing method can have a lot of redundant road information which is irrelevant to the current road segment.
Therefore, in this embodiment, for each road node in the system, the attribution is divided, and according to the attribution, the correspondence between the road node and the road side unit is obtained, and according to the correspondence, which map data should be broadcasted by each road side unit is distinguished, and according to the division, map framing is performed.
Specifically, when judging that a road side unit which does not carry out the attribution setting of the road nodes exists in the road side units in the system, constructing a traversing tree by using the nearest road node of the road side unit, and grouping all the road nodes which are within a preset maximum distance and do not belong to other road side units on the road side unit until all the road nodes have corresponding attribution road side units, framing the map according to the road node sets of all the road side units, thereby generating simple map framing data.
According to the method, the map range corresponding to each road node is divided by dividing each road node to the corresponding road side unit equipment, so that map division is performed, concise map information is realized, and bandwidth burden in the internet of vehicles information interaction process is reduced.
Example 2:
as shown in fig. 2, the present embodiment provides a road side unit map framing method, which includes:
s1: when a road node which is not marked with a home road side unit exists, marking the road node closest to the road side unit as the road side unit, and setting the road node as a departure node;
s2: traversing the downstream nodes of the departure node, and marking that the downstream nodes which are satisfied within a preset maximum distance or do not belong to other road side units belong to the road side units; the traversal is based on a depth traversal method;
s3: when a road node which is not marked with a home road side unit exists, acquiring a road side unit closest to the road node, and marking the road node as a departure node;
s4: when no road node which is not marked with the home road side unit exists, map framing data are generated according to the road node marking result, and the S1 is returned to;
in embodiment 1, there is a case where although all road side units successfully construct the road node set that they should construct, there is an extreme special case where some road nodes lack topological connectivity with other road nodes, and the home road side units cannot be marked by tree traversal, so that they do not belong to any one of the road side units, and for this case, the reverse method is adopted to divide it into the road side units closest to it, and then the traversal algorithm of S2 marks the road side units to which these isolated road nodes belong.
Further preferably, S2 specifically includes:
s2-1: the departure node is set to the currently traversed node,
s2-2: traversing all downstream nodes of the current traversed node, and marking all traversed road nodes as belonging to the road side unit unless the distance from the current traversed node to the road side unit exceeds a preset maximum distance or the current traversed node is marked as belonging to other road side units;
s2-3: and if the distance from the current traversed node to the road side unit exceeds a preset maximum distance or the current traversed node is marked as belonging to other road side units, setting an upstream node of the current traversed node as the current traversed node, and returning to S2-2.
In other words, in the present further preferred embodiment, a depth traversal method is used for the specific traversal, so that a boundary between the road-side units and the responsible areas between the road-side units can be formed more quickly than a breadth-side traversal method.
According to the embodiment, through a traversal algorithm, each road node is effectively guaranteed to have corresponding attribution, and the simplification and effectiveness of map information and seamless coverage between adjacent road side units are guaranteed.
Example 3:
as shown in fig. 3, the present embodiment provides a road side unit map framing method, which includes:
s1: when a road node which is not marked with a home road side unit exists, marking the road node closest to the road side unit as the road side unit, and setting the road node as a departure node;
s2: traversing the downstream nodes of the departure node, and marking that the downstream nodes which are satisfied within a preset maximum distance or do not belong to other road side units belong to the road side units;
s3: when a road node which is not marked with the attribution road side unit exists, acquiring the road side unit closest to the road node, marking the road node as a departure node, and returning to S2;
s4: when no road node which is not marked with the home road side unit exists, map framing data are generated according to the road node marking result;
s5: and when the state of the road side unit is changed, clearing all attribution marks of the road nodes attributed to the road side unit, and returning to S1.
In this embodiment, there is a case that, for example, a road side unit has failed, its state is changed, and then it is changed, and all the road side unit devices originally affiliated to it are classified into other road side unit devices, and the other road side unit devices replace them to complete the subsequent operations.
According to the embodiment, when the road network or the road side unit is changed, the map can be cut again in time, and timeliness of map information is guaranteed.
Example 4:
the embodiment provides a road side unit map based framing system, which comprises a plurality of road side unit devices and a road map;
the road side unit device has a unique mapping on the road map;
a plurality of road nodes are arranged on the road map; each road node belongs to one road side unit device;
the road nodes are connected through road sections;
the road map generating road framing data for each of the road side unit devices based on a road side unit map framing method according to any one of embodiments 1 to 3;
and the road side unit equipment broadcasts outwards according to the corresponding map framing data.
In this embodiment, in the conventional map, rectangular framing or longitude and latitude framing is generally adopted, and the map is segmented into rectangular areas with a fixed size or approximately trapezoidal areas, but the map transmission method cannot meet the actual requirement of the internet of vehicles, on one hand, road side units broadcast the map within the communication service range of the road side units to vehicles, and the distribution of the road side units is irregular and distributed along the road network according to the communication scene and the bridge and tunnel slope, and in special cases, the trend of the road is considered, and only the map with a single direction is broadcast. In addition, the road side unit broadcasts to the vehicle a road segment which is generally in communication with the current road segment of the vehicle, and the conventional framing method can have a lot of redundant road information which is irrelevant to the current road segment.
Therefore, in this embodiment, for each road node in the system, the attribution is divided, and according to the attribution, the correspondence between the road node and the road side unit is obtained, and according to the correspondence, which map data should be broadcasted by each road side unit is distinguished, and according to the division, map framing is performed.
Specifically, when judging that a road side unit which does not carry out the attribution setting of the road nodes exists in the road side units in the system, constructing a traversing tree by using the nearest road node of the road side unit, and grouping all the road nodes which are within a preset maximum distance and do not belong to other road side units on the road side unit until all the road side units have the corresponding attribution road nodes, framing the map according to the road node sets of all the road side units, and broadcasting outwards according to the preset broadcasting direction.
Preferably, the system further comprises a broadcasting policy control module, configured to control the broadcasting policy of the roadside unit device.
Further preferably, the broadcasting policy control module controls the roadside unit to broadcast only expressway-like map data when the roadside unit is located on an expressway.
In the preferred embodiment, since the expressway is often isolated from other highways in some way, such as by a overpass or other means, the data that is of interest to the roadside units disposed on the expressway is limited to data that is on the same expressway, so that only the necessary expressway-related data is transmitted and other data is not transmitted during actual operation due to the reduction of redundant information.
Further preferably, the broadcasting policy control module controls the road side unit to broadcast only road one-side map data when the road side unit is located in a tunnel.
In the preferred embodiment, if in the tunnel, the tunnel is either a unidirectional lane or the bidirectional traffic is separated by physical or other means, in the actual use process, once the tunnel is involved, the road side unit only broadcasts the unilateral path where the road side unit is located, but does not involve the bidirectional path, so that unnecessary data transmission is further reduced.
Example 5:
in another aspect, an electronic device includes a processor, a memory, and a computer program stored in the memory and executable on the processor, where the processor is configured to execute the computer program stored in the memory to implement a road side unit map framing method according to any one of embodiments 1-3.
The device can be desktop computer, notebook computer, palm computer, tablet computer, mobile phone, man-machine interaction screen and other devices. The device may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the device is merely an example of a device and is not limiting of the device, and may include more or fewer components than shown, or certain components in combination, or different components, illustrative: the devices may also include input/output interfaces, display devices, network access devices, communication buses, communication interfaces, and the like. The communication interface and the communication bus may further comprise an input/output interface, wherein the processor, the memory, the input/output interface and the communication interface complete communication with each other through the communication bus. The memory stores a computer program, and the processor is configured to execute the computer program stored in the memory to implement the method in the above embodiment.
The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be an internal storage unit of the device, exemplary: a hard disk or a memory of the device. The memory may also be an external storage device of the device, exemplary: a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) and the like, which are provided on the device. Further, the memory may also include both internal storage units and external storage devices of the device. The memory is used for storing the computer program and other programs and data required by the device. The memory may also be used to temporarily store data that has been output or is to be output.
A communication bus is a circuit that connects the elements described and enables transmission between these elements. The processor receives commands from other elements via the communication bus, decrypts the received commands, and performs calculations or data processing based on the decrypted commands, as examples. The memory may include program modules, illustratively, kernel (kernel), middleware (middleware), application programming interfaces (Application Programming Interface, APIs), and applications. The program modules may be comprised of software, firmware, or hardware, or at least two of them. The input/output interface forwards commands or data entered by a user through the input/output interface (e.g., sensor, keyboard, touch screen). The communication interface connects the device with other network devices, user devices, networks. The communication interface may be connected to the network by wire or wirelessly to connect to external other network devices or user devices, for example. The wireless communication may include at least one of: wireless fidelity (WiFi), bluetooth (BT), near field wireless communication technology (NFC), global Positioning System (GPS) and cellular communications, among others. The wired communication may include at least one of: universal Serial Bus (USB), high Definition Multimedia Interface (HDMI), asynchronous transfer standard interface (RS-232), and the like. The network may be a telecommunications network or a communication network. The communication network may be a computer network, the internet of things, a telephone network. The device may be connected to the network through a communication interface and protocols used by the device to communicate with other network devices may be supported by at least one of an application, an Application Programming Interface (API), middleware, a kernel, and a communication interface.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/device and method may be implemented in other manners. The above-described apparatus/device embodiments are exemplary only, and the modules or elements are exemplary only, and are merely a logical functional division, as may be implemented in additional ways, and exemplary, multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units may be stored in a medium if implemented in the form of software functional units and sold or used as stand-alone products. Based on this understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by sending an instruction to related hardware by a computer program, where the computer program may be stored in a medium, and the computer program may implement the steps of each method embodiment described above when executed by a processor. Wherein the computer program may be in source code form, object code form, executable file or some intermediate form, etc. The medium may include: any entity or device capable of carrying the computer program, a recording medium, a USB flash disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, and examples are: in some jurisdictions, computer-readable media does not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice. It will be apparent to those skilled in the art that the above-described program modules are only illustrated in the division of the above-described program modules for convenience and brevity, and that in practical applications, the above-described functional allocation may be performed by different program modules, i.e., the internal structure of the apparatus is divided into different program units or modules, to perform all or part of the above-described functions. The program modules in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one processing unit, where the integrated units may be implemented in a form of hardware or in a form of a software program unit. In addition, the specific names of the program modules are also only for distinguishing from each other, and are not used to limit the protection scope of the present application.
Example 6:
in another aspect, a storage medium has at least one instruction stored therein, the instruction loaded and executed by a processor to implement a road side unit map framing method according to any of embodiments 1-3.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. A road side unit map framing method, comprising:
when a road node which is not marked with a home road side unit exists, marking the road node closest to the road side unit as the road side unit, and setting the road node as a departure node;
traversing the downstream nodes of the departure nodes, marking the downstream nodes which meet the preset maximum distance or do not belong to other road side units and belong to the road side units; the method specifically comprises the following steps: setting the departure node as a current traversed node, traversing all downstream nodes of the current traversed node, and marking all traversed road nodes to be attributed to the road side units unless the distance from the current traversed node to the road side units exceeds a preset maximum distance or the current traversed node is marked to be attributed to other road side units; if the distance from the current traversed node to the road side unit exceeds a preset maximum distance or the current traversed node is marked as belonging to other road side units, setting an upstream node of the current traversed node as the current traversed node and continuing to traverse other downstream nodes;
and when no road node of the home road side unit is marked, generating map framing data according to the road node marking result.
2. The road side unit map framing method as set forth in claim 1, further comprising:
when a road node which is not marked with a home road side unit exists, acquiring a road side unit closest to the road node, and marking the road node as a departure node;
and executing the traversing of the downstream nodes of the departure nodes, and marking that the downstream nodes which are satisfied to be within a preset maximum distance or not belong to other road side units belong to the road side units.
3. A road side unit map framing method according to claim 1 or 2, further comprising:
further comprises: and when the state of the road side unit is changed, clearing all attribution marks of the road nodes attributed to the road side unit.
4. The road side unit map framing system is characterized by comprising a plurality of road side unit devices and a road map;
the road side unit device has a unique mapping on the road map;
a plurality of road nodes are arranged on the road map; each road node belongs to one road side unit device;
the road nodes are connected through road sections;
the road map generating road framing data of each of the road side unit devices according to one of the road side unit map framing methods of claims 1 to 3;
and the road side unit equipment broadcasts outwards according to the corresponding map framing data.
5. The map framing system of claim 4, further comprising a broadcast policy control module for controlling a broadcast policy of the roadside unit devices.
6. The map framing system of claim 5, wherein the broadcast policy control module controls the roadside unit to broadcast only highway class map data when the roadside unit is located on a highway.
7. The map framing system of claim 5, wherein the broadcast policy control module controls the road side unit to broadcast only road single-side map data when the road side unit is located within a tunnel.
8. An electronic device comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the processor being configured to execute the computer program stored on the memory to implement a road side unit map framing method according to any of claims 1-3.
9. A storage medium having stored therein at least one instruction loaded and executed by a processor to implement a roadside unit map framing method as claimed in any one of claims 1 to 3.
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