CN109540162B

CN109540162B - ADAS map data processing method, ADAS map data acquisition device and vehicle-mounted equipment

Info

Publication number: CN109540162B
Application number: CN201811340886.9A
Authority: CN
Inventors: 曾国国; 陆兴宇; 刘金山; 徐钊
Original assignee: Navinfo Co Ltd
Current assignee: Navinfo Co Ltd
Priority date: 2018-11-12
Filing date: 2018-11-12
Publication date: 2021-12-21
Anticipated expiration: 2038-11-12
Also published as: CN109540162A

Abstract

The disclosure provides a processing method, an acquisition method, a device and vehicle-mounted equipment of ADAS map data, wherein the method comprises the following steps: acquiring map data and vehicle positioning information in a preset format; reading standard map data in a preset format according to vehicle positioning information, and reconstructing an ADAS road network in a certain range in front of a road where a current vehicle is located according to a road network relation in the obtained map data; and acquiring key attribute data in the map data, and generating and outputting an ADAS message which can be identified by a receiving object by combining the ADAS road network. According to the processing method, the obtaining method and the device of the ADAS map data and the vehicle-mounted equipment, the accuracy of the ADAS is improved.

Description

ADAS map data processing method, ADAS map data acquisition device and vehicle-mounted equipment

Technical Field

The disclosure relates to the technical field of safe driving assistance, and in particular relates to a processing method, an acquisition method and an apparatus of ADAS map data, and a vehicle-mounted device.

Background

Advanced Driver Assistance Systems (ADAS) collect environmental data inside and outside a vehicle through various sensors mounted on the vehicle, and perform technical processing such as identification, detection, tracking and the like of static or dynamic objects, so that a Driver can perceive possible dangers in the shortest time, and driving safety is improved.

Present ADAS is through the inside and outside environmental data of all kinds of sensors real-time collection car to the environment to the vehicle the place ahead predicts, and its sensor mainly has vision sensor, millimeter wave radar sensor and laser radar sensor etc. but the perception scope of these sensors is shorter, and the shortest only has tens of meters, and the longest is no longer than 200 meters, and gathers the inside and outside environmental data of car and receive the influence of weather environment easily, thereby makes ADAS's the degree of accuracy not high.

Disclosure of Invention

The disclosure provides a processing method, an acquisition method and a device of ADAS map data and vehicle-mounted equipment, so as to improve the accuracy of ADAS.

In a first aspect, an embodiment of the present disclosure provides a method for acquiring ADAS map data of a level driving assistance system, including: acquiring map data and vehicle positioning information in a preset format; reading the map data in the preset format according to the vehicle positioning information, and reconstructing an ADAS road network in a certain range in front of a road where the current vehicle is located according to the road network relation in the obtained map data; and acquiring key attribute data in the map data, and generating and outputting an ADAS message which can be identified by a receiving object by combining the ADAS road network.

In a second aspect, an embodiment of the present disclosure further provides an advanced driving assistance system ADAS map data acquiring method, including: receiving an ADAS message which can be identified by ADAS and is transmitted by a processing device of ADAS map data, wherein the ADAS message is generated by acquiring key attribute data in the map data and combining an ADAS road network, and the ADAS road network is generated by reading map data in a preset format and a road network relation in the map data according to vehicle positioning information and reconstructing the ADAS road network in a certain range in front of a road where a current vehicle is located; and analyzing the ADAS message to obtain the ADAS road network.

In a third aspect, an embodiment of the present disclosure further provides a processing device of advanced driving assistance system ADAS map data, including: the navigation engine module is used for reading and analyzing map data in a preset format; the vehicle positioning module is used for matching with the map data to acquire vehicle positioning information; the ADAS processor is used for acquiring corresponding map data according to the vehicle positioning information and reconstructing an ADAS road network within a certain range in front of a road where the current vehicle is located according to the road network relation in the acquired map data; the ADASIS engine module is used for acquiring key attribute data in the map data and generating an ADAS message which can be identified by a receiving object by combining the ADAS road network; and the data transmission module is used for outputting the ADAS message so as to enable the vehicle-mounted end to call the received ADAS message.

In a fourth aspect, an embodiment of the present disclosure further provides an apparatus for acquiring advanced driving assistance system ADAS map data, including: a receiver and an ADAS message analyzer; the receiver is used for receiving an ADAS message which can be identified by ADAS and is transmitted by the ADAS map data processing device, the ADAS message is generated by acquiring key attribute data in the map data and combining an ADAS road network, and the ADAS road network is obtained by reading map data in a preset format and the road network relation in the map data according to vehicle positioning information and reconstructing the ADAS road network in a certain range in front of a road where a current vehicle is located; and the ADAS message analyzer is used for analyzing the ADAS message obtained by the receiver to obtain the ADAS road network.

In a fifth aspect, an embodiment of the present disclosure further provides an advanced driving assistance system ADAS vehicle-mounted device, including: the ADAS map data processing device shown in the third aspect, the ADAS map data obtaining device shown in the fourth aspect, a lane departure system of a vehicle energy saving and emission reduction system, an auxiliary ICC lane keeping system, an intelligent headlamp auxiliary vehicle energy saving and emission reduction system, and one or more of an intelligent suspension adjustment intelligent cruise system, an intelligent headlamp auxiliary system and an intelligent suspension control system; wherein the processing device of the ADAS map data is used for executing the processing method of the ADAS map data of the first aspect, the ADAS map data acquisition apparatus is configured to execute the ADAS map data acquisition method according to the second aspect, the processing device of the ADAS map data transmits the ADAS message to the acquisition device of the ADAS map data through a transmission bus, the acquisition device of the ADAS map data generates an ADAS road network according to the ADAS message, and performing corresponding auxiliary decision making in one or more systems among the vehicle energy saving and emission reduction system, the auxiliary ICC system, the intelligent headlamp auxiliary system and the intelligent suspension control system according to the ADAS road network, wherein the lane departure system, the lane keeping system, the vehicle energy saving and emission reduction system, the intelligent cruise system, the intelligent headlamp auxiliary system and the intelligent suspension control system are one or more systems in the ADAS road network.

According to the processing method, the obtaining method and the device for the ADAS map data and the vehicle-mounted equipment, the map data in the preset format and the vehicle positioning information are obtained; reading map data in a preset format according to the vehicle positioning information, and reconstructing an ADAS road network in a certain range in front of a road where the current vehicle is located according to the road network relation in the obtained map data; the method comprises the steps of obtaining key attribute data in map data, combining an ADAS road network, generating an ADAS message which can be identified by a receiving object and outputting the ADAS message, so that the receiving object can analyze the ADAS message to obtain the ADAS road network.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic diagram of a method for processing and acquiring ADAS map data according to an embodiment of the disclosure;

FIG. 2 is a schematic view of a roadway communication provided by an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a processing device for advanced driving assistance ADAS map data according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of an advanced driving assistance ADAS map data acquisition device according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of an ADAS map data processing apparatus according to an embodiment of the disclosure; and

fig. 6 is a schematic diagram of a relationship between NI-EHP and NI-EHR according to an embodiment of the present disclosure.

With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In order to improve driving safety, the existing ADAS collects environmental data inside and outside the vehicle in real time through various sensors, so as to predict the environment in front of the vehicle, but the sensing range of the sensors is short, and the collected environmental data inside and outside the vehicle is easily affected by the weather environment, so that the accuracy of the ADAS is not high. In order to improve the accuracy of ADAS, the embodiments of the present disclosure provide a method for processing and acquiring ADAS map data, by acquiring map data in a preset format and vehicle positioning information; reading map data in a preset format according to the vehicle positioning information, and reconstructing an ADAS road network in a certain range in front of a road where the current vehicle is located according to the road network relation in the obtained map data; the method comprises the steps of obtaining key attribute data in map data, combining an ADAS road network, generating an ADAS message which can be identified by a receiving object and outputting the ADAS message, so that the receiving object can analyze the ADAS message to obtain the ADAS road network.

The following provides a detailed description of the technical solutions of the present disclosure and how the technical solutions of the present application solve the above technical problems with further embodiments. The several further embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of an ADAS map data processing method provided by an embodiment of the present disclosure, where the ADAS map data processing method may be executed by an ADAS map data processing device (for example, NI-EHP, navifo Electronic Horizon Provider, four-dimensional new Electronic Horizon Provider), which may be separately disposed or disposed in an on-vehicle central Control platform or a vehicle Electronic Control Unit (ECU); the acquisition method of the ADAS map data may be executed by an acquisition device of the ADAS map data (e.g., NI-EHR, navifo Electronic Horizon reconverter, four-dimensional map new Electronic Horizon Reconstructor), which may also be integrated in the vehicle ECU. Referring to fig. 1, the method for processing and acquiring ADAS map data may include:

s101, acquiring map data and vehicle positioning information in a preset format by an ADAS map data processing device.

The map data mainly refers to SD map data and ADAS map data. The map data includes attribute data of a road, which is used to identify the road, such as the type, grade, and gradient of the road.

Optionally, when the map data in the preset format is acquired, the map data in the preset format may be acquired in advance, or the map data in the preset format may be acquired in real time. For example, when the map data in the preset format is acquired in real time, the acquired map data in the preset format may be stored in the memory, and when the map data in the preset format is needed, the map data in the preset format may be called from the memory in real time.

It should be noted that, in the embodiment of the present disclosure, the map data in the preset format may be map data of a certain province, or may also be map data of the whole country, and specifically, the map data in the preset format may be obtained according to actual needs, and when the map data in the preset format is obtained, the map data is not obtained in real time through a sensor when the ADAS needs to use the map data, but the map data in the preset format is directly obtained. For example, the map data in the preset format may be map data in a binary format, and when the map data in the binary format is obtained, the map data may be collected by various sensors, and vectorization processing may be performed on the collected map data to obtain vectorized map data; format conversion is carried out on the vectorized map data so as to convert the vectorized map data into readable map data; after the readable map data is acquired, the readable map data is subjected to data compilation, so that the map data in the binary format is obtained.

As the vehicle positioning information, for example, the vehicle positioning information, that is, the position information where the vehicle is located, may be acquired by a GPS, and may be, for example, an intersection of a road in a province, B city, and C city, etc.

S102, the ADAS map data processing device reads map data in a preset format according to the vehicle positioning information, and reconstructs an ADAS road network in a certain range in front of the road where the current vehicle is located according to the road network relation in the obtained map data.

The attribute data of the road to be traveled is marked on the ADAS road network, the attribute data of the road to be traveled is used for identifying the attribute of the road to be traveled, and the ADAS road network is used for indicating the relationship between the road and the road. Further, the attribute data of the road to be traveled may include basic attribute data of the road and key attribute data of the road (e.g., advanced driving assistance ADAS attribute data). For example, the basic attribute data of the road may include the type of the road, such as road grade, speed limit information, lane information, tunnel and bridge condition, and the like; the ADAS attribute data of the road may include information such as road grade, road curvature, road course angle, etc.; the embodiments of the present disclosure are described only by way of example, and may be specifically configured according to actual needs. It should be noted that the ADAS attribute data has the characteristics of high density and high precision, and the accuracy of the road topology relationship can be further improved by adding the ADAS attribute data.

Before reading map data in a preset format according to vehicle positioning information, analyzing the map data in the preset format to obtain map data in a structural body format, reading the map data in the preset format according to the vehicle positioning information, and according to a road network relation in the obtained map data, optionally traversing a road network in the map data based on a depth-first traversal algorithm, generating the road network relation in the map data, reconstructing an ADAS road network in a certain range in front of a road where a current vehicle is located, and sending the ADAS road network to ADAS. For example, if the vehicle is currently located at an intersection of a C road in B city, a province, and continues to travel to a D road, before generating the ADAS road network, the map data of the D road needs to be read from the acquired map data, the map data includes basic attribute data of the D road and ADAS attribute data of the D road, and the ADAS road network in a certain range in front of the road where the vehicle is currently located is reconstructed according to the road network relationship in the acquired map data, and the generated ADAS road network is marked with the basic attribute data of the D road and the ADAS attribute data of the D road, so as to send the ADAS road network of the D road to be traveled to the ADAS.

Further, taking the D-path as an example, the process of generating the ADAS network by using the depth-first traversal algorithm may be: firstly, accessing the D-path, then starting from each adjacent road which is not accessed, performing depth-first search traversal in sequence until all roads which are communicated with the D-path and are within a certain range are accessed, and if other roads are not accessed, selecting one road which is not accessed as a starting point, and repeating the process until all roads are accessed. In the process, please refer to fig. 2, fig. 2 is a schematic diagram of a road communication provided by an embodiment of the present disclosure, and assuming that a D-path, an E-path, an L-path, and an M-path are an intersection, and an E-path, an F-path, a G-path, and an H-path are an intersection, a process of depth-first traversing all the roads from the D-path to generate a road network is as follows: 1) d → E → F; 2) d → E → H; 3) d → E → G; 4) d → M; 5) d → L, then 1) to 5) are the generated ADAS road network, and after the ADAS road network is generated, the basic attribute information and ADAS attribute data of the road are marked on the ADAS road network.

Of course, the breadth-first traversal algorithm may also be used to perform data processing on the map data of the road to be traveled, and the embodiment of the disclosure is described by taking the depth-first traversal algorithm as an example.

It should be noted that, in the embodiment of the present disclosure, what attribute data may be specifically included may be set according to actual needs. For example, if the demand for commercial vehicles is to reduce operating costs, the attribute data may include grade and curvature, etc.; the demands of passenger vehicles are to increase comfort and entertainment, and the attribute data may include slope, curvature, speed limit, traffic sign, road condition, road pavement condition, etc.

S103, acquiring key attribute data in the map data by the ADAS map data processing device, and generating an ADAS message which can be identified by a receiving object by combining an ADAS road network.

For example, in combination with the ADAS road network, sampling points may be determined on each road in the ADAS road network according to attribute data of the road to be traveled, and the sampling points are differentiated to generate an ADAS message recognizable by a receiving object.

Further, after the ADAS road network is generated, the ADAS road network and the attribute data of the road to be traveled marked on the ADAS road network need to be sent to the ADAS, and since the ADAS has a special Advanced Driver assistance Interface specification (ADASIS for short), an ADAS message that can be recognized by a receiving object needs to be generated according to the attribute data of the road to be traveled and by combining the ADAS road network. The specific process can comprise the following steps: and interpolating the ADAS road network according to certain distance according to the information of the gradient, the curvature and the course angle in the ADAS attribute data to generate a message conforming to the ADASIS, namely generating the ADAS message. The interpolation method may be linear interpolation or step interpolation, and the specific interpolation method may be set according to actual needs, which is not further limited in this disclosure.

Optionally, the attribute data of the road to be traveled includes basic attribute data of the road to be traveled and ADAS attribute data of the road to be traveled, and then the processing device of the S103ADAS map data acquires key attribute data in the map data, and generates an ADAS packet that can be recognized by a receiving object in combination with an ADAS road network, which may be implemented in the following two possible ways:

in a possible implementation manner, an ADAS message that can be recognized by a receiving object can be generated according to the position information of the vehicle, from near to far, according to the basic attribute data of the road to be traveled and the ADAS attribute data of the road to be traveled, and by combining with an ADAS road network.

When generating an ADAS message which can be identified by a receiving object by combining an ADAS road network from near to far according to the basic attribute data of a road to be driven and the ADAS attribute data of the road to be driven according to the position information of a vehicle, the road network can be preprocessed by linear interpolation, and the implementation process of one optional preprocessing is as follows:

and (3) continuously driving to the road D with the current position of the vehicle at the intersection of the road C in the city B of the province A, and continuously driving to the road E after the road D is driven, preprocessing the road D according to the basic attribute data of the road D and the ADAS attribute of the road D from near to far, and preprocessing the road E according to the basic attribute data of the road E and the ADAS attribute of the road E. Firstly, determining a plurality of sampling points on a D path according to basic attribute data of the D path and ADAS attributes of the D path, determining a plurality of sampling points on an E path according to basic attribute data of the E path and ADAS attributes of the E path, then, performing difference on the plurality of sampling points determined on the D path at preset intervals to obtain a plurality of difference points, after determining the plurality of difference points corresponding to the D path, determining the plurality of sampling points on the E path at preset intervals to perform difference to the plurality of difference points to obtain a plurality of difference points corresponding to the E path, and thus generating the ADAS message.

For example, to use linear interpolation, the process of preprocessing from near to far may be: firstly, determining the positions of roads relative to the current vehicle from near to far as: way D → way E; taking the gradient data in the ADAS attribute data as an example, the gradient data sampling points on two roads are respectively from near to far: the sampling points on the path D are P1, P2 and P3 respectively; the sampling points on the E path are P4, P5 and P6 respectively; then the pretreatment process from near to far: firstly, linear interpolation is carried out on the slope of the D road, linear interpolation is carried out between P1 and P2 according to the interval of 25m to obtain interpolation points P11 and P12, then linear interpolation is carried out between P2 and P3 according to the interval of 25m to obtain interpolation points P21 and P22, and the same processing is carried out on the E road after the processing of the D road is finished; the interpolation points P41 and P42 are obtained by linear interpolation between P4 and P5 according to the interval of 25m, and the interpolation points P51 and P52 are obtained by linear interpolation between P5 and P6 according to the interval of 25m, so that the preprocessing of the ADAS network is completed from near to far according to the position information of the vehicle, and the ADAS message is generated.

In another possible implementation manner, an ADAS message which can be identified by a receiving object is generated according to the type grade of the road, from high to low according to the basic attribute data of the road to be driven and the ADAS attribute data of the road to be driven, and by combining with the ADAS road network.

When an ADAS road network is preprocessed according to the type grade of a road and from high to low according to basic attribute data of a road to be traveled and ADAS attribute data of the road to be traveled, linear interpolation can be adopted to preprocess the road network, and an implementation process of optional preprocessing is as follows:

similar to the preprocessing process, the vehicle is positioned at the intersection of the C road in the B city of the province A, the vehicle continues to drive to the D road, after the D road is driven, the vehicle continues to drive to the E road, the type grade of the D road is national road, the type grade of the E road is high speed, the E road is preprocessed according to the type grade of the road and the basic attribute data of the E road and the ADAS attribute of the E road, and then the D road is preprocessed according to the basic attribute data of the D road and the ADAS attribute of the D road. Firstly, determining a plurality of sampling points on an E path according to basic attribute data of the E path and ADAS attributes of the E path, determining a plurality of sampling points on a D path according to basic attribute data of the D path and ADAS attributes of the D path, then, determining a plurality of sampling points on the E path to perform difference at preset intervals to obtain a plurality of difference points, after determining a plurality of difference points corresponding to the E path, determining a plurality of sampling points on the D path to perform difference at preset intervals to the plurality of difference points to obtain a plurality of difference points corresponding to the D path, and thus generating the ADAS message.

For example, to use linear interpolation, the process of preprocessing from high to low may be: determining the road grade, wherein the road grade of the E road is higher than the D road, the E road → the D road because the grade of the expressway is higher than the national road grade; similarly, taking the gradient data in the ADAS attribute data as an example, the gradient data sampling points on the two roads from near to far are respectively: the sampling points on the E path are respectively: p4, P5, P6; the sampling points on the path D are P1, P2 and P3 respectively; firstly, linear interpolation is carried out on the slope of the E road, linear interpolation is carried out between P4 and P5 according to the interval of 25m to obtain interpolation points P41 and P42, then linear interpolation is carried out between P5 and P6 according to the interval of 25m to obtain interpolation points P51 and P52, therefore, according to the position information of the vehicle, preprocessing is carried out on the attribute data of the E road from near to far, and the same processing is carried out on the D road after the E road is processed; the interpolation points P11 and P12 are obtained by linear interpolation between P1 and P2 according to the interval of 25m, and the interpolation points P21 and P22 are obtained by linear interpolation between P2 and P3 according to the interval of 25m, so that the attribute data of the E path is preprocessed from high to low according to the type grade of the road, then the attribute data of the D path is preprocessed, and the ADAS message is generated.

It should be noted that, in the embodiment of the present disclosure, the following seven types of data may be defined in the protocol corresponding to the ADAS, where each type of data corresponds to one data packet, and specifically, when generating a data packet, the data packet is sent according to actual needs and actual scenes.

The first type of POSITION: describing relative position information of the vehicle on a road network; second type STUB: describing the topological relation of the path on the road network; third SEGMENT: describing important attribute information of a certain path segment on a path; fourth PROFILE-SHORT: describing attribute information (short data: 10bit) in a road network; fifth PROFILE-LONG: describing attribute information (long data: 32bit) in a road network; a sixth META-DATA: attribute information describing a system, or system attribute information of a location of a vehicle (e.g., driving direction, left or right, of the location); seventh SYSTEM-SPECFIC: additional system information is transmitted.

Among the seven types of packets, the first type of POSITION and the second type of STUB are packets that have to be sent, and other types of packets may be sent according to actual needs. For example, if the ADAS requires information of road grade, road type, speed limit, number of lanes on the road, etc., a third type of SEGMENT data is transmitted; if the ADAS needs the information of the gradient, the curvature, the road condition and the like, sending a fourth type of PROFILE-SHORT data; if the ADAS needs the information of longitude and latitude, elevation, Bezier curve control points, Link ID (the number of a section of road in map data), traffic signs and the like, fifth type PROFILE-LONG data is sent; the sixth type of META-DATA DATA is sent to the ADAS in a timing mode, so that the ADAS can acquire information such as a software version, a hardware version, a DATA version and a DATA provider of the map output device; the seventh type of data SYSTEM-SPECFIC is used for data verification during communication between the ADAS and the acquiring means of ADAS map data shown in the present disclosure.

S104, the processing device of the ADAS map data transmits the ADAS message to the ADAS in the processing device of the ADAS map data of the acquiring device of the ADAS map data, so that the ADAS acquires the ADAS message according to the ADAS message.

Optionally, the ADAS map data processing device may transmit the ADAS message to the ADAS through the CAN bus, may also transmit the ADAS message to the ADAS through the ethernet bus, and may also transmit the ADAS through the FLAXRAY bus. The transmission speed of the Ethernet bus is greater than that of the FLEXRAY bus, and the transmission speed of the FLAXRAY bus is greater than that of the CAN bus.

For example, with a CAN bus, in the transmission process, the processing device of ADAS map data may transmit an ADAS message to the CAN bus first, the ADAS monitors the CAN bus, and when it is determined that there is an ADAS message on the CAN bus, the ADAS message is read, that is, the ADAS message is transmitted to the ADAS, and after receiving the ADAS message, the ADAS parses the ADAS message into structure data convenient for the program to use, and stores the structure data, so as to be used by the ADAS. Therefore, the processing method of the ADAS map data provided by the embodiment of the disclosure acquires the map data in the preset format and the vehicle positioning information; reading map data in a preset format according to the vehicle positioning information, and reconstructing an ADAS road network in a certain range in front of a road where the current vehicle is located according to the road network relation in the obtained map data; the method comprises the steps of obtaining key attribute data in map data, combining an ADAS road network, generating an ADAS message which can be identified by a receiving object and outputting the ADAS message, so that the receiving object can analyze the ADAS message to obtain the ADAS road network.

And S105, the ADAS map data acquisition device analyzes the ADAS message to obtain an ADAS road network.

Wherein, the ADAS road network is marked with the attribute data of the road to be driven.

The processing device of the ADAS map data transmits the ADAS message to the acquiring device of the ADAS map data in the processing device of the ADAS map data, so that the acquiring device of the ADAS map data receives the input ADAS message. The ADAS message is generated by acquiring key attribute data in the map data and combining the ADAS road network, and the ADAS road network is generated by reading the map data in a preset format and the road network relation in the map data according to vehicle positioning information and reconstructing the ADAS road network in a certain range in front of the road where the current vehicle is located.

Therefore, for the ADAS in the ADAS map data acquisition device, when a road network is acquired, the ADAS message sent by the ADAS map data processing device is received, the ADAS message is generated according to key attribute data in the acquired map data and combined with the ADAS road network, the ADAS road network reads map data in a preset format and the road network relation in the map data according to vehicle positioning information, and the ADAS road network in a certain range in front of the road where the current vehicle is located is reconstructed.

Optionally, the attribute data of the road to be traveled may include basic attribute data of the road to be traveled and ADAS attribute data of the road to be traveled, and the analyzing the ADAS message to obtain the road network may further include:

and S106, outputting early warning information to a user or a vehicle control system according to the basic attribute data of the road to be driven and the key attribute data of the road to be driven so as to control the vehicle to execute corresponding early warning measures.

Optionally, the warning information includes any one or a combination of more of an overspeed warning, a grade warning, and a vehicle deviation warning.

It should be noted that, in the embodiment of the present disclosure, the processing and obtaining method of the advanced driving assistance system ADAS map data may be applied to a vehicle with a person or an unmanned vehicle. When the method is applied to a vehicle driven by a person, the early warning information can be output to a user according to the basic attribute data of the road to be driven and the ADAS attribute data of the road to be driven, so that the user can control the vehicle to execute corresponding early warning measures. When the method is applied to the unmanned vehicle, the early warning information can be output to the vehicle control system according to the basic attribute data of the road to be driven and the ADAS attribute data of the road to be driven, so that the vehicle control system can control the vehicle to execute corresponding early warning measures.

For example, an overspeed warning may be output to the user or the vehicle control system according to the speed limit information in the basic attribute data, so that the user or the vehicle control system controls the vehicle to execute corresponding deceleration processing according to the overspeed warning information; when the current vehicle speed exceeds the road speed limit, overspeed early warning is triggered, and overspeed warning reminding is carried out on a user in an image or sound mode; the method can also output gradient early warning information to a user or a vehicle control system according to gradient information in the ADAS attribute data, namely when the gradient change of a road section in front of a road is large, gradient early warning is triggered, vehicle predictability cruise automatically adjusts the speed and the gear according to the gradient change, for example, the speed is accelerated when the front is an ascending slope, and the speed is decelerated when the front is a descending slope, so that the energy-saving effect is achieved through the strategy; certainly, vehicle deviation early warning information can be output to a user or a vehicle control system according to the relative angle difference in the basic attribute data, namely when the curvature change of the front of the road is large, the vehicle deviation early warning can adjust the strategy of the vehicle deviation early warning according to the curvature, for example, if the front of the road is relatively curved, the vehicle speed is reduced, and the safety of the function of the vehicle deviation early warning is improved; when the road is relatively curved, the irradiation angle of the sensor is adjusted along the direction of the curve of the road, so that a user or a vehicle control system can perform early warning control on the vehicle to keep the lane according to the vehicle deviation information.

Of course, the embodiment of the disclosure is described only by taking the example of outputting the early warning information according to the basic attribute data of the road to be traveled and the ADAS attribute data of the road to be traveled, and besides outputting the early warning information, the embodiment of the disclosure can also be used for an entertainment system, HUD head-up display, vehicle energy saving and emission reduction; assisted ICC (smart cruise); the intelligent vehicle headlamp is assisted and intelligent suspension control is carried out. When the method is applied to energy conservation and emission reduction of vehicles, the gradient, the curvature and the like of a road can be obtained through the ADAS map data processing device, and oil is added or reduced in advance according to the gradient and the curvature of the road, so that the energy conservation and emission reduction of the vehicles are realized. When applied to the auxiliary ICC, the ADAS map data processing means can detect road network information at a distance in the driving direction in combination with the positioning information and the map data. When the method is applied to the assistance of the intelligent vehicle headlamp, the map data can be acquired in advance through the ADAS map data processing device, and corresponding adjustment strategies, especially complex mountain roads, can be made. When the method is applied to intelligent suspension adjustment, the map data can be acquired in advance through the ADAS map data processing device, and a corresponding adjustment strategy is made.

According to the method for processing and acquiring the ADAS map data, the processing device of the ADAS map data acquires the map data in the preset format and the vehicle positioning information; reading map data in a preset format according to the vehicle positioning information, and reconstructing an ADAS road network in a certain range in front of a road where the current vehicle is located according to the road network relation in the obtained map data; the method comprises the steps of obtaining key attribute data in map data, combining an ADAS road network, generating an ADAS message which can be identified by an ADAS map data obtaining device and outputting the ADAS message, so that the ADAS map data obtaining device can analyze the ADAS message to obtain the ADAS road network.

Fig. 3 is a schematic structural diagram of a processing device 30 of ADAS map data of an advanced driving assistance system according to an embodiment of the disclosure, please refer to fig. 3, where the processing device 30 of ADAS map data may include: a navigation engine module 301, a vehicle location module 302, an ADAS processor 303, an ADASIS engine module 304, and a data transmission module 305.

The navigation engine module 301 is configured to read and parse map data in a preset format.

And the vehicle positioning module 302 is used for matching with the map data to acquire vehicle positioning information.

The ADAS processor 303 is configured to obtain corresponding map data according to the vehicle positioning information, and reconstruct an ADAS road network in a certain range in front of a road where the current vehicle is located according to a road network relationship in the obtained map data.

The ADASIS engine module 304 is configured to obtain key attribute data in the map data, and generate an ADAS packet that can be recognized by a receiving object in combination with the ADAS road network.

The data transmission module 305 is configured to output the ADAS message, so that the vehicle-mounted terminal invokes the received ADAS message.

Optionally, the map data comprises Standard (SD) map data and ADAS map data; the attribute data of the road to be traveled comprises basic attribute data of the road to be traveled and key attribute data of the road to be traveled.

The ADAS processor 303 is further configured to preprocess the ADAS road network from near to far according to the vehicle positioning information and the basic attribute data in the attribute data of the road to be traveled and the key attribute data in the attribute data of the road to be traveled, and generate an ADAS message that can be recognized by the receiving object according to the ADASIS protocol and the reconstructed ADAS road network, road attributes on the road network, and ADAS attributes; or preprocessing the ADAS road network from high to low according to the type grade of the road and the basic attribute data of the road to be driven and the key attribute data of the road to be driven, and generating the ADAS message which can be identified by the receiving object according to the ADASI protocol and the reconstructed ADAS road network, road attributes on the road network and ADAS attributes.

Optionally, the ADAS processor 303 is further configured to traverse a road network in the map data based on a depth-first traversal algorithm, and generate a road network relationship in the map data; and reconstructing an ADAS road network within a certain range in front of the road where the current vehicle is located according to the road network relation in the map data.

The ADAS map data processing apparatus 30 may correspondingly implement the technical solution of the ADAS map data processing method according to any embodiment, and the implementation principle and technical effect thereof are similar to those of the ADAS map data processing method, and are not described herein again.

Fig. 4 is a schematic structural diagram of an acquisition device 40 for ADAS map data of an advanced driving assistance system according to an embodiment of the disclosure, please refer to fig. 4, where the acquisition device 40 for ADAS map data may include: a receiver 401, an ADAS message parser 402 and an application processor 403.

The receiver 401 is configured to receive an ADAS message that is recognizable by ADAS and transmitted by the ADAS map data processing device, where the ADAS message is generated according to key attribute data in the acquired map data and by combining an ADAS road network, and the ADAS road network is created by reading map data in a preset format and a road network relationship in the map data according to vehicle positioning information, and reconstructing the ADAS road network in a certain range in front of a road where a current vehicle is located.

And the ADAS message analyzer 402 is configured to analyze the ADAS message obtained by the receiver to obtain an ADAS road network.

Optionally, the attribute data of the road to be traveled includes basic attribute data of the road to be traveled and key attribute data of the road to be traveled, and the acquiring device 40 of ADAS map data may further include:

the application processor 403 is further configured to output warning information to a user or a vehicle control system according to the basic attribute data of the road to be traveled and the key attribute data of the road to be traveled, so as to control the vehicle to execute a corresponding warning measure; the early warning information comprises any one or more of overspeed early warning, gradient early warning and vehicle deviation early warning.

The ADAS map data obtaining device 40 may correspondingly implement the technical solution of the ADAS map data obtaining method according to any embodiment, and the implementation principle and technical effect of the ADAS map data obtaining device are similar to the present principle and technical effect of the ADAS map data obtaining method, and are not described herein again.

To more clearly illustrate the technical solution shown in the embodiment of the present disclosure, the ADAS map data processing device 30 may further include a packaging module 306 and a middle module 307, in addition to the navigation engine module 301, the vehicle positioning module 302, the ADAS processor 303, the ADASIS engine module 304 and the data transmission module 305, where the packaging module 306 is mainly used for packaging relevant interfaces for SD map reading and parsing, for example, please refer to fig. 5, and fig. 5 is a schematic structural diagram of another ADAS map data processing device 30 provided in the embodiment of the present disclosure. The navigation engine module 301 is mainly used for reading and analyzing Map data and is responsible for reading and analyzing the SD Map road network data; the vehicle positioning module 302 is mainly used for positioning and matching, and accurately matching the received GPS position information to the road where the vehicle is located; the ADAS processor 303 is mainly used for realizing a road calculation function and acquiring a road topological relation in a map; the packaging module 306 is responsible for adapting to different map data and packaging interfaces for reading and analyzing the map data; and send the encapsulated map data to the ADASIS engine module 304, where the ADASIS engine module 304 is a core module of the whole ADASIS and is mainly used for: (1) constructing a road network in a certain range in front of a road where the road is located currently; (2) assembling basic attribute data and ADAS attribute data of a road network and roads marked on the road network into an ADAS message according to the requirements of an ADAS protocol; further, the encapsulation module 306 sends the encapsulated map data to the intermediate module 307 of the ADASIS engine, and forwards the map data to the ADAS processor 303 through the intermediate module 307, the ADAS processor 303 is configured to construct a road network in a certain range in front of a road where the road is located currently, assemble basic attribute data and ADAS attribute data of the road network and roads marked on the road network into an ADAS message according to the requirements of an ADAS protocol, and send the ADAS message to the data transmission module 305, and the data transmission module 305 sends the ADAS message to the ADAS in the ADAS map data acquisition device 40 through the CAN bus, so that the ADAS CAN acquire the ADAS road network according to the ADAS message after receiving the ADAS message, and compared with the prior art that only environmental data is acquired through a sensor, accuracy of the ADAS is improved.

The present disclosure also provides an advanced driving assistance system ADAS vehicle-mounted device, where the ADAS vehicle-mounted device includes one or more of the processing device of ADAS map data shown in fig. 3, the obtaining device of ADAS map data shown in fig. 4, a lane departure system of a vehicle energy saving and emission reduction system, an auxiliary ICC lane keeping system, an intelligent headlamp auxiliary vehicle energy saving and emission reduction system, an intelligent suspension adjustment intelligent cruise system, an intelligent headlamp auxiliary system, and an intelligent suspension control system;

the processing device of the ADAS map data is used for executing the processing method of the ADAS map data described in the above embodiment, the acquiring device of the ADAS map data is used for executing the acquiring method of the ADAS map data described in the above embodiment, the processing device of the ADAS map data transmits an ADAS message to the acquiring device of the ADAS map data through a transmission bus, so that the acquiring device of the ADAS map data generates an ADAS road network according to the ADAS message, and performs corresponding auxiliary decision making on one or more systems of a vehicle energy saving and emission reduction system, an auxiliary ICC system, an intelligent headlamp auxiliary system and an intelligent suspension control system in one or more of a lane departure system, a lane keeping system, a vehicle energy saving and emission reduction system, an intelligent cruise system, an intelligent headlamp auxiliary system and an intelligent suspension control system according to the ADAS road network.

The advanced driving assistance system ADAS vehicle-mounted device may correspondingly execute the technical solution of the ADAS map data processing and acquiring method according to any embodiment, and the implementation principle and the technical effect of the ADAS map data processing and acquiring method are similar, and are not described herein again.

The ADAS vehicle-mounted device may correspondingly implement the technical solution of the ADAS map data processing method according to any embodiment, and the implementation principle and technical effect are similar, which are not described herein again.

In the embodiment shown in the present disclosure, the ADAS map data is mainly sent to the vehicle through the body CAN bus by the ADASIS protocol, and the ECU control unit of the CAN network is accessed to implement the enhanced ADAS function. In the implementation process, the ADAS map data processing device and the ADAS map data obtaining device are used to complete the ADAS map data processing, and the relationship between the ADAS map data processing device and the ADAS map data obtaining device CAN be shown in fig. 6, fig. 6 is a schematic diagram of a relationship between NI-EHP and NI-EHR according to the embodiment of the present disclosure, where the ADAS map data processing device CAN be NI-EHP and NI-EHR, where NI-EHP refers to a four-dimensional map new electronic horizon provider, NI-EHR refers to a four-dimensional map new electronic horizon reconstructor, and the NI-EHP functions as long as the ADAS road network is constructed according to positioning information and sent to NI-EHR through a CAN message, and the NI-EHR performs ADAS road network reconstruction according to a received CAN message. The NI-EHP is arranged in a vehicle-mounted central control platform or a vehicle ECU and comprises an OS module, a Navigation module, an ADASIS engine module and a POST module, wherein the OS module can be a mainstream operating system such as windows, Linux, ONX and Android, and the Navigation module is a Navigation engine module and has the main functions of: 1) reading and analyzing Map data, and reading and analyzing SD Map road network data; 2) positioning and matching, namely accurately matching the received GPS position information to a road where a vehicle is located; 3) and a road calculation function is used for acquiring the road topological relation in the map. Specifically, the Navigation module mainly comprises a Navi Engine module (such as a Navigation Engine module), a Vehicle Position module (such as a Vehicle positioning module) and a Navigation in form collector (such as a packaging module), wherein the Navi Engine module is mainly used for reading and analyzing an SD map; the Vehicle Position module is mainly used for positioning and matching the received GPS Position information to a correct road; the Navigation information collector is mainly used for adapting to data adaptation layers of different Navi engines and packaging related interfaces of SD map reading and analyzing once again. The ADASIS engine module is a whole ADASIS core module and is responsible for realizing the overall function logic of ADASIS software, and the functions comprise: 1) constructing a road network in a certain range in front of a road where the road is located currently; 2) acquiring a road attribute and an ADAS attribute through a Navi Engine; 3) and (4) assembling road network and road attribute and ADAS attribute on the road network into messages according to the requirements of the ADASI protocol. The ADASIS Engine module mainly comprises a Core SDK module (such as an intermediate module), an adaisv 2 Core module (such as an ADAS processor and an ADASIS Engine module), and a Navi Engine module, wherein the Core SDK module is mainly used for a common navigation Engine (similar to the hundredth, grand and other navigation engines in the market, currently, a four-dimensional developed navigation Engine is used), the adaisv 2 Core module is mainly used for organizing road information in a map into a road network and assembling the map and ADAS data into a message conforming to the ADASIS, and the Navi Engine module is mainly used for SD (standard precision map) & ADAS map reading and parsing; the SD Map is used for acquiring road attributes and road connection relations, and the ADAS Map is used for outputting ADAS data (curvature, course, gradient and the like). It should be noted that the Navi Engine module is the same module as the Navi Engine module in the Navigation module. The POST module (such as a data transmission module) is used for data transmission, and transmits the organized ADASIS message to the NI-EHR, mainly in a vehicle CAN network.

After the detailed description of NI-EHP, the following describes NI-EHR in detail, and the main function of NI-EHR is to receive CAN messages and perform ADAS road network reconfiguration according to the CAN messages for use by ADAS (ecu) system. The NI-EHR mainly includes a receiving module (e.g., a receiver), a data parsing module (e.g., an ADAS message parser), and a data storage module. The data analysis module is used for analyzing the received ADASIS message into a structure body convenient for the program to use, and the data storage module is used for storing the analyzed ADASIS message. The NI-EHR is usually located in an ECU of a vehicle-mounted end, if the ECU needs to use an ADASIS message transmitted by the NI-EHP, a source code of the NI-EHR is integrated into the ECU, and data interaction is carried out in an interface calling mode.

In the practical application process, the NI-EHP firstly calls data, the called data comprises map data (containing ADAS data) and vehicle positioning information, wherein the vehicle positioning information can be directly obtained by reading a GPS serial port; or may be obtained through interface call transfer); after the map data and the vehicle positioning information are obtained, the NI-EHP CAN read the map data according to the vehicle positioning information, construct an internal road network relation of the NI-EHP according to a road network topological relation in the map data, read key attribute data (such as ADAS data, the key data has gradient, curvature and course angle), and form a message to be sent to an external network element in a CAN bus and TCP/IP mode. And the external network element (such as a VCU/ECU of a vehicle, and can read and use the road network information reconstructed by the NI EHR) reads the message data through the NI-EHR, resets the road network and provides data support required by the application of the external network element. In addition, the navigation path planning information and other contents can be sent to an external network element through NI-EHP, and the external network element can be used for an entertainment system, an early warning system, HUB head-up display and other applications by combining the data.

In the present disclosure, the reconstructed ADAS road network, road attributes on the road network, and ADAS attributes are generated into an ADAS message that can be recognized by a receiving object according to the ADASIS protocol. The ADASIS protocol only gives a framework guidance, and the inventors of the present invention improve and optimize the data reading, data parsing, data processing, and the like, for example:

1. data reading: and reading the binary map data in the custom format.

2. Data analysis: the read binary map data is analyzed and restored to structural bodies such as roads and attributes which can be used by the program according to the format.

3. Data processing:

1) road network organization: all roads (such as expressways, national roads and the like) which accord with specific grades in a certain range in front of the current position are found out through a depth-first algorithm, the found roads are abstracted according to the ADASIS protocol framework idea, and a road network is organized according to the road connection relation. The road attribute is hung on the road section corresponding to the road network, and comprises road section basic attribute information, such as speed limit information, lane information, road grade, tunnel and bridge conditions and the like, and ADAS map attribute, such as road gradient, road curvature, road course angle and the like.

2) Data processing: and packaging the road network and the attributes of the roads in the road network into a data message conforming to the ADASIS protocol. In the process, linear interpolation is carried out on the information of the gradient, the curvature and the course angle in the ADAS map data according to a certain distance

Here, taking the example of constructing an ADAS road network according to the link of the current road segment, the raw ADAS data is indexed, and the data is sorted in a linear or interpolation manner and then converted for transmission according to the ADAS protocol. Alternatively, grade information is stored in the ADAS data in degrees, and therefore, in use, needs to be calculated as percent grade and converted to the data format required by the protocol. The map data is map data in a proprietary map data format, and in terms of a positioning engine, the proprietary engine is used for vehicle positioning and map data analysis, the NI-EHP CAN only use a proprietary map, and data transmission supports multiple transmission modes such as CAN transmission/SOCKET transmission and the like (TCP/IP transmission is mentioned in the protocol, but CAN transmission is mainly used). The data reading can be understood as reading binary map data in a custom format; the data analysis can be understood as analyzing and restoring the read binary map data into structural bodies such as roads, attributes and the like which can be used by a program according to formats; the data processing can comprise the steps of finding out all roads (such as expressways, national roads and the like) which accord with specific grades in a certain range in front of the current position through a depth-first algorithm, abstracting the found roads according to the ADASIS protocol framework idea, and organizing into a road network according to the road connection relation; the road attribute is hung on the road section corresponding to the road network, and comprises road section basic attribute information, such as speed limit information, lane information, road grade, tunnel and bridge conditions and the like, and ADAS map attribute, such as road gradient, road curvature, road course angle and the like; and then, packaging the road network and the attributes of the roads in the road network into a data message which conforms to the ADASIS protocol. In the process, linear interpolation is carried out on the information of the gradient, the curvature and the heading angle in the ADAS map data according to a certain distance.

In addition, the purpose of the ADASIS protocol is to transmit map data, and navigation data, such as navigation state information, route planning information, etc., may be transmitted in conjunction with a navigation application, and may of course be used in applications such as a vehicle entertainment system or a HUB. It should be noted that the ADASIS protocol defines 7 types of data, each type corresponds to one data packet, and the data packets are sent in different combinations according to actual needs and actual scenes. Wherein the first type of POSITION: describing relative position information of the vehicle on a road network; second type STUB: describing the topological relation of the path on the road network; third SEGMENT: describing important attribute information of a certain path segment on a path; fourth PROFILE-SHORT: describing attribute information (short data: 10bit) in a road network; fifth PROFILE-LONG: describing attribute information (long data: 32bit) in a road network; a sixth META-DATA: attribute information describing a system, or system attribute information of a location of a vehicle (e.g., driving direction, left or right, of the location); seventh SYSTEM-SPECFIC: additional system information is transmitted.

In the aspect of navigation application, for example, an ADAS road network may be constructed according to navigation path planning information, and a receiver is notified through an interface protocol (for example, a CAN protocol or a vehicle Ethernet, which mainly uses the CAN protocol) field, and the receiver may acquire speed limit information ahead, so as to prompt a driver for overspeed; the relative angle difference between the self-driving vehicle and the current road can be obtained, and more accurate lane departure early warning and lane keeping can be carried out; the information of the gradient and the curvature of the road ahead can be acquired so as to facilitate better ACC self-adaptive cruise; of course, the information of the gradient and the curvature of the road ahead can be acquired so as to make better headlight adjustment. In the application process, although the requirements of different vehicles are different, for example, how the requirements of commercial vehicles reduce the operation cost, the slope and curvature information with different specifications can be sent in a customized manner, and data can be sent according to the customized requirements. The requirement of the passenger car is how to increase the comfort and entertainment, and at the moment, the receiver can adjust the height of a suspension and the angle of a headlamp according to the gradient and the curvature of a road section in front, and can also carry out overspeed warning. Therefore, the scheme disclosed by the disclosure is suitable for all vehicles, such as an entertainment system, a HUB head-up display and early warning system and the like of a commercial vehicle, wherein the entertainment system is an energy-saving emission-reducing and early warning system passenger vehicle.

Because the ADAS map data has the characteristics of over-distance sensing, high precision and stability, when the ADAS map is applied to navigation and other programs through the CAN-bus, the navigation and other programs receive the ADAS data on the CAN-bus, analyze and restore the data according to a protocol, and store road network information, namely reconstruct a road network. The map data (including ADAS data) is proprietary data, can provide contents such as road topological relation, road geometric relation, special shape points (such as gradient, curvature and the like) of a road, particularly the ADAS data, has the characteristics of high density, high precision and the like, and the positioning data (positioning module) is provided for an engine (navigation engine), receives GPS sensor data, is matched with the map data and provides data information after vehicle positioning. The positioning module interacts with the EHP Engine, which serves the positioning module and is only responsible for providing positioning data. For example, after the speed limit information of the front road is acquired in advance, the vehicle can perform overspeed early warning or prompting, and after the gradient and the curvature of the road are acquired in advance, the vehicle can be used for oil feeding or oil reducing in advance. In addition, under the condition of complicated severe weather, the NI-EHP combines the positioning information and the digital map, is not influenced by severe weather such as rain, snow, fog and the like, and can detect the road network information farther ahead.

The technical scheme disclosed by the disclosure can be applied to early warning, entertainment systems, HUD head-up display and vehicle energy conservation and emission reduction; assisted ICC (smart cruise); the intelligent vehicle headlamp is assisted and intelligent suspension control is carried out. When the method is applied to energy conservation and emission reduction of vehicles, the gradient, the curvature and the like of a road can be obtained through the ADAS map data processing device, and oil is added or reduced in advance according to the gradient and the curvature of the road, so that the energy conservation and emission reduction of the vehicles are realized. When applied to the auxiliary ICC, the ADAS map data processing means can detect road network information at a distance in the driving direction in combination with the positioning information and the map data. When the method is applied to the assistance of the intelligent vehicle headlamp, the map data can be acquired in advance through the ADAS map data processing device, and corresponding adjustment strategies, especially complex mountain roads, can be made. When the method is applied to intelligent suspension adjustment, the map data can be acquired in advance through the ADAS map data processing device, and a corresponding adjustment strategy is made.

Therefore, the SD and ADAS maps are abstracted again by combining with the navigation engine, and organized into messages conforming to the vehicle bus protocol, and the messages are transmitted to the vehicle bus system (such as a CAN bus and an Ethernet in the vehicle) for the use of the vehicle ADAS system (mainly an ECU for realizing the ADAS function in the vehicle), so that the effect of the ADAS is improved. For example, the foreseeable cruise function on a heavy truck can achieve fuel savings of about 2% by using the slope information output by the NI-EHP; the intelligent vehicle headlamp on the vehicle can assist the vehicle headlamp to automatically adjust the direction, the switch and the like of the vehicle headlamp by using the curvature and the tunnel information output by the NI-EHP.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A processing method of Advanced Driving Assistance System (ADAS) map data is characterized by comprising the following steps:

acquiring map data and vehicle positioning information in a preset format;

reading the map data in the preset format according to the vehicle positioning information, and reconstructing an ADAS road network in a certain range in front of a road where the current vehicle is located according to the road network relation in the obtained map data, wherein the map data in the preset format comprises: map data in binary format;

acquiring key attribute data in the map data, and carrying out interpolation on sampling points on each road in the ADAS road network according to the key attribute data by combining the ADAS road network so as to generate and output an ADAS message which can be identified by a receiving object;

the reconstructing of the ADAS road network within a certain range in front of the road where the current vehicle is located according to the road network relationship in the acquired map data includes:

traversing the road network in the map data based on a depth-first traversal algorithm, and generating a road network relation in the map data;

and reconstructing an ADAS road network within a certain range in front of the road where the current vehicle is located according to the road network relation in the map data.

2. The method of claim 1, wherein generating an ADAS message recognizable to the recipient object comprises:

the road network is marked with attribute data of a road to be driven by a vehicle; according to the vehicle positioning information, preprocessing the ADAS road network from near to far according to basic attribute data in the attribute data of the road to be traveled and key attribute data in the attribute data of the road to be traveled to generate an ADAS message which can be identified by a receiving object;

alternatively, the first and second electrodes may be,

and preprocessing the ADAS road network from high to low according to the type grade of the road and the basic attribute data of the road to be driven and the key attribute data of the road to be driven to generate an ADAS message which can be identified by a receiving object.

3. A method for acquiring Advanced Driving Assistance System (ADAS) map data is characterized by comprising the following steps:

receiving ADAS messages which can be identified by ADAS and are transmitted by a processing device of ADAS map data, wherein the ADAS messages are generated by interpolating sampling points on roads in an ADAS road network according to key attribute data in the acquired map data and combining the ADAS road network, and the ADAS road network traverses the road network in the map data based on a depth-first traversal algorithm and generates a road network relation in the map data; reading map data in a preset format and a road network relation in the map data according to vehicle positioning information, and reconstructing an ADAS road network in a certain range in front of a road where a current vehicle is located, wherein the map data in the preset format comprises: map data in binary format;

and analyzing the ADAS message to obtain the ADAS road network.

4. The method according to claim 3, wherein the attribute data of the road to be traveled includes basic attribute data of the road to be traveled and key attribute data of the road to be traveled, and after the ADAS message is parsed to obtain the ADAS road network, the method further includes:

outputting early warning information to a user or a vehicle control system according to the basic attribute data of the road to be driven and the key attribute data of the road to be driven so as to control a vehicle to execute corresponding early warning measures; the early warning information comprises any one or more of overspeed early warning, gradient early warning and vehicle deviation early warning.

5. An Advanced Driving Assistance System (ADAS) map data processing device, comprising:

the navigation engine module is used for reading and analyzing map data in a preset format, and the map data in the preset format comprises: map data in binary format;

the vehicle positioning module is used for matching with the map data to acquire vehicle positioning information;

the ADAS processor is used for acquiring corresponding map data according to the vehicle positioning information and reconstructing an ADAS road network within a certain range in front of a road where the current vehicle is located according to the road network relation in the acquired map data;

the ADASIS engine module is used for acquiring key attribute data in the map data, and interpolating sampling points on all roads in the ADAS road network according to the key attribute data by combining the ADAS road network to generate an ADAS message which can be identified by a receiving object;

the data transmission module is used for outputting the ADAS message so that the vehicle-mounted end can call the received ADAS message;

the ADAS processor is further used for traversing the road network in the map data based on a depth-first traversal algorithm and generating a road network relation in the map data; and reconstructing an ADAS road network within a certain range in front of the road where the current vehicle is located according to the road network relation in the map data.

6. The apparatus of claim 5, wherein the map data comprises Standard (SD) map data and ADAS map data; the attribute data of the road to be driven comprises basic attribute data of the road to be driven and key attribute data of the road to be driven;

the ADAS processor is further used for preprocessing the ADAS road network from near to far according to basic attribute data in the attribute data of the road to be traveled and key attribute data in the attribute data of the road to be traveled according to the vehicle positioning information, and generating an ADAS message which can be identified by a receiving object according to an ADASI protocol and the reconstructed ADAS road network, road attributes on the road network and the ADAS attributes; or preprocessing the ADAS road network from high to low according to the type grade of the road and the basic attribute data of the road to be driven and the key attribute data of the road to be driven, and generating an ADAS message which can be identified by a receiving object according to the ADASI protocol and the reconstructed ADAS road network, road attributes on the road network and ADAS attributes.

7. An acquisition apparatus of advanced driving assistance system ADAS map data, characterized by comprising: a receiver and an ADAS message analyzer;

the receiver is used for receiving ADAS messages which are recognizable by ADAS and transmitted by the ADAS map data processing device, the ADAS messages are generated by interpolating sampling points on all roads in an ADAS road network according to key attribute data in the acquired map data and combining the ADAS road network, and the ADAS road network is generated by traversing the road network in the map data based on a depth-first traversal algorithm and generating a road network relation in the map data; reading map data in a preset format and a road network relation in the map data according to vehicle positioning information, and reconstructing an ADAS road network in a certain range in front of a road where a current vehicle is located, wherein the map data in the preset format comprises: map data in binary format;

and the ADAS message analyzer is used for analyzing the ADAS message obtained by the receiver to obtain the ADAS road network.

8. The apparatus according to claim 7, wherein the attribute data of the road to be traveled includes basic attribute data of the road to be traveled and key attribute data of the road to be traveled, the apparatus further comprising:

the application processor is also used for outputting early warning information to a user or a vehicle control system according to the basic attribute data of the road to be driven and the key attribute data of the road to be driven so as to control the vehicle to execute corresponding early warning measures; the early warning information comprises any one or more of overspeed early warning, gradient early warning and vehicle deviation early warning.

9. An Advanced Driving Assistance System (ADAS) vehicle-mounted device, comprising: processing means for ADAS map data as claimed in any one of claims 5 to 6, means for obtaining ADAS map data as claimed in any one of claims 7 to 8, and one or more of a vehicle energy saving and emission reduction system lane departure system, an auxiliary ICC lane keeping system, an intelligent headlamp auxiliary vehicle energy saving and emission reduction system, an intelligent suspension regulation intelligent cruise system, an intelligent headlamp auxiliary system, and an intelligent suspension control system;

wherein the ADAS map data processing device is used for executing the ADAS map data processing method of any one of the above claims 1-2, the ADAS map data acquisition apparatus is configured to execute the ADAS map data acquisition method according to any one of claims 3 to 4, the processing device of the ADAS map data transmits the ADAS message to the acquisition device of the ADAS map data through a transmission bus, the acquisition device of the ADAS map data generates an ADAS road network according to the ADAS message, and performing corresponding auxiliary decision making in one or more systems among the vehicle energy saving and emission reduction system, the auxiliary ICC system, the intelligent headlamp auxiliary system and the intelligent suspension control system according to the ADAS road network, wherein the lane departure system, the lane keeping system, the vehicle energy saving and emission reduction system, the intelligent cruise system, the intelligent headlamp auxiliary system and the intelligent suspension control system are one or more systems in the ADAS road network.