CN110470311A - A kind of ground drawing generating method, device and computer storage medium - Google Patents
A kind of ground drawing generating method, device and computer storage medium Download PDFInfo
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- CN110470311A CN110470311A CN201910610511.8A CN201910610511A CN110470311A CN 110470311 A CN110470311 A CN 110470311A CN 201910610511 A CN201910610511 A CN 201910610511A CN 110470311 A CN110470311 A CN 110470311A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
- G09B29/005—Map projections or methods associated specifically therewith
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Abstract
The present invention relates to fields of communication technology, specifically disclose a kind of ground drawing generating method and device.Method includes: to obtain the dynamic object data of objective road area, and the dynamic object data include the location information of the dynamic object in the objective road area and the motion information of the dynamic object；Obtain the static road surface data in the objective road area；Location information based on the dynamic object merges the motion information of the dynamic object and the static road surface data, obtains the map datum of the objective road area.Using technical solution provided by the invention, map content can be enriched, improves the accuracy of map, improves user experience, improves the safety coefficient of traffic efficiency and traffic participant, realizes wisdom traffic.
Description
Technical field
The present invention relates to fields of communication technology, and in particular to a kind of ground drawing generating method, device and computer storage medium.
Background technique
With the development of science and technology, the application of electronic map is more and more common.On the one hand, people can be used electronically
Figure is navigated that people is helped to go on a journey；In addition, with the rise of automatic driving vehicle, automatic driving vehicle can use electronics
Map recognizes ambient enviroment, to control the behaviors such as the steering of automatic driving vehicle, acceleration or deceleration.
Existing electronic map data generallys use satellite map and surveys and draws to obtain rough map, then manually periodically carries out navigation ground
The update of figure information, precision is not high, usually even tens meters of meter level of error；Data dimension is inadequate, such as without road
Lane line information, elevation information, road shape information, road slope information, road curvature information, road direction information, lane
The static state information of road surface such as width information, anticollision barrier information, road edge information, also without the relative quiescents such as location information road surface
The various dimensions such as multidate information information；Data production efficiency is low, needs a large amount of manual operations.
Therefore, it is necessary to which the ground drawing generating method under providing a kind of automatic Pilot scene, is provided with various dimensions information
Map improves the safety coefficient of traffic efficiency and traffic participant so that the precision of existing map improves.
Summary of the invention
The present invention provides a kind of ground drawing generating method, device and computer medias, can solve in the prior artly
The problems such as diagram data is single, and precision is low improves user experience.
In a first aspect, the present invention provides a kind of ground drawing generating methods, which comprises
The dynamic object data of objective road area are obtained, the dynamic object data include in the objective road area
Dynamic object location information and the dynamic object motion information；
Obtain the static road surface data in the objective road area；
Location information based on the dynamic object is by the motion information of the dynamic object and the static road surface data
It is merged, obtains the map datum of the objective road area.
Further, the location information based on the dynamic object is by the motion information of the dynamic object and described
Static road surface data are merged, and the map datum for obtaining the objective road area includes:
Fusion of the dynamic object in the static road surface data is determined using the location information of the dynamic object
Position；
Determine that initial map datum, the initial map datum include quiet comprising dynamic object based on the fusion position
State road surface data；
The motion information of dynamic object is labeled in the default marked area of dynamic object described in the initial map datum
Domain obtains the map datum of the objective road area.
Further, the dynamic object data for obtaining objective road area include:
Receive the dynamic object data for the objective road area that roadside device is acquired in the objective road area.
Further, the static information of road surface obtained in the target area includes:
Receive static road surface data of the roadside device in the target area that the objective road area acquires.
Further, the dynamic object data further include the attribute information of the dynamic object in objective road area.
Further, the roadside device includes trackside awareness apparatus and edge calculations equipment, the trackside awareness apparatus
Including one or more of radar, video camera, ultrasonic wave or infrared ray etc..
Preferably, the motion information of the dynamic object in the objective road area includes in the objective road area
One or more of the direction of motion of dynamic object, movement velocity, acceleration of motion.
Further, present invention also provides a kind of map creation device, described device includes:
Dynamic object data acquisition module, for obtaining the dynamic object data of objective road area, the dynamic object
Data include the location information of the dynamic object in the objective road area and the motion information of the dynamic object；
Static road surface data acquisition module, for obtaining the static road surface data in the objective road area；
Map datum generation module, the location information based on the dynamic object by the motion information of the dynamic object and
Static state road surface data are merged, and the map datum of the objective road area is obtained.
Further, the map datum generation module includes:
Position determination unit is merged, for determining the dynamic object described using the location information of the dynamic object
Fusion position in static road surface data；
Initial map datum determination unit, for determining initial map datum based on the fusion position, it is described initially
Diagram data includes the static road surface data comprising dynamic object；
Map data generation unit, for the motion information of dynamic object to be labeled in described in the initial map datum
The default tab area of dynamic object, obtains the map datum of the objective road area.
Further, present invention also provides a kind of computer storage medium, which is stored with calculating
Machine program instruction, the computer program instructions are performed, and realize method described above.
By adopting the above technical scheme, ground of the present invention drawing generating method and device have the following beneficial effects:
The present invention can the location information based on dynamic object by the motion information of dynamic object and static road surface data into
Row fusion obtains the map datum of the objective road area with the various dimensions of multidate information and static information of road surface, solves
The problems such as map datum in the prior art is single, precision is low, improves user experience.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of schematic diagram of system provided by the invention；
Fig. 2 is the flow diagram of a kind of ground drawing generating method provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of map creation device provided in an embodiment of the present invention；
Fig. 4 is based on map schematic diagram acquired in ground drawing generating method of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, product or server need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
Referring to Fig. 1, Fig. 1 is a kind of schematic diagram of system provided in an embodiment of the present invention, as shown in Figure 1, the system is extremely
It include less roadside device and road participant, the roadside device includes trackside awareness apparatus and edge calculations equipment, the road
Side awareness apparatus forms roadside device together with the edge calculations integration of equipments, and the roadside device is arranged in road two
Side.The trackside awareness apparatus can be 1, or it is multiple, for realizing the object on the road in investigative range
It detects, the layout of trackside awareness apparatus and edge calculations equipment is only a preferred embodiment in Fig. 1, is not limited it
It is fixed.Data communication may be implemented between the trackside awareness apparatus and the edge calculations equipment, the trackside awareness apparatus is real
The acquisition of the data of existing road participant, and collected data are transferred to edge calculations equipment, pass through edge calculations equipment
Fusion calculation is carried out to data, ultimately forms map datum, and finally obtained map datum is sent to road participant's
In terminal, realizes the update of map datum and share.
Specifically, road participant includes dynamic object, the related object on (such as pedestrian, vehicle) and static road surface
(such as lane line, Sign Board, red street lamp).
Specifically, the road participant execute the received terminal of map datum may include can only mobile phone, tablet computer,
The entity device of the types such as laptop, digital assistants, intelligent wearable device, car-mounted terminal, also may include running on
Software in entity device, such as application program etc..
Introduced below the present invention is based on the ground drawing generating methods of above system, specifically, referring to Fig. 2, Fig. 2 is the present invention
The flow diagram for a kind of ground drawing generating method that embodiment provides, present description provides as described in embodiment or flow chart
Method operating procedure, but based on routine or may include more or less operating procedure without creative labor.Implement
The step of enumerating, sequence was only one of numerous step execution sequences mode in example, does not represent and unique executes sequence.In
When practical execution, can be executed according to embodiment or the execution of method shown in the drawings sequence or parallel (such as parallel processing
The environment of device or multiple threads).It is specific as shown in Fig. 2, the method may include:
S100, the dynamic object data for obtaining objective road area, the dynamic object data include the target road
The motion information of the location information of dynamic object in region and the dynamic object；
In the present embodiment, the dynamic object number of the objective road area is acquired by the roadside device in above system
According to specifically, the roadside device can be denoted as RSU, being mounted on trackside, there is wirelessly or non-wirelessly communication function, may be implemented
The data interaction of the equipment such as the object, such as traffic lights, electronic label in communication or realization and road between on board unit.
Preferably, wireless telecommunications can be realized based on cellular transmissions technologies such as 2G, 3G, 4G, 5G, can also be based on DSRC or LTE-V
Or the car networking technologies such as 5G-V2X or WIFI are realized.
The roadside device includes trackside awareness apparatus and edge calculations equipment, the trackside awareness apparatus and edge calculations
Wireless telecommunications and the data transmission of wire communication may be implemented between equipment.
Further, in a kind of enforceable scheme, the roadside device obtains the dynamic object of objective road area
Data can be accomplished by the following way:
Receive the dynamic object data for the objective road area that roadside device is acquired in the objective road area.Specific packet
Include following steps:
The roadside device acquires the location information and the dynamic object of the dynamic object in the objective road area
Motion information；
The trackside awareness apparatus is by the location information and dynamic of the dynamic object of the collected objective road area
The motion information of object is sent to the edge calculations equipment；
The edge calculations equipment is by the dynamic object location information of the objective road area received and described dynamic
The motion information of state object carries out fusion calculation, generates dynamic object data.
In the present embodiment, the trackside awareness apparatus includes but is not limited to radar, video camera, ultrasonic wave, infrared ray etc.,
Realize the location information of the dynamic object of objective road area and the acquisition of motion information, and by the collected target road
The location information and motion information of the dynamic object in region are by being wirelessly or non-wirelessly transferred to edge calculations equipment.
The edge calculations equipment has the convergence analysis processing capacity of multi-sensor data, has automatic Pilot algorithm
Computing function and map datum storage distribution function.Specifically, in the present solution, passing through edge calculations equipment and road
Communication connection between the awareness apparatus of side realizes moving for the objective road area that edge calculations equipment acquire trackside awareness apparatus
The reception of the motion information of the location information and dynamic object of state object and fusion calculation to the received information.
Specifically, the dynamic object can be pedestrian, vehicle, animal etc.；The motion information can be right to dynamic
Motion velocity information or direction of motion information of elephant etc..
Further, the dynamic object data can also include the build-in attribute information of the dynamic object, described solid
Having attribute information can be the intrinsic description informations of dynamic objects itself such as shape information, dimension information.
Specifically, in the present embodiment, illustrate by taking video camera as an example to the location information of dynamic object and motion information
Acquisition methods；By video camera with the dynamic object of certain frequency photographic subjects road area, acquire dynamic object it is current when
The image data of shooting is transferred to edge calculations by the image data of the motion information of the location information and current time at quarter
Equipment realizes the fusion calculation of image data, the dynamic object data after being calculated by edge calculations equipment.It is understood that
, the relevant information that dynamic object is acquired by video camera is only a kind of preferred embodiment, in other enforceable schemes, example
Such as, when weather environment is poor, it can choose the acquisition that ultrasonic wave realizes the relevant information of dynamic object.
It is understood that by being arranged trackside awareness apparatus and edge calculations integration of equipments in roadside, to solve
Onboard to carry out realizing the problem of mass data collection analyzes increased supplementary costs and avoiding setting on vehicle
The problem that heat dissipation is difficult caused by and, heat dissipation is at high cost.
Static road surface data in S102, the acquisition objective road area；
In one embodiment, the static road surface data obtained in the objective road area can be by following
Mode is realized:
Receive static road surface data of the roadside device in the target area that the objective road area acquires；Specifically
The following steps are included:
The static information of road surface of the collected objective road area is sent to the side by the trackside awareness apparatus
Edge calculates equipment；In the present embodiment, the static information of road surface includes lane line, traffic lights, Sign Board, house, trees etc..
The static information of road surface of the objective road area received is carried out fusion calculation by the edge calculations equipment,
Generate static road surface data.It is understood that the method that the trackside awareness apparatus acquires static information of road surface is referred to
The method of the relevant information of above-mentioned acquisition dynamic object, which is not described herein again.
Further, in another enforceable scheme, receive what roadside device was acquired in the objective road area
Static road surface data in the target area；
It can also be realized by step in detail below:
The edge calculations equipment obtains the static information of road surface of the objective road area from cloud；
The edge calculations equipment carries out fusion calculation to the static information of road surface got, generates static road surface number
According to.
Specifically, the edge calculations equipment can directly acquire the static road surface of the objective road area from cloud
The static information of road surface of information, the objective road area stored in the cloud can be in objective road area planning construction
The i.e. static information of road surface that is uploaded after the completion, be also possible to different user according to the real-time change on road surface and real-time update most
New static information of road surface.
S104, the location information based on the dynamic object are by the motion information of the dynamic object and the static road surface
Data are merged, and the map datum of the objective road area is obtained.
Specifically, obtaining map datum as follows in a kind of enforceable scheme:
Fusion of the dynamic object in the static road surface data is determined using the location information of the dynamic object
Position；
Specifically, the position of the dynamic object is to change relative to static road surface with the movement of dynamic object, lead to
It crosses the location information for obtaining dynamic object and dynamic object can be determined on static road surface based on the location information of the dynamic object
On relative position.
Determine that initial map datum, the initial map datum include quiet comprising dynamic object based on the fusion position
State road surface data；
The motion information of dynamic object is labeled in the default marked area of dynamic object described in the initial map datum
Domain obtains the map datum of the objective road area.
It is understood that the present invention can the location information based on dynamic object by the motion information of dynamic object and quiet
State road surface data are merged, and the target of the various dimensions with multidate information and static information of road surface as shown in Figure 4 is obtained
The map datum of road area solves the problems such as map datum in the prior art is single, precision is low, improves user experience.
Further, after the map datum for obtaining the objective road area, the roadside device can by with
The map datum of the objective road area of generation is sent in the objective road area by the communication relations of on board unit
Movement participant.It preferably, can be in such a way that wireless network pushes by the map datum of the objective road area of generation
Information is pushed to pedestrian or the terminal of vehicle is shown, provides reference for pedestrian or driver, enables vehicle and pedestrian
It is enough to generate movement and automatic Pilot decision under the premise of having to road conditions and rationally estimating, avoid pedestrian and automobile crash or vehicle
With automobile crash, safety is improved.
It is understood that the map datum generated pushes between the movement participant in objective road area,
The shared of road information is realized, so that movement participant can plan driving path and reality by data information according to the map
The change of existing driving status, such as driving path can be gone out by information planning according to the map, select optimal driving path to travel, such as
The current path of selection high speed, thus the puzzlement for avoiding the congestion in road bring time from wasting, while realizing in target area
The indications of road conditions, collision prevention early warning.
Further, it is to be understood that be that detection sensor is arranged on vehicle in the prior art, detected
The information detection of road participant in range, then by vehicle computing hardware come analytical calculation, the data ultimately produced are used for
The input parameter of automatic Pilot algorithm, this traditional design require vehicle itself to be equipped with complicated and expensive various sensors and meter
Calculate hardware so that vehicle is expensive, can not volume production commercialization, and the vibration influence hardware in vehicle travel process is reliable
Property, data calculated result can have biggish error.
In the application, hardware resource centralization is disposed, sharedization uses, and efficiently solves advanced technology in the prior art
The problem of contradiction between sky high cost, the precision for realizing existing map is perfect, improves traffic efficiency and traffic participant
Safety coefficient, realize wisdom traffic；And
Through the above technical solutions, replacing the sensor on vehicle by trackside awareness apparatus, trackside awareness apparatus is mounted on
Trackside is suitable for a variety of vehicles, not will increase the price of bicycle vehicle, be conducive to the volume production commercialization of vehicle；
Further, the computing hardware on vehicle is replaced by edge calculations equipment, the edge calculations equipment is mounted on road
Side, will not be shaken by vehicle driving is influenced, and data calculated result is relatively accurate, important, in the application, data collected
Measure it is huge, mass data mixing background under, the technical program by edge calculations equipment network edge processing, analysis
The relevant information data of dynamic object in collected objective road area and static information of road surface data, avoid data
Circulation greatly improve response speed to reduce network flow and response time, enhance user experience, reduce
Data response times, improve interactive quality.
Further, the present invention also provides a kind of map creation device, described device is applied to realize described above
Ground drawing generating method does not refer to that place please refers to the introduction of above-mentioned drawing generating method over the ground.
Specifically, as shown in figure 3, described device includes:
Dynamic object data acquisition module, for obtaining the dynamic object data of objective road area, the dynamic object
Data include the location information of the dynamic object in the objective road area and the motion information of the dynamic object；
Static road surface data acquisition module, for obtaining the static road surface data in the objective road area；
Map datum generation module, the location information based on the dynamic object by the motion information of the dynamic object and
Static state road surface data are merged, and the map datum of the objective road area is obtained.
Further, the map datum generation module includes:
Position determination unit is merged, for determining the dynamic object described using the location information of the dynamic object
Fusion position in static road surface data；
Initial map datum determination unit, for determining initial map datum based on the fusion position, it is described initially
Diagram data includes the static road surface data comprising dynamic object；
Map data generation unit, for the motion information of dynamic object to be labeled in described in the initial map datum
The default tab area of dynamic object, obtains the map datum of the objective road area.
Further, the present invention also provides a kind of maps to generate terminal, which includes processor and memory, this is deposited
At least one instruction, at least a Duan Chengxu, code set or instruction set are stored in reservoir, this at least one instruction, this at least one
Duan Chengxu, the code set or instruction set are loaded as the processor and are executed to realize the map as provided by above method embodiment
Generation method.
In this specification embodiment, the memory can be used for storing software program and module, and processor passes through operation
It is stored in the software program and module of memory, thereby executing various function application and data processing.Memory can be main
Including storing program area and storage data area, wherein storing program area can application program needed for storage program area, function
Deng；Storage data area, which can be stored, uses created data etc. according to the equipment.In addition, memory may include high speed with
Machine access memory, can also include nonvolatile memory, a for example, at least disk memory, flush memory device or its
His volatile solid-state part.Correspondingly, memory can also include Memory Controller, to provide processor to memory
Access.Further, the present invention also provides a kind of computer storage medium, which is stored with computer
Program instruction, the computer program instructions are performed, and realize ground drawing generating method described above.
It should be understood that embodiments of the present invention sequencing is for illustration only, do not represent the advantages or disadvantages of the embodiments,
And above-mentioned this specification specific embodiment is described.Other embodiments are within the scope of the appended claims.One
In a little situations, the movement recorded in detail in the claims or step can be executed according to the sequence being different from embodiment and
Still desired result may be implemented.In addition, process depicted in the drawing not necessarily requires the particular order shown or company
Continuous sequence is just able to achieve desired result.In some embodiments, multitasking and parallel processing it is also possible or
It may be advantageous.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device,
For system and server example, since it is substantially similar to the method embodiment, so being described relatively simple, related place
Illustrate referring to the part of embodiment of the method.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of ground drawing generating method, which is characterized in that the described method includes:
The dynamic object data of objective road area are obtained, the dynamic object data include dynamic in the objective road area
The motion information of the location information of state object and the dynamic object；
Obtain the static road surface data in the objective road area；
Location information based on the dynamic object carries out the motion information of the dynamic object and the static road surface data
Fusion, obtains the map datum of the objective road area.
2. ground according to claim 1 drawing generating method, which is characterized in that the position letter based on the dynamic object
Breath merges the motion information of the dynamic object and the static road surface data, obtains the ground of the objective road area
Diagram data includes:
Fusion position of the dynamic object in the static road surface data is determined using the location information of the dynamic object；
Determine that initial map datum, the initial map datum include the static road comprising dynamic object based on the fusion position
Face data；
The motion information of dynamic object is labeled in the default tab area of dynamic object described in the initial map datum, is obtained
To the map datum of the objective road area.
3. ground according to claim 1 drawing generating method, which is characterized in that the dynamic for obtaining objective road area is right
Image data includes:
Receive the dynamic object data for the objective road area that roadside device is acquired in the objective road area.
4. ground according to claim 1 drawing generating method, which is characterized in that the static state obtained in the target area
Information of road surface includes:
Receive static road surface data of the roadside device in the target area that the objective road area acquires.
5. ground according to claim 1 drawing generating method, which is characterized in that dynamic object data further include target road area
The attribute information of dynamic object in domain.
6. ground according to claim 3 or 4 drawing generating method, which is characterized in that the roadside device includes trackside perception
Equipment and edge calculations equipment, the trackside awareness apparatus include one of radar, video camera, ultrasonic wave or infrared ray etc. or
It is several.
7. ground according to claim 1 or 2 drawing generating method, which is characterized in that the dynamic in the objective road area
The motion information of object includes the direction of motion, movement velocity, acceleration of motion of the dynamic object in the objective road area
One or more of.
8. a kind of map creation device, which is characterized in that described device includes:
Dynamic object data acquisition module, for obtaining the dynamic object data of objective road area, the dynamic object data
The motion information of location information and the dynamic object including the dynamic object in the objective road area；
Static road surface data acquisition module, for obtaining the static road surface data in the objective road area；
Map datum generation module, the location information based on the dynamic object is by the motion information of the dynamic object and described
Static road surface data are merged, and the map datum of the objective road area is obtained.
9. map creation device according to claim 8, which is characterized in that the map datum generation module includes:
Position determination unit is merged, for determining the dynamic object in the static state using the location information of the dynamic object
Fusion position in the data of road surface；
Initial map datum determination unit, for determining initial map datum, the initial map number based on the fusion position
According to including the static road surface data comprising dynamic object；
Map data generation unit, for the motion information of dynamic object to be labeled in dynamic described in the initial map datum
The default tab area of object, obtains the map datum of the objective road area.
10. a kind of computer storage medium, which is characterized in that the computer storage medium is stored with computer program instructions, should
Computer program instructions are performed, and realize the method according to claim 1 to 7.
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| CN112988922A (en) * | 2019-12-16 | 2021-06-18 | 长沙智能驾驶研究院有限公司 | Perception map construction method and device, computer equipment and storage medium |
| CN113127590A (en) * | 2021-04-09 | 2021-07-16 | 中移智行网络科技有限公司 | Map updating method and device |
| CN113554871A (en) * | 2021-07-19 | 2021-10-26 | 联想(北京)有限公司 | Internet of vehicles data processing method and electronic equipment |
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Application publication date: 20191119 |