CN113077622A - Road network file generation method and device and vehicle - Google Patents
Road network file generation method and device and vehicle Download PDFInfo
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- CN113077622A CN113077622A CN202110266685.4A CN202110266685A CN113077622A CN 113077622 A CN113077622 A CN 113077622A CN 202110266685 A CN202110266685 A CN 202110266685A CN 113077622 A CN113077622 A CN 113077622A
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- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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Abstract
The application discloses a road network file generation method, a road network file generation device and a vehicle, wherein the method comprises the following steps: collecting traffic signal indication information, identification information, road guidance identification information and/or intersection information on a road by using road network data collection equipment arranged on a vehicle; processing traffic signal indication information, identification information, road guidance identification information and/or intersection information to obtain a plurality of road network data; storing the road network data into road network files, generating at least one road network file by combining the navigation data of the vehicle, matching the corresponding road network file by the target navigation data, and outputting the current peripheral static prior information. Therefore, the technical problems that the road network information of the road network file is single, the cost for increasing the road network information is high, the operation is complex and the like in the related technology are solved.
Description
Technical Field
The application relates to the technical field of vehicle active safety, in particular to a road network file generation method and device and a vehicle.
Background
In the related art, the road network file only includes intersection information, where the intersection information refers to type information of a current road intersection, such as an intersection, a three-way intersection, and the like, and can be used as a guidance file for automatic driving.
However, in the related art, the road network information of the road network file is relatively single, only part of the road network data can be provided, and global information cannot be provided for automatic driving, so that expensive acquisition equipment and a complex data processing algorithm are often required to increase the road network information, which causes higher cost and more complex operation for increasing the road network information, and needs to be solved urgently.
Content of application
The application provides a road network file generation method, a road network file generation device and a vehicle, and aims to solve the problems that road network information of road network files in the related art is single, the cost for increasing the road network information is high, the operation is complex and the like.
An embodiment of a first aspect of the present application provides a method for generating a road network file, including the following steps: collecting traffic signal indication information, identification information, road guidance identification information and/or intersection information on a road by using road network data collection equipment arranged on a vehicle; processing the traffic signal indication information, the identification information, the road guide identification information and/or the intersection information to obtain a plurality of road network data; and storing the road network data into road network files, generating at least one road network file by combining the navigation data of the vehicle, matching the corresponding road network file by the target navigation data, and outputting the current peripheral static prior information.
Further, before collecting the traffic signal indication information, the identification information, the road guidance identification information and/or the intersection information on the road, the method further comprises the following steps: detecting whether the vehicle enters an acquisition area; after the vehicle is detected to enter the acquisition area, the road network data acquisition equipment is started, and the brightness value of the current environment of the vehicle is detected; and if the brightness value is smaller than a preset threshold value, turning on light supplement equipment of the vehicle.
Further, after the road network data acquisition device is started, the method further comprises the following steps: detecting whether the current running state of the vehicle meets an acquisition condition; and if the current driving state does not meet the acquisition condition, carrying out vehicle speed prompt or road surface prompt.
Further, the processing the traffic signal indication information, the identification information, the road guidance identification information and/or the intersection information includes: screening at least one acquisition point meeting preset conditions from all acquisition points of the road network data acquisition equipment; and converting the closest point of the lane line of the vehicle into a preset coordinate system, and obtaining the road network data according to the related information collected by the at least one collecting point.
Further, the processing the traffic signal indicating information, the identification information, the road guidance identification information, and/or the intersection information to obtain a plurality of road network data includes: receiving artificial road network information input by a user; and generating or modifying the plurality of road network data by combining the human road network information.
An embodiment of a second aspect of the present application provides a road network file generation apparatus, including: the acquisition module is used for acquiring traffic signal indication information, identification information, road guidance identification information and/or intersection information on a road by using road network data acquisition equipment arranged on a vehicle; the processing module is used for processing the traffic signal indication information, the identification information, the road guide identification information and/or the intersection information to obtain a plurality of road network data; and the generation module is used for storing the road network data into a road network file, generating at least one road network file by combining the navigation data of the vehicle, matching the corresponding road network file by the target navigation data and outputting the current peripheral static prior information.
Further, the device of this application embodiment still includes: the first detection module is used for detecting whether the vehicle enters an acquisition area or not before acquiring traffic signal indication information, identification information, road guidance identification information and/or intersection information on the road; and the second detection module is used for starting the road network data acquisition equipment and detecting the brightness value of the current environment of the vehicle after the vehicle is detected to enter the acquisition area.
Further, the device of this application embodiment still includes: the control module is used for turning on the light supplementing equipment of the vehicle when the brightness value is smaller than a preset threshold value; the third detection module is used for detecting whether the current driving state of the vehicle meets the acquisition condition or not after the road network data acquisition equipment is started; and the prompting module is used for prompting the vehicle speed or the road surface when the current driving state does not meet the acquisition condition.
Further, the processing module comprises: the screening unit is used for screening at least one acquisition point meeting preset conditions from all acquisition points of the road network data acquisition equipment; the coordinate conversion unit is used for converting the closest point of the lane line of the vehicle into a preset coordinate system and obtaining the plurality of road network data according to the related information collected by the at least one collection point; the receiving unit is used for receiving the artificial road network information input by a user; and the processing unit is used for generating or modifying the road network data by combining the human road network information.
A third embodiment of the present application provides a vehicle including the road network file generation device described above.
The multiple road network information is directly collected through the collection equipment on the vehicle, the road network information can be simply and conveniently increased, the cost for increasing the road network information and the complexity of operation are reduced, road network files comprising the multiple road network information can be directly generated, the road network information of the road network files is richer, the covered road network information is more comprehensive, therefore, global information can be provided for automatic driving, and the road network information requirement for automatic driving is better met. Therefore, the problems that the road network information of the road network file is single, the cost for increasing the road network information is high, the operation is complex and the like in the related technology are solved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a road network file generation method according to an embodiment of the present application;
FIG. 2 is an exemplary diagram of an acquisition device according to an embodiment of the present application;
fig. 3 is a flowchart of a road network file generation method according to an embodiment of the present application;
fig. 4 is a block diagram of a road network file generation apparatus according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The method, apparatus and vehicle for generating a road network file according to the embodiment of the present application are described below with reference to the drawings. The method comprises the steps that various road network information is directly collected through collection equipment on a vehicle, the road network information can be simply and conveniently increased, the cost for increasing the road network information and the complexity of operation are reduced, the road network files comprising various road network information can be directly generated, the road network information of the road network files is richer, the covered road network information is more comprehensive, global information can be provided for automatic driving, and the road network information requirement of automatic driving is better met. Therefore, the problems that the road network information of the road network file is single, the cost for increasing the road network information is high, the operation is complex and the like in the related technology are solved.
Specifically, fig. 1 is a schematic flow chart of a road network file generation method provided in the embodiment of the present application.
As shown in fig. 1, the method for generating a road network file includes the following steps:
in step S101, traffic signal indication information, identification information, road guidance identification information, and/or intersection information on a road are collected by a road network data collection device provided on a vehicle.
The embodiment of the application can directly collect various road network information through the collection equipment on the vehicle, can simply and conveniently increase the road network information, and reduces the cost for increasing the road network information and the complexity of operation, wherein the road network information can comprise traffic signal indication information, identification information, road guide identification information and/or intersection information.
In this embodiment, road network data acquisition equipment can comprise low-cost camera and industrial computer, and camera and industrial computer are with low costs and be convenient for build to can be under the lower situation of hardware cost, increase road network information. An example of the process of device construction and calibration is shown in fig. 2: the industrial personal computer is connected with the combined navigation serial port and connected with a camera CAN (Controller Area Network) Interface and an HDMI (High Definition Multimedia Interface) Interface; the millimeter tape measure is used to measure the distance from the antenna positioning of the GNSS (Global Navigation Satellite System) to the vehicle forward guard, and calibration data d is obtained.
The camera can be arranged at any position on the vehicle, such as a rearview mirror in the vehicle or a hood of the vehicle, which is convenient for information acquisition, so that the requirement of information acquisition is met while driving is not influenced. The setting position of the Industrial Personal Computer can be set in actual conditions without specific limitation, wherein the Industrial Personal Computer (IPC) is a reinforced enhanced Personal Computer and can reliably operate in an Industrial environment as an Industrial controller.
It should be explained that: (1) the traffic signal indicating information can be information indicated by a traffic signal lamp, the traffic signal lamp is a signal lamp for commanding traffic operation and generally comprises a red lamp, a green lamp and a yellow lamp, the red lamp represents no traffic, the green lamp represents permission, and the yellow lamp represents warning; traffic lights can be divided into: motor vehicle signal lamp, non-motor vehicle signal lamp, pedestrian crossing signal lamp, direction indicating lamp (arrow signal lamp), lane signal lamp, flash warning signal lamp, road and railway crossing signal lamp. (2) The identification information can be the information indicated by the signboard, the signboard can be a graphic symbol for displaying traffic laws and regulations and road information, the traffic laws and regulations can be expressed vividly, specifically and concisely, and contents which are difficult to be described by characters are also expressed, so that facilities for managing traffic and indicating driving directions to ensure smooth roads and driving safety are provided. (3) The guidance sign information may be information indicated by a guidance sign, which may be used to guide the vehicle to travel. (4) The intersection information indicates type information of a current road intersection, such as an intersection, a three-way intersection, and the like.
In some embodiments, before collecting the traffic signal indicating information, the identification information, the road guidance identification information and/or the intersection information on the road, the method further comprises: detecting whether the vehicle enters an acquisition area or not; after detecting that the vehicle enters the acquisition area, starting road network data acquisition equipment, and detecting the brightness value of the current environment of the vehicle; and if the brightness value is smaller than the preset threshold value, turning on the light supplement equipment of the vehicle.
The acquisition area is an area in which information such as traffic signal indication information, identification information, road guidance identification information and/or intersection information needs to be acquired, and can be set according to acquisition requirements. The preset threshold value can be calibrated according to the actual acquisition requirement, and is not specifically limited. The light filling equipment is used for increasing the brightness value of the current environment to satisfy the brightness requirement of collection, wherein the light filling equipment can be a light filling lamp, and is a lamp for performing light compensation on some equipment or plants lack of illuminance.
In some embodiments, after the road network data acquisition device is turned on, the method further includes: detecting whether the current running state of the vehicle meets the acquisition condition; and if the current driving state does not meet the acquisition condition, carrying out vehicle speed prompt or road surface prompt.
In the present embodiment, the collection conditions may include (1) the speed does not exceed a preset vehicle speed, such as 60 km/h; (2) driving in a clearly visible lane; (3) and changing the lane to select a road section with clear lanes.
If the current vehicle speed exceeds the preset vehicle speed, performing speed reduction prompt to prompt a driver to reduce the vehicle speed so as to meet the acquisition requirement; if the current driving lane line is not clear, prompting the driver to select a clear lane for driving again so as to meet the acquisition requirement; and if the road section is not clear during lane changing, prompting the driver to reselect the road section with clear lane for lane changing so as to meet the acquisition requirement.
In step S102, the traffic signal indication information, the identification information, the road guidance identification information, and/or the intersection information are processed to obtain a plurality of road network data.
In this embodiment, the processing of the traffic signal indication information, the identification information, the road guidance identification information and/or the intersection information includes: screening at least one acquisition point meeting preset conditions from all acquisition points of road network data acquisition equipment; and converting the closest point of the lane line of the vehicle into a preset coordinate system, and obtaining a plurality of road network data by the related information collected by at least one collecting point.
The preset conditions can be collection points with the density meeting requirements and collection points with the vehicle speed meeting requirements. According to the embodiment of the application, at least one acquisition point meeting the preset condition can be screened from all acquisition points by removing dense points (acquisition during parking) and performing point interpolation (over-high speed and sparse points).
The preset coordinate system may be a geodetic coordinate system, and may also be other types of coordinate systems, which is not limited in this respect. Taking the geodetic coordinate system as an example, the closest point of the lane line is converted into the geodetic coordinate system:
(X, Y) refers to the coordinates of the closest point of the lane in the geodetic coordinate system, (X, Y) refers to the coordinates of the closest point of the lane in the camera coordinate system, X is subtracted by the calibration d, (Rel _ X, Rel _ Y) refers to the coordinates of the antenna positioning in the GNSS geodetic coordinate system, and theta refers to the combined navigation heading angle.
The relevant information can be picture information and lane closest point information navigation positioning information, and a plurality of road network data can be obtained by synchronously playing the pictures, the lane closest points and the combined navigation positioning data.
In some embodiments, processing the traffic signal indicating information, the identification information, the road guidance identification information, and/or the intersection information to obtain a plurality of road network data comprises: receiving artificial road network information input by a user; the combination person generates or modifies a plurality of road network data for the road network information.
It can be understood that in the embodiment of the present application, after synchronously playing the picture, the closest point of the lane, and the combined navigation positioning data, information such as a traffic signal lamp, a signboard, a road guidance sign, an intersection, and the like is manually input to complete the road network data processing.
In step S103, the road network data is stored in the road network file, and at least one road network file is generated by combining the navigation data of the vehicle, so that the target navigation data matches the corresponding road network file, and the current peripheral static prior information is output.
It can be understood that the embodiment of the application can directly generate the road network files comprising various road network information, the road network information of the road network files is richer, and the covered road network information is more comprehensive, so that the global information can be provided for automatic driving, and the road network information requirement of the automatic driving can be better met. And after the road network file is obtained, acquiring the combined navigation data in real time, and matching the combined navigation data with the road network file by solving the closest point distance to acquire the current peripheral static prior information so as to apply the road network file.
In summary, the embodiment of the application can use the camera and the collection equipment with lower cost of combined navigation, simply and effectively construct the information road network file containing the traffic signal lamp, the signboard, the road guide sign, the intersection and the like, and provides high-precision map requirements for realizing the automatic driving function in the limited scene.
The method for generating the road network file according to an embodiment is further described below, as shown in fig. 2, specifically as follows:
1. equipment installation: the vehicle is provided with a camera and combined navigation equipment, the camera can output lane line data and an original picture, the lane line data comprises the closest point of a lane line, a camera coordinate system can be the position of a front bumper of the vehicle, the combined navigation positioning GNSS measurement type antenna can be the position of a rear axle of the vehicle, and a coordinate conversion relation is determined through manual measurement;
2. acquiring data, namely acquiring lane line data and an original picture through a camera arranged on a vehicle, wherein the lane line data comprises the closest point of a left lane line and a right lane line, and outputting a point (x, y and a course angle) through combined navigation arranged on the vehicle; processing the collected data, namely performing coordinate conversion on the closest point of the lane line and a point position (x, y, course angle) to obtain road network data, and generating a road network file by combining artificially input information such as traffic signal lamps, signboards, road guide signs, intersections and the like to complete the increase of the road network information and store the road network information.
According to the road network file generation method provided by the embodiment of the application, various road network information is directly acquired through the acquisition equipment on the vehicle, the road network information can be simply and conveniently increased, the cost for increasing the road network information and the complexity of operation are reduced, the road network files comprising the various road network information can be directly generated, the road network information of the road network files is richer, the covered road network information is more comprehensive, the global information can be provided for automatic driving, and the road network information requirement of the automatic driving is better met.
Next, a road network file generation device according to an embodiment of the present application will be described with reference to the drawings.
Fig. 4 is a schematic block diagram of a road network file generation apparatus according to an embodiment of the present application.
As shown in fig. 4, the road network file generation device 10 includes: an acquisition module 100, a processing module 200 and a generation module 300.
The acquisition module 100 is configured to acquire traffic signal indication information, identification information, road guidance identification information, and/or intersection information on a road by using road network data acquisition equipment disposed on a vehicle; the processing module 200 is configured to process traffic signal indication information, identification information, road guidance identification information, and/or intersection information to obtain a plurality of road network data; the generating module 300 is configured to store the road network data into a road network file, generate at least one road network file by combining the navigation data of the vehicle, match the corresponding road network file with the target navigation data, and output the current peripheral static prior information.
Further, the apparatus 10 of the embodiment of the present application further includes: the device comprises a first detection module and a second detection module. The first detection module is used for detecting whether a vehicle enters an acquisition area or not before acquiring traffic signal indication information, identification information, road guidance identification information and/or intersection information on a road; the second detection module is used for starting road network data acquisition equipment after detecting that the vehicle enters the acquisition area, and detecting the brightness value of the current environment of the vehicle.
Further, the apparatus 10 of the embodiment of the present application further includes: the device comprises a control module, a third detection module and a prompt module. The control module is used for turning on a light supplementing device of the vehicle when the brightness value is smaller than a preset threshold value; the third detection module is used for detecting whether the current driving state of the vehicle meets the acquisition condition after the road network data acquisition equipment is started; and the prompting module is used for prompting the vehicle speed or the road surface when the current driving state does not meet the acquisition condition.
Further, the processing module 200 includes: screening unit, coordinate conversion unit, receiving element and processing unit. The system comprises a screening unit, a data acquisition unit and a control unit, wherein the screening unit is used for screening at least one acquisition point meeting preset conditions from all acquisition points of road network data acquisition equipment; the coordinate conversion unit is used for converting the closest point of the lane line of the vehicle into a preset coordinate system and obtaining a plurality of road network data by the related information collected by at least one collection point; the receiving unit is used for receiving the artificial road network information input by a user; and the processing unit is used for generating or modifying the road network data by combining the human road network information.
It should be noted that the explanation of the embodiment of the road network file generation method is also applicable to the road network file generation apparatus of this embodiment, and is not repeated here.
According to the road network file generation device provided by the embodiment of the application, various road network information is collected by the collection equipment on the vehicle, the road network information can be simply and conveniently increased, the cost for increasing the road network information and the complexity of operation are reduced, the road network files comprising the various road network information can be directly generated, the road network information of the road network files is richer, the covered road network information is more comprehensive, the global information can be provided for automatic driving, and the road network information requirement for automatic driving is better met.
In addition, the embodiment of the present application further provides a vehicle, where the vehicle includes the above road network file generation device. This vehicle connects and gathers multiple road network information through the collection equipment on the vehicle, increase road network information that can be simple convenient, reduce the cost that increases road network information and the complexity of operation, and can directly generate the road network file including multiple road network information, the road network information of road network file is abundanter, and the road network information that covers is more comprehensive to can provide global information for autopilot, better satisfy autopilot's road network information demand.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
Claims (10)
1. A road network file generation method is characterized by comprising the following steps:
collecting traffic signal indication information, identification information, road guidance identification information and/or intersection information on a road by using road network data collection equipment arranged on a vehicle;
processing the traffic signal indication information, the identification information, the road guide identification information and/or the intersection information to obtain a plurality of road network data; and
and storing the road network data into road network files, generating at least one road network file by combining the navigation data of the vehicle, matching the corresponding road network file by the target navigation data, and outputting the current peripheral static prior information.
2. The method of claim 1, further comprising, prior to collecting traffic signal indicating information, identifying information, road guidance identifying information, and/or intersection information on the road:
detecting whether the vehicle enters an acquisition area;
after the vehicle is detected to enter the acquisition area, the road network data acquisition equipment is started, and the brightness value of the current environment of the vehicle is detected;
and if the brightness value is smaller than a preset threshold value, turning on light supplement equipment of the vehicle.
3. The method of claim 2, further comprising, after said road network data collection device is turned on:
detecting whether the current running state of the vehicle meets an acquisition condition;
and if the current driving state does not meet the acquisition condition, carrying out vehicle speed prompt or road surface prompt.
4. The method of claim 1, wherein processing the traffic signal indicating information, the identification information, the road guidance identification information, and/or the intersection information comprises:
screening at least one acquisition point meeting preset conditions from all acquisition points of the road network data acquisition equipment;
and converting the closest point of the lane line of the vehicle into a preset coordinate system, and obtaining the road network data according to the related information collected by the at least one collecting point.
5. The method of claim 1, wherein processing the traffic signal indicating information, the identification information, the road guidance identification information, and/or the intersection information to obtain a plurality of road network data comprises:
receiving artificial road network information input by a user;
and generating or modifying the plurality of road network data by combining the human road network information.
6. A road network file generation device is characterized by comprising:
the acquisition module is used for acquiring traffic signal indication information, identification information, road guidance identification information and/or intersection information on a road by using road network data acquisition equipment arranged on a vehicle;
the processing module is used for processing the traffic signal indication information, the identification information, the road guide identification information and/or the intersection information to obtain a plurality of road network data; and
and the generation module is used for storing the road network data into a road network file, generating at least one road network file by combining the navigation data of the vehicle, matching the corresponding road network file by the target navigation data and outputting the current peripheral static prior information.
7. The apparatus of claim 6, further comprising:
the first detection module is used for detecting whether the vehicle enters an acquisition area or not before acquiring traffic signal indication information, identification information, road guidance identification information and/or intersection information on the road;
and the second detection module is used for starting the road network data acquisition equipment and detecting the brightness value of the current environment of the vehicle after the vehicle is detected to enter the acquisition area.
8. The apparatus of claim 7, further comprising:
the control module is used for turning on the light supplementing equipment of the vehicle when the brightness value is smaller than a preset threshold value;
the third detection module is used for detecting whether the current driving state of the vehicle meets the acquisition condition or not after the road network data acquisition equipment is started;
and the prompting module is used for prompting the vehicle speed or the road surface when the current driving state does not meet the acquisition condition.
9. The apparatus of claim 6, wherein the processing module comprises:
the screening unit is used for screening at least one acquisition point meeting preset conditions from all acquisition points of the road network data acquisition equipment;
the coordinate conversion unit is used for converting the closest point of the lane line of the vehicle into a preset coordinate system and obtaining the plurality of road network data according to the related information collected by the at least one collection point;
the receiving unit is used for receiving the artificial road network information input by a user;
and the processing unit is used for generating or modifying the road network data by combining the human road network information.
10. A vehicle, characterized by comprising: the road network file generation device according to any one of claims 6 to 9.
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| CN202110266685.4A CN113077622A (en) | 2021-03-11 | 2021-03-11 | Road network file generation method and device and vehicle |
| PCT/CN2022/079733 WO2022188775A1 (en) | 2021-03-11 | 2022-03-08 | Road network file generation method and apparatus, and device, readable storage medium and vehicle |
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| CN202110266685.4A CN113077622A (en) | 2021-03-11 | 2021-03-11 | Road network file generation method and device and vehicle |
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