CN116405905A - Information processing method, device, equipment and storage medium - Google Patents

Information processing method, device, equipment and storage medium Download PDF

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Publication number
CN116405905A
CN116405905A CN202211643887.7A CN202211643887A CN116405905A CN 116405905 A CN116405905 A CN 116405905A CN 202211643887 A CN202211643887 A CN 202211643887A CN 116405905 A CN116405905 A CN 116405905A
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road side
map
information
intersection
communication
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CN202211643887.7A
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CN116405905B (en
Inventor
严炎
周光涛
李胜
黄陈横
刘博宇
张然懋
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China Unicom Smart Connection Technology Ltd
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China Unicom Smart Connection Technology Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/02—Access restriction performed under specific conditions
    • H04W48/04—Access restriction performed under specific conditions based on user or terminal location or mobility data, e.g. moving direction, speed
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/08—Access restriction or access information delivery, e.g. discovery data delivery
    • H04W48/10—Access restriction or access information delivery, e.g. discovery data delivery using broadcasted information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The application discloses an information processing method, an information processing device, information processing equipment and an information processing storage medium, relates to the technical field of automatic driving, and can reduce the calculation force requirement on a vehicle and the power consumption of the vehicle in the automatic driving process. The method is applied to a vehicle and comprises the following steps: receiving road side information broadcast by road side communication equipment when entering a communication area of the road side communication equipment of an intersection; the road side information at least comprises a map area covered by the intersection map and a communication address of road side edge computing equipment; the intersection map is a map of the intersection determined by the road side edge computing equipment based on the perception information transmitted by the road side perception equipment; the coverage area of the communication area is larger than that of the map area; if the road side edge computing equipment is planned to enter the map area, establishing communication connection with the road side edge computing equipment based on the communication address, and starting to receive the intersection map transmitted by the road side edge computing equipment in real time; in the process of receiving the intersection map, if the intersection map is driven into the map area, the automatic driving task is started to be executed based on the intersection map.

Description

Information processing method, device, equipment and storage medium
Technical Field
The present disclosure relates to the field of autopilot technologies, and in particular, to an information processing method, apparatus, device, and storage medium.
Background
Currently, the function implementation process of an automatic driving vehicle is generally divided into three steps: sensing, decision making and control. Specifically, the automatic driving vehicle can utilize various sensors carried by the automatic driving vehicle to sense traffic participants (roads, pedestrians and other vehicle lamps) around the vehicle in real time, then the information sensed by the various sensors can be fused through the vehicle-mounted computing equipment, driving decisions are carried out based on the fused information, and then the vehicle speed, the driving direction and the like are controlled based on the driving decisions.
However, in the function implementation process of the existing automatic driving vehicle, various sensors need to have information sensing capability on the complex intersection, and the vehicle-mounted computing equipment needs to have real-time processing capability on various information sensed by the various sensors on the complex intersection, so that the calculation power requirement on the vehicle is high, and the power consumption in the function implementation process is high.
Disclosure of Invention
The application provides an information processing method, an information processing device, information processing equipment and a storage medium.
In order to achieve the above purpose, the present application adopts the following technical scheme:
In a first aspect, the present application provides an information processing method, applied to a vehicle, including: receiving road side information broadcast by the road side edge computing device through the road side communication device when entering the communication area of the road side communication device of the intersection; the road side information at least comprises a map area covered by the intersection map and a communication address of road side edge computing equipment; the intersection map is a map of the intersection determined by the road side edge computing equipment based on the perception information transmitted by the road side perception equipment; the coverage area of the communication area is larger than that of the map area; if the road side edge computing equipment is planned to enter the map area, establishing communication connection with the road side edge computing equipment based on the communication address, and starting to receive the intersection map transmitted by the road side edge computing equipment in real time; in the process of receiving the intersection map, if the intersection map is driven into the map area, the automatic driving task is started to be executed based on the intersection map.
According to the technical scheme, road side communication equipment, road side edge computing equipment and road side sensing equipment can be deployed at a complex intersection. The road side edge computing device may determine a map of the intersection (i.e., an intersection map in the application) based on the perception information transmitted by the road side perception device, and may broadcast the road side information (including at least a map area covered by the intersection map and a communication address of the road side edge computing device) through the road side communication device. When a vehicle enters an intersection, the vehicle enters a communication area of road side communication equipment along with the gradual reduction of the distance between the vehicle and the intersection, and receives road side information broadcast by the road side communication equipment, at the moment, communication connection can be established between the road side communication equipment and road side edge computing equipment through a communication address in the road side information, and after the connection establishment is successful, the road side map transmitted by the road side edge computing equipment in real time can be received. Then, as the distance from the intersection is reduced again, the vehicle can enter the map area, and after entering the map area, a driving decision can be made based on the intersection map between the vehicles, so as to execute an automatic driving task. According to the technical scheme, when the vehicle is on the corresponding road section of the road junction, the real-time road junction map can be directly obtained from the road side edge computing equipment, the vehicle is not required to have the sensing capability of various information of the complex road junction, and the vehicle is not required to have the fusion processing capability of various information of the complex road junction, so that the calculation force requirement on a single vehicle can be greatly reduced, and the power consumption of the vehicle in the process of starting an automatic driving function can be reduced. In addition, since the computational demands on individual vehicles can be reduced, the manufacturing costs for autonomous vehicles can also be reduced.
Optionally, in one possible design manner, the road side information further includes a timestamp of the intersection map, and the receiving road side information broadcasted by the road side edge computing device through the road side communication device may include:
receiving road side information broadcast by the road side communication equipment in real time, and dynamically updating the current map area based on a time stamp in the road side information received in real time;
if the vehicle has driven into the map area, starting to execute the automatic driving task based on the intersection map, including: if the vehicle enters the current map area, the vehicle starts to execute the automatic driving task based on the intersection map.
Optionally, in another possible design manner, the road side information further includes credibility of the intersection map, and the "establishing a communication connection with the road side edge computing device based on the communication address" may include:
and under the condition that the reliability meets the preset condition, establishing communication connection with the road side edge computing equipment based on the communication address.
In a second aspect, the present application provides an information processing method applied to a road-side edge computing device, including: based on the sensing information transmitted by the road side sensing equipment in real time, determining an intersection map of the intersection and a map area covered by the intersection map in real time; broadcasting communication addresses of the map area and the road side edge computing device through road side communication devices of the intersection so that a vehicle which enters the communication area of the road side communication device and is planned to enter the map area establishes communication connection with the road side edge computing device based on the communication addresses; the coverage area of the communication area is larger than that of the map area; after the communication connection with the vehicle is established, the intersection map is transmitted to the vehicle in real time, so that the vehicle starts to execute the automatic driving task based on the intersection map after the vehicle enters the map area.
Optionally, in another possible design manner, the road side sensing device at least includes a camera, a microwave radar and a laser radar, the sensing information at least includes a video stream collected by the camera, two-dimensional point cloud data collected by the microwave radar and three-dimensional point cloud data collected by the laser radar, and the "determining, in real time, an intersection map of an intersection and a map area covered by the intersection map based on the sensing information transmitted by the road side sensing device" may include:
determining first information based on the video stream, determining second information based on the two-dimensional point cloud data, and determining third information based on the three-dimensional point cloud data; the first information at least comprises lane line information, traffic sign information, ground sign information and obstacle information; the second information at least comprises two-dimensional information of a static target and two-dimensional information of a dynamic target; the third information at least comprises three-dimensional information of a static target and three-dimensional information of a dynamic target;
and carrying out fusion processing on the first information, the second information and the third information under a preset coordinate system to obtain an intersection map and a map area.
Optionally, in another possible design manner, the method for processing information provided by the present application may further include:
Determining the credibility of the intersection map based on the information type of the perception information and the blind area range of the perception information;
broadcasting, by a road side communication device of an intersection, communication addresses of a map area and a road side edge computing device such that a vehicle that enters the communication area of the road side communication device and is planning to enter the map area establishes a communication connection with the road side edge computing device based on the communication addresses, comprising: broadcasting the map area, the communication address and the credibility through the road side communication equipment so that the vehicle establishes communication connection with the road side edge computing equipment based on the communication address under the condition that the credibility meets the preset condition.
In a third aspect, the present application provides an information processing apparatus, which can be applied to a vehicle, including: the device comprises a receiving module, a communication module and an execution module;
a receiving module, configured to receive, when entering a communication area of a roadside communication device at an intersection, roadside information broadcasted by a roadside computing device through the roadside communication device; the road side information at least comprises a map area covered by the intersection map and a communication address of road side edge computing equipment; the intersection map is a map of the intersection determined by the road side edge computing equipment based on the perception information transmitted by the road side perception equipment; the coverage area of the communication area is larger than that of the map area; the communication module is used for establishing communication connection with the road side edge computing equipment based on the communication address and starting to receive the intersection map transmitted by the road side edge computing equipment in real time if the road side edge computing equipment is planned to enter the map area; and the execution module is used for starting to execute the automatic driving task based on the intersection map if the intersection map is driven into the map area in the process of receiving the intersection map.
Optionally, in one possible design manner, the road side information further includes a time stamp of the intersection map, and the receiving module is specifically configured to: receiving road side information broadcast by the road side communication equipment in real time, and dynamically updating the current map area based on a time stamp in the road side information received in real time;
the execution module is specifically used for: if the vehicle enters the current map area, the vehicle starts to execute the automatic driving task based on the intersection map.
Optionally, in another possible design manner, the road side information further includes credibility of an intersection map, and the communication module is specifically configured to: and under the condition that the reliability meets the preset condition, establishing communication connection with the road side edge computing equipment based on the communication address.
In a fourth aspect, the present application provides an information processing apparatus that can be applied to a roadside edge calculation device, including: the system comprises a determining module, a broadcasting module and a transmission module;
the determining module is used for determining an intersection map of the intersection and a map area covered by the intersection map in real time based on the perception information transmitted by the road side perception equipment in real time; the broadcasting module is used for broadcasting the communication addresses of the map area and the road side edge computing equipment through road side communication equipment of the intersection so that a vehicle which enters the communication area of the road side communication equipment and is planned to enter the map area can establish communication connection with the road side edge computing equipment based on the communication addresses; the coverage area of the communication area is larger than that of the map area; and the transmission module is used for transmitting the intersection map to the vehicle in real time after the communication connection with the vehicle is established, so that the vehicle starts to execute the automatic driving task based on the intersection map after the vehicle enters the map area.
Optionally, in another possible design manner, the road side sensing device at least includes a camera, a microwave radar and a laser radar, the sensing information at least includes video stream collected by the camera, two-dimensional point cloud data collected by the microwave radar and three-dimensional point cloud data collected by the laser radar, and the determining module is specifically configured to:
determining first information based on the video stream, determining second information based on the two-dimensional point cloud data, and determining third information based on the three-dimensional point cloud data; the first information at least comprises lane line information, traffic sign information, ground sign information and obstacle information; the second information at least comprises two-dimensional information of a static target and two-dimensional information of a dynamic target; the third information at least comprises three-dimensional information of a static target and three-dimensional information of a dynamic target; and carrying out fusion processing on the first information, the second information and the third information under a preset coordinate system to obtain an intersection map and a map area.
Optionally, in another possible design manner, the determining module is further configured to determine, while determining an intersection map of the intersection and a map area covered by the intersection map, a credibility of the intersection map based on an information type of the perception information and a blind area range of the perception information;
The broadcasting module is specifically used for: broadcasting the map area, the communication address and the credibility through the road side communication equipment so that the vehicle establishes communication connection with the road side edge computing equipment based on the communication address under the condition that the credibility meets the preset condition.
In a fifth aspect, the present application provides an information processing apparatus, which may be a vehicle, or may be a road-side edge computing apparatus, including a memory, a processor, a bus, and a communication interface; the memory is used for storing computer execution instructions, and the processor is connected with the memory through a bus; when the information processing apparatus is running, the processor executes computer-executable instructions stored in the memory to cause the information processing apparatus to perform the information processing method as provided in the first aspect or the second aspect described above.
In a sixth aspect, the present application provides a computer-readable storage medium having instructions stored therein, which when executed by a computer, cause the computer to perform the information processing method as provided in the first or second aspect.
In a seventh aspect, the present application provides a computer program product comprising computer instructions which, when run on a computer, cause the computer to perform the information processing method as provided in the first or second aspect.
In an eighth aspect, the present application provides an information processing system including a roadside edge computing device, a roadside communication device, a roadside awareness device, and a vehicle.
It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer readable storage medium may be packaged together with the processor of the information processing apparatus or may be packaged separately from the processor of the information processing apparatus, which is not limited in this application.
The description of the second to eighth aspects in the present application may refer to the detailed description of the first aspect; moreover, the advantages described in the second to eighth aspects may refer to the analysis of the advantages of the first aspect, and will not be described here again.
In the present application, the names of the above-mentioned devices or functional modules are not limited, and in actual implementation, these devices or functional modules may appear under other names. Insofar as the function of each device or function module is similar to the present application, it is within the scope of the claims of the present application and the equivalents thereof.
These and other aspects of the present application will be more readily apparent from the following description.
Drawings
FIG. 1 is a schematic diagram of an information processing system according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of an information processing method according to an embodiment of the present application;
fig. 3 is a schematic view of a scene of an intersection according to an embodiment of the present application;
fig. 4 is a flow chart of another information processing method according to an embodiment of the present application;
FIG. 5 is a flowchart of another information processing method according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an information processing apparatus according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of another information processing apparatus according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an information processing apparatus according to an embodiment of the present application.
Detailed Description
Information processing methods, apparatuses, devices and storage media provided in embodiments of the present application are described in detail below with reference to the accompanying drawings.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone.
The terms "first" and "second" and the like in the description and in the drawings are used for distinguishing between different objects or for distinguishing between different processes of the same object and not for describing a particular sequential order of objects.
Furthermore, references to the terms "comprising" and "having" and any variations thereof in the description of the present application are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or apparatus.
It should be noted that, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
In the description of the present application, unless otherwise indicated, the meaning of "a plurality" means two or more.
In addition, the technical scheme of the application is used for acquiring, storing, using, processing and the like data, and the data are in accordance with relevant regulations of national laws and regulations.
In the function implementation process of the existing automatic driving vehicle, various sensors are required to have information sensing capability on a complex intersection, the vehicle-mounted computing equipment is required to have real-time processing capability on various information sensed by the various sensors at the complex intersection, the calculation power requirement on the vehicle is high, and the power consumption in the function implementation process is high.
Aiming at the problems in the prior art, the embodiment of the application provides an information processing method, in the method, when a vehicle passes through a corresponding road section of an intersection, a real-time intersection map can be directly obtained from road side edge computing equipment, the vehicle is not required to have the sensing capability of various information of a complex intersection, and the vehicle is not required to have the fusion processing capability of various information of the complex intersection, so that the calculation force requirement on a single vehicle can be greatly reduced, and the power consumption of the vehicle in the process of starting an automatic driving function can be reduced.
The information processing method provided in the embodiment of the present application may be applied to an information processing system, and fig. 1 shows a structure of the information processing system. As shown in fig. 1, the information processing system may include a roadside edge computing device 00, a roadside communication device 01, a roadside sensing device 02, and a vehicle 03.
The road side sensing device 02 can be various sensors deployed in the intersection, and is used for collecting sensing information of the intersection in real time and transmitting the collected sensing information to the road side edge computing device 00 in real time.
The road side edge computing device 00 may be a Multi-access edge computing (Multi-access Edge Computing, MEC) server deployed at the intersection, and may perform real-time fusion processing on the sensing information transmitted by the road side sensing device 02, so as to obtain a high-precision intersection map of the intersection. The road side edge calculation device 00 may also transmit the map area covered by the obtained intersection map and the communication address of itself to the road side communication device 01.
The Road Side communication device 01 may be a Road Side Unit (RSU) disposed at an intersection, or may be a communication device such as a 5G base station. The roadside communication device 01 may broadcast the map area and the communication address.
The vehicle 03 may be an autonomous vehicle having an autonomous driving function, and the vehicle 03 may receive a map area and a communication address broadcasted by the roadside communication device 01 when entering the communication area of the roadside communication device 01 before the intersection, and may establish a communication connection with the roadside edge computing device 00 based on the communication address. After the connection is successful, the vehicle 03 receives the intersection map transmitted by the road side edge computing device 00 in real time, and after the vehicle enters the map area, the vehicle can start to execute an automatic driving task based on the intersection map.
The information processing method provided in the embodiment of the present application is described in detail below with reference to the information processing system shown in fig. 1.
Referring to fig. 2, an embodiment of the present application provides an information processing method that may be performed by an information processing apparatus (e.g., the information processing apparatus shown in fig. 6) provided in the embodiment of the present application, and the apparatus may be implemented by software and/or hardware and integrated in an information processing device that performs the method. Specifically, the information processing apparatus that performs the information processing method provided in fig. 2 may be the vehicle 03 in fig. 1. As shown in fig. 2, the method may include S201-S203:
s201, when entering the communication area of the road side communication device at the intersection, the road side edge computing device receives the road side information broadcast by the road side communication device.
The road side information at least comprises a map area covered by the intersection map and a communication address of the road side edge computing device. The communication address of the roadside edge computing device may be a uniform resource location system (uniform resource locator, URL) address or an internet protocol (Internet Protocol, IP) address port number of the roadside edge computing device, or the like.
The intersection map is a map of the intersection determined by the road side edge computing device based on the perception information transmitted by the road side perception device. The intersection map is a high-precision map, and the represented information not only can comprise static information of the intersection, such as lane lines, traffic signs and the like, but also can comprise dynamic information of the intersection, such as position information and moving direction of moving targets, such as pedestrians, vehicles and the like. The information included in the high-precision map has a very wide coverage range, so that the driving safety of the vehicle when the automatic driving task is executed based on the high-precision map can be ensured.
In addition, in the embodiment of the application, the coverage area of the communication area is larger than the map area. In this way, after the vehicle receives the communication address broadcast by the road side communication device, enough time can be available for connection with the road side edge computing device, and after connection, driving decisions such as lane changing or speed reduction can be performed in advance according to the intersection map transmitted by the road side edge computing device.
Referring to fig. 3, a schematic view of a scene of an intersection according to an embodiment of the present application is provided. As shown in fig. 3, the intersection is an "intersection," the communication area of the roadside communication device may be an inner area of the outer circle in fig. 3, and the map area of the intersection map may be an inner area of the inner circle in fig. 3. For example, in practical applications, the roadside edge computing device, the roadside awareness device, and the roadside communication device may be deployed at an intersection location (e.g., the a location or the B location in fig. 3) of an intersection.
It will be appreciated that the communication area and the map area shown in fig. 3 are only examples, and in practical applications, the communication area and the map area may be other shapes, which are not limited in this embodiment of the present application.
Optionally, in order to enable the communication area of the road side communication device to uniformly cover the whole intersection, vehicles entering the intersection from different directions can all use the intersection map to execute an automatic driving task. For example, as shown in fig. 3, two roadside communication devices may be oppositely disposed at the a position and the C position. Similarly, in order to enable the sensing information collected by the road side sensing device to uniformly cover the whole intersection, the road side sensing device can be oppositely deployed at the intersection position of the same intersection.
And S202, if the road side edge computing equipment is planned to enter the map area, establishing communication connection with the road side edge computing equipment based on the communication address, and starting to receive the intersection map transmitted by the road side edge computing equipment in real time.
For example, after the vehicle receives the road side information broadcast by the road side communication device, whether to approach the map area or not can be determined according to the navigation route planned by the vehicle, if the vehicle approaches the map area, namely, the vehicle is planned to enter the map area, communication connection can be established with the road side edge computing device based on the communication address; conversely, if the map area is not routed, i.e., not planned to be entered, no communication connection is required with the roadside edge computing device.
After the vehicle receives the communication address broadcasted by the road side communication device, a connection request can be initiated to the corresponding road side edge computing device through the communication address, after the road side edge computing device receives the connection request, a connection response can be fed back to the vehicle, at the moment, the road side edge computing device and the vehicle successfully establish communication connection, and the vehicle can initiate an acquisition request for acquiring an intersection map to the road side edge computing device. The roadside edge computing device, upon receiving the acquisition request, may begin transmitting the intersection map to the vehicle. Since the intersection map contains much more information than the road side information, the road side edge computing device can transmit the intersection map to the vehicle through a 5G network with larger bandwidth in order to ensure that the road side communication device broadcasts the intersection map to be successfully transmitted to the vehicle quickly.
Optionally, in the embodiment of the present application, the road side information may further include credibility of an intersection map, and establishing the communication connection with the road side edge computing device based on the communication address may include: and under the condition that the reliability meets the preset condition, establishing communication connection with the road side edge computing equipment based on the communication address.
The preset condition may be a predetermined condition. By way of example, the preset condition may be a confidence level of greater than 95%. The degree of reliability may be any value between 0 and 1, as determined by the road side edge computing device. The higher the reliability, the higher the accuracy of the map of the intersection; conversely, the lower the confidence, the lower the accuracy of the intersection map.
In practical application, the road side sensing device may suddenly fail for some reasons, so that the sensing information collected by the road side sensing device may be missing, resulting in insufficient accuracy of the intersection map determined by the road side edge computing device. In this case, if the vehicle still executes the automatic driving task according to the intersection map, traffic accidents may occur due to decision errors. Therefore, in the embodiment of the application, before the vehicle uses the intersection map, the reliability of the intersection map can be judged, and when the reliability is high enough, the intersection map is used for driving decision, so that the driving safety of the vehicle when the automatic driving task is executed based on the intersection map can be further ensured.
And S203, when the vehicle enters the map area in the process of receiving the intersection map, starting to execute an automatic driving task based on the intersection map.
After the vehicle enters the map area, the automatic driving task can be started to be executed based on the intersection map, and after the vehicle exits the map area, the driving decision can be executed again based on the local perception system of the vehicle, so that the automatic driving task can be executed continuously. In order to ensure that the vehicle has a basis for driving decision in the process of switching from the automatic driving task based on the intersection map to the automatic driving task based on the local perception system of the vehicle, the vehicle can be switched to the system just before the vehicle exits from the map area.
In addition, since the vehicle body coordinate system of the vehicle is not unified with the reference system of the coordinate system of the intersection map, when the vehicle executes the automatic driving task based on the intersection map, the positioning coordinate of the vehicle needs to be converted into the coordinate system of the intersection map, and then driving decision is performed.
Optionally, the road side information further includes a time stamp of the intersection map, and receiving the road side information broadcast by the road side edge computing device through the road side communication device may include: receiving road side information broadcast by the road side communication equipment in real time, and dynamically updating the current map area based on a time stamp in the road side information received in real time; if the vehicle has driven into the map area, starting to execute the automatic driving task based on the intersection map, including: if the vehicle enters the current map area, the vehicle starts to execute the automatic driving task based on the intersection map.
When the road side communication equipment broadcasts the road side information, the information transmission sequence may be disordered due to network congestion or jitter and the like, and the situation that the road side information determined earlier by the road side edge computing equipment is transmitted to the vehicle after the road side information determined later occurs. In order to avoid errors in driving decisions caused by wrong information transmission, in the embodiment of the present application, when the vehicle receives the road side information, the vehicle may screen the road side information based on the time stamp in the road side information, and if the time stamp of a certain piece of road side information is earlier than the time stamp of the road side information received before, the road side information may be discarded, so as to ensure that the road side information received by the vehicle side is the latest information.
By combining the above description, in the information processing method provided by the embodiment of the present application, the road side communication device, the road side edge computing device and the road side sensing device may be deployed at a complex intersection. The road side edge computing device may determine a map of the intersection (i.e., the intersection map in the embodiment of the application) based on the perception information transmitted by the road side perception device, and may broadcast the road side information (including at least a map area covered by the intersection map and a communication address of the road side edge computing device) through the road side communication device. When a vehicle enters an intersection, the vehicle enters a communication area of road side communication equipment along with the gradual reduction of the distance between the vehicle and the intersection, and receives road side information broadcast by the road side communication equipment, at the moment, communication connection can be established between the road side communication equipment and road side edge computing equipment through a communication address in the road side information, and after the connection establishment is successful, the road side map transmitted by the road side edge computing equipment in real time can be received. Then, as the distance from the intersection is reduced again, the vehicle can enter the map area, and after entering the map area, a driving decision can be made based on the intersection map between the vehicles, so as to execute an automatic driving task. It can be seen that, in the technical scheme provided by the embodiment of the application, when a vehicle is on a corresponding road section of a road junction, a real-time road junction map can be directly obtained from road side edge computing equipment, the vehicle is not required to have the sensing capability of various information of a complex road junction, and the vehicle is not required to have the fusion processing capability of various information of the complex road junction, so that the calculation force requirement on a single vehicle can be greatly reduced, and the power consumption of the vehicle in the process of starting an automatic driving function can be reduced. In addition, since the computational demands on individual vehicles can be reduced, the manufacturing costs for autonomous vehicles can also be reduced.
Referring to fig. 4, an embodiment of the present application provides an information processing method, which may be performed by an information processing apparatus (for example, the information processing apparatus shown in fig. 7) provided in the embodiment of the present application, and the apparatus may be implemented by software and/or hardware and integrated in an information processing device that performs the method. Specifically, the information processing apparatus that performs the information processing method provided in fig. 4 may be the roadside edge calculation apparatus 00 in fig. 1. As shown in fig. 4, the method may include S401 to S403:
s401, determining an intersection map of an intersection and a map area covered by the intersection map in real time based on sensing information transmitted by the road side sensing equipment in real time.
Optionally, the road side sensing device at least comprises a camera, a microwave radar and a laser radar, the sensing information at least comprises video stream collected by the camera, two-dimensional point cloud data collected by the microwave radar and three-dimensional point cloud data collected by the laser radar, and the road side sensing device is used for determining the map of the intersection and the map area covered by the map of the intersection in real time based on the sensing information transmitted in real time by the road side sensing device, and the road side sensing device comprises: determining first information based on the video stream, determining second information based on the two-dimensional point cloud data, and determining third information based on the three-dimensional point cloud data; the first information at least comprises lane line information, traffic sign information, ground sign information and obstacle information; the second information at least comprises two-dimensional information of a static target and two-dimensional information of a dynamic target; the third information at least comprises three-dimensional information of a static target and three-dimensional information of a dynamic target; and carrying out fusion processing on the first information, the second information and the third information under a preset coordinate system to obtain an intersection map and a map area.
The lane line information may represent boundary lines of various lanes in the intersection, zebra stripes, and the like; traffic sign information may represent various road signs including road names, maximum speed limit, traffic light signals, and some indicative information (e.g., turn around prohibited or pass through prohibited), etc.; the ground sign information may represent some indication information on the ground, such as steering area, etc.; the obstacle information may represent information such as some construction road signs or traffic accident road signs temporarily placed on the road. Alternatively, the road side edge computing device may also detect vehicles in the video stream and then classify the vehicles in the video stream by a classification model trained in advance to determine classification information so that the vehicles may know the types of surrounding vehicles based on the intersection map.
The microwave radar, which may be a millimeter wave radar, is used to detect a target in a close range. For example, the two-dimensional information of the static object may represent position information of an obstacle (such as a building, etc.) at a close distance, and the two-dimensional information of the dynamic object may represent real-time position information and moving direction of a moving object of a pedestrian, a vehicle, etc. And the laser radar is used for detecting a remote target. For example, the three-dimensional information of the static object may represent position information of an obstacle (such as a building, etc.) at a close distance, and the three-dimensional information of the dynamic object may represent real-time position information and moving direction of a moving object of a pedestrian, a vehicle, etc.
In the embodiment of the application, the microwave radar and the laser radar can detect the position information of the target. The detection of the microwave radar is not affected by bad weather, the detection distance of the laser radar is far, the three-dimensional information of a target can be accurately measured, and meanwhile, the two radar devices are deployed, so that the accuracy of the determined intersection map can be improved.
It can be appreciated that, in practical applications, the first information, the second information, and the third information may further include other information, which is not limited in this embodiment of the present application. For example, the third information may also include lane line information, that is, information collected by different roadside sensing devices may coincide.
The preset coordinate system may be a unified coordinate system determined in advance. Because the reference coordinate systems of different road side sensing devices are different, when the embodiment of the application fuses multiple sensing information, the coordinate alignment can be performed on the various sensing information under a unified coordinate system.
And S402, broadcasting the communication addresses of the map area and the road side edge computing equipment through road side communication equipment of the intersection so that the vehicle which enters the communication area of the road side communication equipment and is planned to enter the map area establishes communication connection with the road side edge computing equipment based on the communication addresses.
Wherein the coverage area of the communication area is larger than the map area.
Optionally, the information processing method provided in the embodiment of the present application further includes, while determining an intersection map of the intersection and a map area covered by the intersection map: determining the credibility of the intersection map based on the information type of the perception information and the blind area range of the perception information; broadcasting, by a road side communication device of an intersection, communication addresses of a map area and a road side edge computing device such that a vehicle that enters the communication area of the road side communication device and is planning to enter the map area establishes a communication connection with the road side edge computing device based on the communication addresses, comprising: broadcasting the map area, the communication address and the credibility through the road side communication equipment so that the vehicle establishes communication connection with the road side edge computing equipment based on the communication address under the condition that the credibility meets the preset condition.
In one possible implementation manner, in the embodiment of the present application, the information weights of various pieces of sensing information may be determined in advance, the sum of the information weights of all pieces of sensing information is 1, and the corresponding relationship between the determined information types of the sensing information and the information weights may be stored in the road-side edge computing device in advance. When the road side edge computing device receives the perception information, the road side edge computing device can determine the first numerical value according to the information type of the received perception information and the corresponding relation stored in advance. In addition, for the same road side sensing device, a plurality of road side sensing devices may be deployed at the same intersection, and the acquisition areas covered by the road side sensing devices are different. When the road side edge computing device receives the perception information, the road side edge computing device can also determine the duty ratio of the region in the map region according to the size of the acquisition region covered by the received perception information, and then multiply the duty ratio with a first numerical value, wherein the product is the credibility in the embodiment of the application.
S403, after communication connection with the vehicle is established, the intersection map is transmitted to the vehicle in real time, so that the vehicle starts to execute an automatic driving task based on the intersection map after entering the map area.
In the embodiment of the present application, the content of the repetition of steps S401 to S403 and steps S201 to S203 may refer to the foregoing related description, and the analysis of the beneficial effects may also refer to the foregoing related description, which is not repeated here.
Referring to fig. 5, an embodiment of the present application further provides an information processing method, which may be applied to the information processing system shown in fig. 1, as shown in fig. 5, and may include:
s501, the road side sensing equipment transmits the acquired sensing information to the road side edge computing equipment in real time.
S502, the road side edge computing equipment determines an intersection map of the intersection and a map area covered by the intersection map in real time based on the perception information.
S503, the roadside edge computing device broadcasts the map area and the communication address through the roadside communication device.
S504, when the vehicle enters the communication area of the roadside communication device, the vehicle receives the roadside information broadcasted by the roadside communication device.
S505, if the vehicle is planned to enter the map area, a communication connection is established with the road side edge computing device based on the communication address.
S506, the vehicle initiates an intersection map acquisition request to the road side edge computing device.
S507, the road side edge computing device starts to transmit the intersection map to the vehicle in real time.
And S508, after the vehicle enters the map area, starting to execute an automatic driving task based on the intersection map.
S509, when the vehicle is about to exit the map area, the vehicle starts to execute an automatic driving task based on the local perception system.
As shown in fig. 6, an embodiment of the present application further provides an information processing apparatus, which may be applied to a vehicle, and may include: a receiving module 31, a communication module 32 and an executing module 33.
Wherein the receiving module 31 executes S201 in the above method embodiment, the communication module 32 executes S202 in the above method embodiment, and the executing module 33 executes S203 in the above method embodiment.
Specifically, the receiving module 31 is configured to receive, when entering a communication area of a roadside communication device at an intersection, roadside information broadcasted by a roadside computing device through the roadside communication device; the road side information at least comprises a map area covered by the intersection map and a communication address of road side edge computing equipment; the intersection map is a map of the intersection determined by the road side edge computing equipment based on the perception information transmitted by the road side perception equipment; the coverage area of the communication area is larger than that of the map area; a communication module 32, configured to establish a communication connection with the road-side edge computing device based on the communication address and start receiving the intersection map transmitted by the road-side edge computing device in real time if the vehicle is planned to enter the map area; the execution module 33 is configured to start executing an automatic driving task based on the intersection map if the intersection map is already entered into the map area during the process of receiving the intersection map.
Optionally, in one possible design manner, the road side information further includes a timestamp of the intersection map, and the receiving module 31 is specifically configured to: receiving road side information broadcast by the road side communication equipment in real time, and dynamically updating the current map area based on a time stamp in the road side information received in real time;
the execution module 33 is specifically configured to: if the vehicle enters the current map area, the vehicle starts to execute the automatic driving task based on the intersection map.
Optionally, in another possible design manner, the road side information further includes credibility of the intersection map, and the communication module 32 is specifically configured to: and under the condition that the reliability meets the preset condition, establishing communication connection with the road side edge computing equipment based on the communication address.
Optionally, the information processing apparatus may further include a storage module for storing program codes of the information processing apparatus and the like.
As shown in fig. 7, an embodiment of the present application further provides an information processing apparatus, which may be applied to a roadside edge calculation device, and the apparatus may include: a determination module 001, a broadcast module 002 and a transmission module 003.
Wherein the determining module 001 performs S401 in the above-described method embodiment, the broadcasting module 002 performs S402 in the above-described method embodiment, and the transmitting module 003 performs S403 in the above-described method embodiment.
The determining module 001 is used for determining an intersection map of the intersection and a map area covered by the intersection map in real time based on the perception information transmitted by the road side perception device in real time; a broadcasting module 002 for broadcasting communication addresses of the map area and the road side edge computing device through the road side communication device of the intersection so that a vehicle that has entered the communication area of the road side communication device and is planned to enter the map area establishes communication connection with the road side edge computing device based on the communication addresses; the coverage area of the communication area is larger than that of the map area; and the transmission module 003 is used for transmitting the intersection map to the vehicle in real time after the communication connection with the vehicle is established, so that the vehicle starts to execute the automatic driving task based on the intersection map after the vehicle enters the map area.
Optionally, in another possible design manner, the road side sensing device at least includes a camera, a microwave radar and a laser radar, the sensing information at least includes a video stream collected by the camera, two-dimensional point cloud data collected by the microwave radar and three-dimensional point cloud data collected by the laser radar, and the determining module 001 is specifically configured to:
determining first information based on the video stream, determining second information based on the two-dimensional point cloud data, and determining third information based on the three-dimensional point cloud data; the first information at least comprises lane line information, traffic sign information, ground sign information and obstacle information; the second information at least comprises two-dimensional information of a static target and two-dimensional information of a dynamic target; the third information at least comprises three-dimensional information of a static target and three-dimensional information of a dynamic target; and carrying out fusion processing on the first information, the second information and the third information under a preset coordinate system to obtain an intersection map and a map area.
Optionally, in another possible design manner, the determining module 001 is further configured to determine, while determining an intersection map of the intersection and a map area covered by the intersection map, a reliability of the intersection map based on an information type of the sensing information and a blind area range of the sensing information;
the broadcasting module 002 specifically is for: broadcasting the map area, the communication address and the credibility through the road side communication equipment so that the vehicle establishes communication connection with the road side edge computing equipment based on the communication address under the condition that the credibility meets the preset condition.
Optionally, the information processing apparatus may further include a storage module for storing program codes of the information processing apparatus and the like.
As shown in fig. 8, the embodiment of the present application further provides an information processing apparatus, which may be the road side edge computing apparatus 00 in fig. 1 or the vehicle 03 in fig. 1, including a memory 41, a processor (such as 42-1 and 42-2 in fig. 8), a bus 43, and a communication interface 44; the memory 41 is used for storing computer-executed instructions, and the processor is connected with the memory 41 through the bus 43; when the information processing apparatus is running, the processor executes computer-executable instructions stored in the memory 41 to cause the information processing apparatus to execute the information processing method as provided in the above-described embodiment.
In a particular implementation, the processor may include, as one embodiment, one or more central processing units (central processing unit, CPU), such as CPU0 and CPU1 shown in fig. 8. And as one example the information processing apparatus may include a plurality of processors, such as the processor 42-1 and the processor 42-2 shown in fig. 8. Each of these processors may be a single-Core Processor (CPU) or a multi-core processor (multi-CPU). A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).
The memory 41 may be, but is not limited to, a read-only memory 41 (ROM) or other type of static storage device that can store static information and instructions, a random access memory (random access memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (electrically erasable programmable read-only memory, EEPROM), a compact disc read-only memory (compact disc read-only memory) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 41 may be stand alone and be connected to the processor via a bus 43. The memory 41 may also be integrated with the processor.
In a specific implementation, the memory 41 is used for storing data in the application and computer-executable instructions corresponding to executing a software program of the application. The processor may perform various functions of the information processing apparatus by running or executing a software program stored in the memory 41 and calling data stored in the memory 41.
Communication interface 44, using any transceiver-like device, is used to communicate with other devices or communication networks, such as a control system, a radio access network (radio access network, RAN), a wireless local area network (wireless local area networks, WLAN), etc. The communication interface 44 may include a receiving unit to implement a receiving function and a transmitting unit to implement a transmitting function.
Bus 43 may be an industry standard architecture (industry standard architecture, ISA) bus, an external device interconnect (peripheral component interconnect, PCI) bus, or an extended industry standard architecture (extended industry standard architecture, EISA) bus, among others. The bus 43 may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 8, but not only one bus or one type of bus.
As an example, in connection with fig. 6, the function realized by the receiving module in the information processing apparatus is the same as that realized by the receiving unit in fig. 8, and the function realized by the executing module in the information processing apparatus is the same as that realized by the processor in fig. 8. When the information processing apparatus includes a memory module, the memory module performs the same function as the memory implementation in fig. 8.
The explanation of the related content in this embodiment may refer to the above method embodiment, and will not be repeated here.
From the foregoing description of the embodiments, it will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of functional modules is illustrated, and in practical application, the above-described functional allocation may be implemented by different functional modules, that is, the internal structure of the device is divided into different functional modules, so as to implement all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein again.
The present embodiment also provides a computer-readable storage medium having instructions stored therein, which when executed by a computer, cause the computer to perform the information processing method provided by the above embodiment.
The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (erasable programmable read only memory, EPROM), a register, a hard disk, an optical fiber, a CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing, or any other form of computer readable storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an application specific integrated circuit (application specific integrated circuit, ASIC). In the context of the present application, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. An information processing method, applied to a vehicle, comprising:
receiving road side information broadcast by road side edge computing equipment through road side communication equipment when entering a communication area of the road side communication equipment of an intersection; the road side information at least comprises a map area covered by an intersection map and a communication address of the road side edge computing equipment; the intersection map is a map of the intersection determined by the road side edge computing equipment based on the perception information transmitted by the road side perception equipment; the coverage area of the communication area is larger than the map area;
if the road side edge computing device is planned to enter the map area, establishing communication connection with the road side edge computing device based on the communication address, and starting to receive the intersection map transmitted by the road side edge computing device in real time;
And in the process of receiving the intersection map, if the intersection map is driven into the map area, starting to execute an automatic driving task based on the intersection map.
2. The information processing method according to claim 1, wherein the roadside information further includes a time stamp of the intersection map, and the receiving roadside edge calculation device broadcasts the roadside information through the roadside communication device includes:
receiving the road side information broadcast by the road side communication equipment in real time, and dynamically updating the current map area based on the timestamp in the road side information received in real time;
and if the vehicle enters the map area, starting to execute an automatic driving task based on the intersection map, wherein the automatic driving task comprises the following steps: and if the vehicle enters the current map area, starting to execute an automatic driving task based on the intersection map.
3. The information processing method according to claim 1, wherein the roadside information further includes a credibility of the intersection map, the establishing a communication connection with the roadside edge computing device based on the communication address includes:
and under the condition that the credibility meets the preset condition, establishing communication connection with the road side edge computing equipment based on the communication address.
4. An information processing method, applied to a roadside edge computing device, comprising:
based on the sensing information transmitted by the road side sensing equipment in real time, determining an intersection map of an intersection and a map area covered by the intersection map in real time;
broadcasting, by a road side communication device of the intersection, communication addresses of the map area and the road side edge computing device, such that a vehicle that enters the communication area of the road side communication device and is planned to enter the map area establishes a communication connection with the road side edge computing device based on the communication addresses; the coverage area of the communication area is larger than the map area;
and after the communication connection with the vehicle is established, transmitting the intersection map to the vehicle in real time, so that the vehicle starts to execute an automatic driving task based on the intersection map after entering the map area.
5. The information processing method according to claim 4, wherein the road side sensing device includes at least a camera, a microwave radar and a laser radar, the sensing information includes at least a video stream collected by the camera, two-dimensional point cloud data collected by the microwave radar and three-dimensional point cloud data collected by the laser radar, the real-time determination of an intersection map of an intersection and a map area covered by the intersection map based on sensing information transmitted by the road side sensing device includes:
Determining first information based on the video stream, determining second information based on the two-dimensional point cloud data, and determining third information based on the three-dimensional point cloud data; the first information at least comprises lane line information, traffic sign information, ground sign information and barrier information; the second information at least comprises two-dimensional information of a static target and two-dimensional information of a dynamic target; the third information at least comprises three-dimensional information of a static target and three-dimensional information of a dynamic target;
and carrying out fusion processing on the first information, the second information and the third information under a preset coordinate system to obtain the intersection map and the map area.
6. The information processing method according to claim 4, wherein the determining an intersection map of an intersection and a map area covered by the intersection map are performed simultaneously, the method further comprising:
determining the credibility of the intersection map based on the information type of the perception information and the blind area range of the perception information;
the broadcasting, by the road side communication device of the intersection, the communication addresses of the map area and the road side edge computing device so that a vehicle that enters the communication area of the road side communication device and is planned to enter the map area establishes a communication connection with the road side edge computing device based on the communication address, includes:
Broadcasting the map area, the communication address and the credibility through the road side communication equipment so that the vehicle establishes communication connection with the road side edge computing equipment based on the communication address under the condition that the credibility meets the preset condition.
7. An information processing apparatus, which is applied to a vehicle, comprising:
the receiving module is used for receiving the road side information broadcasted by the road side edge computing equipment through the road side communication equipment when entering the communication area of the road side communication equipment of the intersection; the road side information at least comprises a map area covered by an intersection map and a communication address of the road side edge computing equipment; the intersection map is a map of the intersection determined by the road side edge computing equipment based on the perception information transmitted by the road side perception equipment; the coverage area of the communication area is larger than the map area;
the communication module is used for establishing communication connection with the road side edge computing equipment based on the communication address and starting to receive the intersection map transmitted by the road side edge computing equipment in real time if the road side edge computing equipment is planned to enter the map area;
And the execution module is used for starting to execute an automatic driving task based on the intersection map if the intersection map is driven into the map area in the process of receiving the intersection map.
8. An information processing apparatus, characterized by being applied to a roadside edge calculation device, comprising:
the determining module is used for determining an intersection map of an intersection and a map area covered by the intersection map in real time based on the perception information transmitted by the road side perception equipment in real time;
a broadcasting module for broadcasting communication addresses of the map area and the road side edge computing device through road side communication devices of the intersection, so that a vehicle which enters the communication area of the road side communication device and is planned to enter the map area establishes communication connection with the road side edge computing device based on the communication addresses; the coverage area of the communication area is larger than the map area;
and the transmission module is used for transmitting the intersection map to the vehicle in real time after the communication connection with the vehicle is established, so that the vehicle starts to execute the automatic driving task based on the intersection map after driving into the map area.
9. An information processing apparatus, characterized by comprising a memory, a processor, a bus, and a communication interface; the memory is used for storing computer execution instructions, and the processor is connected with the memory through the bus;
when the information processing apparatus is operated, a processor executes the computer-executable instructions stored in the memory to cause the information processing apparatus to perform the information processing method according to any one of claims 1 to 3 or the information processing method according to any one of claims 4 to 6.
10. A computer-readable storage medium having instructions stored therein, which when executed by a computer, cause the computer to perform the information processing method according to any one of claims 1-3 or the information processing method according to any one of claims 4-6.
CN202211643887.7A 2022-12-20 2022-12-20 Information processing method, device, equipment and storage medium Active CN116405905B (en)

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