WO2018032654A1 - Procédé d'acquisition d'une carte hors ligne et unité à bord d'un véhicule - Google Patents

Procédé d'acquisition d'une carte hors ligne et unité à bord d'un véhicule Download PDF

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Publication number
WO2018032654A1
WO2018032654A1 PCT/CN2016/108330 CN2016108330W WO2018032654A1 WO 2018032654 A1 WO2018032654 A1 WO 2018032654A1 CN 2016108330 W CN2016108330 W CN 2016108330W WO 2018032654 A1 WO2018032654 A1 WO 2018032654A1
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WO
WIPO (PCT)
Prior art keywords
unit
map data
area
vehicle
map
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Application number
PCT/CN2016/108330
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English (en)
Chinese (zh)
Inventor
刘均
宋朝忠
欧阳张鹏
Original Assignee
深圳市元征科技股份有限公司
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Publication of WO2018032654A1 publication Critical patent/WO2018032654A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
    • G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
    • G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems

Definitions

  • the present invention relates to the field of electronic technologies, and in particular, to an offline map acquisition method and an onboard unit.
  • maps of in-vehicle devices are generally downloaded and updated in the presence of a network, or the offline map data packets are downloaded first in the case of a network, and then used without a network.
  • the user does not currently have a network to obtain a map, and does not download an offline map of the corresponding area in advance, so that when the user needs to use the map for navigation, it cannot be realized.
  • the technical problem to be solved by the embodiments of the present invention is to provide an offline map acquisition method and a vehicle-mounted unit, which are used to solve the problem of map acquisition of an in-vehicle device without a mobile network.
  • An embodiment of the present invention provides an offline map obtaining method, where the method includes:
  • the vehicle unit sends a connection request to the roadside unit, and establishes a connection with the roadside unit;
  • the onboard unit sends an area map acquisition request to the roadside unit
  • the vehicle-mounted unit receives map data of an area where the roadside unit is sent by the roadside unit, where map data of the area where the roadside unit is located is obtained by the roadside unit based on the area map Requesting acquisition and sending to the onboard unit.
  • the onboard unit after receiving the map data of the area where the roadside unit is sent by the roadside unit, the onboard unit further includes:
  • the onboard unit outputs the map data through a display device.
  • the map data has a corresponding area identifier, and the area identifier is regularly marked according to a relative position relationship of each area;
  • outputting the map data by the onboard unit through the display device includes:
  • the onboard unit determines, according to the pre-stored area identifier position relation table, a first area identifier adjacent to the area identifier corresponding to the received map data;
  • the onboard unit detects whether the area identifier corresponding to the at least one map data acquired in advance exists The first area identifier
  • the onboard unit acquires the map data corresponding to the first area identifier according to the received relative positional relationship between the area identifier corresponding to the map data and the first area identifier, and receives The map data that is obtained is combined with the map data corresponding to the first area identifier and output.
  • the method further includes:
  • the onboard unit after the onboard unit receives the navigation instruction for the target location information input by the user, querying, in the map data, whether the target location information exists;
  • the onboard unit plans and outputs a driving route from a current location to a location corresponding to the target location information according to the map data.
  • the method further includes:
  • the vehicle-mounted unit sends a traffic data update request for the map data to the roadside unit, so that the roadside unit acquires vehicle state information of a region, and generates a latest region according to the vehicle state information. Traffic data is sent to the onboard unit;
  • the onboard unit receives the latest traffic data sent by the roadside unit, and updates the map data according to the latest traffic data.
  • an embodiment of the present invention further provides an onboard unit, where the onboard unit includes:
  • connection establishing module configured to send a connection request to the roadside unit by the onboard unit, and establish a connection with the roadside unit
  • a first sending module configured to send, by the onboard unit, an area map obtaining request to the roadside unit
  • a map receiving module configured to receive, by the onboard unit, the road sent by the roadside unit The map data of the area where the side unit is located, wherein the map data of the area where the roadside unit is located is obtained by the roadside unit based on the area map acquisition request, and is sent to the onboard unit.
  • the onboard unit further includes:
  • a map output module configured to output the map data by the display unit by the onboard unit.
  • the map data has a corresponding area identifier, and the area identifier is regularly marked according to a relative positional relationship of each area;
  • the map output module includes:
  • an identifier determining unit configured to determine, by the onboard unit, according to the pre-stored area identifier position relationship table Receiving, by the area corresponding to the map data, an adjacent first area identifier;
  • a determining unit configured to detect, by the onboard unit, whether the first area identifier exists in an area identifier corresponding to the at least one map data acquired in advance;
  • an output unit configured to: if present, the onboard unit acquires map data corresponding to the first area identifier according to the received area identifier corresponding to the map data and the first area identifier The positional relationship is obtained by synthesizing the received map data and the map data corresponding to the first area identifier.
  • the onboard unit further includes:
  • a query module configured to query, in the map data, whether the target location information exists after the onboard unit receives the navigation instruction for the target location information input by the user;
  • a route planning module configured to: if the target location information exists, the onboard unit plans and outputs a driving route from a current location to a location corresponding to the target location information according to the map data.
  • the onboard unit further includes:
  • a second sending module configured to send, by the onboard unit, a traffic data update request for the map data to the roadside unit, so that the roadside unit acquires vehicle state information of a region, according to the The vehicle status information generates the latest traffic data of the area in which it is located, and transmits the traffic data to the onboard unit;
  • an update module configured to receive, by the onboard unit, the latest traffic data sent by the roadside unit, and update the map data according to the latest traffic data.
  • a connection request is sent to the roadside unit by the onboard unit, and a connection is established with the roadside unit, and then the onboard unit sends an area map acquisition request to the roadside unit, the roadside unit Obtaining, according to the area map obtaining request, the map data of the area where the roadside unit is located, and transmitting the map data to the onboard unit, where the onboard unit receives the map data of the area where the roadside unit is located, which can solve the problem of the vehicle.
  • the map gets the problem with the device without a mobile network.
  • FIG. 1 is a schematic flowchart of an offline map acquisition method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a map data area division according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a method for marking a region identifier according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of an onboard unit according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a map output module of FIG. 3 according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of another vehicle-mounted unit according to an embodiment of the present invention.
  • a roadside unit (RSU, abbreviated as Road Side Unit), which is installed on the road side and uses a dedicated short-range communication (DSRC) to communicate with an on-board unit (OBU, On Board Unit) or a server. .
  • DSRC dedicated short-range communication
  • An onboard unit is a device that uses DSRC technology to communicate with an RSU and a server, and is usually installed in a vehicle to acquire data of its own vehicle, and with servers, roadside units, and other vehicles.
  • the in-vehicle device performs data transmission and reception.
  • FIG. 1 is a schematic flowchart of a method for acquiring an offline map according to an embodiment of the present invention.
  • the method may be implemented by an onboard unit.
  • the method as shown in the figure includes at least:
  • Step S101 The onboard unit sends a connection request to the roadside unit, and establishes a connection with the roadside unit.
  • connection request may be sent to the roadside unit, where the request may carry the identifier of the vehicle unit or a connection address, such as a Bluetooth address,
  • the edge unit can agree to the request and establish a connection with the onboard unit corresponding to the received identifier or connection address.
  • Step S102 The onboard unit sends an area map acquisition request to the roadside unit.
  • the area map acquisition request may be sent to the roadside unit, where the area map acquisition request is used to instruct the roadside unit to send to the onboard unit.
  • Step S103 the onboard unit receives map data of an area where the roadside unit is sent by the roadside unit, where map data of the area where the roadside unit is located is the roadside unit based on the The regional map acquisition request is acquired and sent to the onboard unit.
  • the roadside unit After receiving the area map acquisition request, acquires map data of the area where the pre-stored roadside unit is located, and transmits map data of the area where the roadside unit is located to the vehicle-mounted unit.
  • map data of an area in which the road itself is located is pre-stored in the roadside unit.
  • the area A includes a roadside unit 1 (traffic light), a roadside unit 2 (street light), and a roadside unit 3 (convenience store), and all of the three roadside units are pre-stored in the area A.
  • Map data that is, if the onboard unit transmits a regional map acquisition request after any of the roadside unit 1, the roadside unit 2, or the roadside unit 3 is connected, the received map data is the area A Map data shown.
  • step S103 the method further includes:
  • the onboard unit outputs the map data through a display device.
  • the onboard unit may output the map data, for example, displaying image data of the map data on a display screen of the vehicle unit, and the voice data passes through the earphone or the speaker. Play it out.
  • the map data has a corresponding area identifier, and the area identifier is regularly marked according to the relative positional relationship of each area, and the onboard unit outputs the map data through the display device, which may be:
  • the onboard unit determines, according to the pre-stored area identifier position relation table, a first area identifier adjacent to the area identifier corresponding to the received map data.
  • the map data has a corresponding area identifier, where the area identifier may be identified according to a preset rule that can reflect the relative positional relationship between the areas. For example, as shown in FIG. 3, an exemplary identification manner, four regions adjacent to the region 1 may be labeled as 11, 12, 13, and 14, respectively, with the region 1, the region 12, and Areas adjacent to area 13 may be labeled 123, and so on.
  • the area identifier location relationship table is a mapping table reflecting the location relationship between the area identifier and the area, the area
  • the identification position relationship table may be pre-stored in the vehicle-mounted unit, or may be acquired by the vehicle-mounted unit through the roadside unit, and is not specifically limited.
  • the in-vehicle unit can search for the first area identifier adjacent to the area identifier corresponding to the received map data by using the area identifier position relationship table.
  • the vehicle unit can determine the first area adjacent to the area identifier 11 corresponding to the map data according to Table 1.
  • the identifiers are 1, 112 and 113 respectively.
  • the onboard unit detects whether the first area identifier exists in the area identifier corresponding to the at least one map data acquired in advance.
  • the onboard unit has previously acquired at least one map data of another area, and the onboard unit may search for the first area identifier corresponding to the at least one map data that has been previously acquired.
  • Area ID the area identifiers corresponding to at least one map data that have been acquired by the in-vehicle unit are 112, 124, and 14, respectively, and can be found after comparing with the first area identifiers 1, 11 2 and 113, and the area identifier 112 is the first
  • An area identifier may be considered to exist in the area identifier corresponding to the at least one map data acquired in advance.
  • the onboard unit acquires the map data corresponding to the first area identifier according to the received relative positional relationship between the area identifier corresponding to the map data and the first area identifier, and receives The map data that is obtained is combined with the map data corresponding to the first area identifier and output.
  • the onboard unit detects the area identifier corresponding to the at least one map data acquired in advance, If the first area identifier is present, the map data corresponding to the first area identifier and the map data of the area where the roadside unit is currently requested and acquired by the onboard unit may be combined and output. In the synthesis, the map data may be synthesized according to the relative positional relationship indicated by the received area map and the first area identifier.
  • the first area existing in the onboard unit is identified as area B, area C, and area D
  • the area identifier corresponding to the map data acquired by the current vehicle unit is area A
  • the map is reflected according to the preset area identifier.
  • the relative positional relationship of the data, the map data obtained by combining the area A, the area B, the area C, and the area D as shown in FIG. 2 can be output to the user.
  • the method further includes:
  • the onboard unit After the onboard unit receives the navigation instruction for the target location information input by the user, it is queried in the map data whether the target location information exists.
  • the onboard unit can navigate the vehicle in combination with the map data and the GPS navigation system.
  • the in-vehicle device may first search for the target location information input by the user in the at least one map data that has been acquired.
  • the navigation instruction may be a pressing operation of the navigation button of the in-vehicle device, a gesture operation on the preset navigation icon, or a voice command issued to the in-vehicle device, and the like, and is not specifically limited herein.
  • the navigation instruction includes target location information that the user needs to navigate, and the target location information may include a road name, a marker name, and the like.
  • the onboard unit plans and outputs a driving route from a current location to a location corresponding to the target location information according to the map data.
  • the onboard unit searches for the target location information in the map data acquired in advance, and can plan a driving route for the user according to the current location of the in-vehicle device and the acquired map data.
  • the target location information is in the same area as the current location of the onboard unit, and then the in-vehicle device only needs to call the map data of the current area of the onboard unit to drive the vehicle.
  • the route is only planned.
  • the target location information is not in the same area as the current location of the vehicle-mounted unit, and then the vehicle-mounted unit needs to first detect whether the map data corresponding to the target location information and the map data corresponding to the current location of the vehicle-mounted unit can be combined into a coherent map. Data, if available Therefore, the driving route can be planned only, otherwise the user is prompted not to plan the driving route.
  • the in-vehicle device can determine whether the relative positional relationship between the two is based on the area identifier of the map data corresponding to the target location information and the area identifier of the map data corresponding to the current location of the vehicle-mounted unit. If they are adjacent, the driving route planning is directly performed according to the map data synthesized by the adjacent positional relationship; if not adjacent, the onboard unit may detect at least one map data acquired in advance in the in-vehicle unit. Whether there is map data that connects the map data of the two, and if so, a coherent map data is synthesized, and the driving route planning is performed based on the coherent map data.
  • the method further includes:
  • the onboard unit transmits a traffic data update request for the map data to the roadside unit, so that the roadside unit acquires vehicle state information of a region, and generates a latest region according to the vehicle state information. Traffic data is sent to the onboard unit.
  • the map data may include traffic data, and may be used to indicate data of a road's patency state, traffic flow, traffic indicator status, and the like in the map.
  • the map data pre-stored by the roadside unit is generally acquired before, so the traffic data is not updated.
  • the vehicle unit may send a traffic data update request to the roadside unit, and after receiving the traffic data update request, the roadside unit may acquire the vehicle state information of the area in which it is located, and then according to the vehicle.
  • the state information generates the latest traffic data in the area where the roadside unit is located and sends it to the vehicle in the unit.
  • the vehicle status information may include a vehicle position, a vehicle speed, a road vehicle density, a road traffic volume, and the like, and the specific acquisition manner may receive the vehicle status information sent by the vehicle or the roadside unit in the area through the vehicle network.
  • the onboard unit receives the latest traffic data sent by the roadside unit, and updates the map data according to the latest traffic data.
  • the onboard unit may update the acquired map data of the area.
  • the embodiment of the present invention sends a connection request to the roadside unit through the vehicle-mounted unit, and establishes a connection with the roadside unit through the vehicle network, and then the vehicle-mounted unit sends the area map to the roadside unit through the vehicle network.
  • the roadside unit Acquiring a request, the roadside unit acquiring the area where the roadside unit is located based on the area map acquisition request
  • the map data of the domain is sent to the onboard unit, and the onboard unit receives the map data of the area where the roadside unit is located by the roadside unit through the vehicle network, and can solve the problem that the in-vehicle device has no mobile network. Map gets the problem.
  • FIG. 4 is a schematic structural diagram of an onboard unit according to an embodiment of the present invention, including:
  • connection establishing module 410 is configured to send, by the onboard unit, a connection request to the roadside unit, and establish a connection with the roadside unit;
  • the first sending module 420 is configured to send, by the onboard unit, an area map obtaining request to the roadside unit
  • the map receiving module 430 is configured to receive, by the onboard unit, map data of an area where the roadside unit is sent by the roadside unit, where map data of the area where the roadside unit is located is the roadside The unit acquires based on the area map acquisition request and sends it to the onboard unit.
  • the onboard unit further includes:
  • the map output module 440 is configured to output the map data by the display unit through the display unit.
  • the map data has a corresponding area identifier, and the area identifier is regularly marked according to a relative positional relationship of each area;
  • the map output module 440 includes an identification determining unit 441, a determining unit 442, and an output unit 443, as shown in FIG. 5, wherein:
  • the identifier determining unit 441 is configured to determine, according to the pre-stored area identifier position relationship table, the first area identifier adjacent to the area identifier corresponding to the received map data;
  • the determining unit 442 is configured to detect, by the onboard component, whether the first area identifier exists in an area identifier corresponding to the at least one map data that is acquired in advance;
  • the output unit 443 is configured to: if yes, the onboard unit acquires the map data corresponding to the first area identifier according to the received area identifier corresponding to the map data and the first area identifier The relative positional relationship is obtained by synthesizing the received map data and the map data corresponding to the first area identifier.
  • the onboard unit further includes:
  • the query module 450 is configured to: when the onboard unit receives the navigation instruction for the target location information input by the user, query the map data whether the target location information exists; [0103]
  • the route planning module 460 is configured to: if the target location information exists, the onboard unit plans and outputs a driving route from a current location to a location corresponding to the target location information according to the map data.
  • the onboard unit further includes:
  • the second sending module 470 is configured to send, by the onboard unit, a traffic data update request for the map data to the roadside unit, so that the roadside unit acquires vehicle state information of a region, according to the The vehicle status information generates the latest traffic data of the area in which it is located, and transmits the traffic data to the onboard unit;
  • the update module 480 is configured to receive, by the onboard unit, the latest traffic data sent by the roadside unit, and update the map data according to the latest traffic data.
  • the embodiment of the present invention sends a connection request to the roadside unit through the vehicle-mounted unit, and establishes a connection with the roadside unit through the vehicle network, and then the vehicle-mounted unit sends the area map to the roadside unit through the vehicle network.
  • the roadside unit acquires map data of an area where the roadside unit is located based on the area map acquisition request, and sends the map data to the vehicle-mounted unit, and the vehicle-mounted unit receives the roadside unit transmission station by using the vehicle network
  • the map data of the area where the roadside unit is located can solve the problem of map acquisition of the in-vehicle device without the mobile network.
  • FIG. 6 is a schematic structural diagram of another vehicle-mounted unit according to an embodiment of the present invention.
  • the onboard unit includes a processor 61, a memory 62, and a communication interface 63.
  • the processor 61 is connected to a memory 62 and a communication interface 63, for example, the processor 61 can be connected to the memory 62 and the communication interface 63 via a bus.
  • the processor 61 is configured to support the onboard unit to perform the corresponding function in the above method.
  • the processor 61 can be a central processing unit (English: central processing unit,
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • the above PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or a general array logic (GAL). Or any combination thereof
  • the memory 62 is used to store map data, traffic data, and the like.
  • Memory 62 can include volatile memory Memory (English: volatile memory), such as random access memory (English: random-access memory, abbreviation: RAM); memory 62 may also include non-volatile memory (English: non-vol atile memory), such as read-only Memory (English: read-only memory, abbreviation: ROM), flash memory (English: flash memory), hard disk (English: hard disk drive, abbreviation: HDD) or solid state drive (English: solid-state drive, abbreviation: SSD
  • the memory 62 may also include a combination of the above types of memories.
  • the communication interface 63 is for wireless connection with the roadside unit.
  • the processor 61 can perform the following operations:
  • the map data of the area where the roadside unit is sent by the roadside unit is received by the communication interface 63, wherein the map data of the area where the roadside unit is located is obtained by the roadside unit based on the area map. Requesting acquisition and sending to the onboard unit.
  • the processor 61 is further configured to:
  • the map data is output by a display device.
  • the map data has a corresponding area identifier, and the area identifier is regularly marked according to a relative position relationship of each area;
  • the processor 61 outputs the map data by using a display device, specifically for:
  • the processor 61 is further configured to:
  • the onboard unit plans and outputs a driving route from a current location to a location corresponding to the target location information according to the map data.
  • the processor 61 is further configured to:
  • the storage medium may be a magnetic disk, an optical disk, or a read-only storage memory (Read-Only)
  • ROM Read Only Memory
  • RAM Random Access Memory

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Business, Economics & Management (AREA)
  • Finance (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

Des modes de réalisation de la présente invention concernent un procédé d'acquisition d'une carte hors ligne et une unité à bord d'un véhicule. Le procédé comprend les étapes au cours desquelles : une unité à bord d'un véhicule envoie une demande de connexion à une unité de bord de route et établit une connexion à l'unité de bord de route ; l'unité à bord d'un véhicule envoie une demande d'acquisition d'une carte régionale à l'unité de bord de route ; et l'unité à bord d'un véhicule reçoit des données de carte d'une zone de l'unité de bord de route envoyées par l'unité de bord de route, les données de carte de la zone de l'unité de bord de route étant obtenues par l'unité de bord de route sur la base de la demande d'acquisition d'une carte régionale puis envoyées à l'unité à bord d'un véhicule. La présente invention peut servir à régler le problème de l'acquisition d'une carte lorsqu'une unité à bord d'un véhicule n'a pas accès à un réseau mobile.
PCT/CN2016/108330 2016-08-19 2016-12-02 Procédé d'acquisition d'une carte hors ligne et unité à bord d'un véhicule WO2018032654A1 (fr)

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CN201610688930.XA CN106323300A (zh) 2016-08-19 2016-08-19 一种离线地图获取方法及车载单元
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CN110996260B (zh) * 2019-10-08 2021-10-22 深圳市普天宜通技术股份有限公司 一种离线地图的获取方法、系统及存储介质
WO2021096514A1 (fr) * 2019-11-14 2021-05-20 Google Llc Fourniture et récupération avec priorité de données cartographiques hors ligne
CN111309832B (zh) * 2019-12-31 2023-03-28 厦门雅迅网络股份有限公司 一种电子地平线构建方法及系统
CN112349107B (zh) * 2020-11-04 2021-12-07 中国联合网络通信集团有限公司 基于etc的导航方法、导航服务器及etc后台系统

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