WO2023197651A1 - 信息处理方法及相关装置、系统 - Google Patents

信息处理方法及相关装置、系统 Download PDF

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Publication number
WO2023197651A1
WO2023197651A1 PCT/CN2022/139178 CN2022139178W WO2023197651A1 WO 2023197651 A1 WO2023197651 A1 WO 2023197651A1 CN 2022139178 W CN2022139178 W CN 2022139178W WO 2023197651 A1 WO2023197651 A1 WO 2023197651A1
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information
map
dynamic
indicate
spatial area
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PCT/CN2022/139178
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English (en)
French (fr)
Inventor
蒋言
费雯凯
刘建琴
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华为技术有限公司
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Publication of WO2023197651A1 publication Critical patent/WO2023197651A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models

Definitions

  • the present application relates to the field of maps, and more specifically, to information processing methods and related devices and systems.
  • High-precision maps not only include map elements with low timeliness and low frequency of change, such as roads, traffic signs, and traffic signs, but also map elements with high timeliness and high frequency of change, such as road construction and traffic information flow. Richer map elements and more frequent update requirements for map elements have caused the amount of map data to become larger and larger. As a result, the generation, transmission or processing of map data are facing greater pressure.
  • This application provides an information processing method and related devices and systems, in order to alleviate the pressure on the amount of map data faced in the generation, transmission or processing of map data.
  • the present application provides an information processing method, which can be executed by an information processing device or implemented by a logic module or software capable of realizing all or part of the functions of the information processing device.
  • the information processing device may include, for example, but is not limited to, a terminal device, a roadside device, a server, etc., and components (such as a chip, a chip system, etc.) configured in the terminal device, a roadside device, a server, etc.
  • the method includes: obtaining indication information, the indication information including a first information element, the first information element being used to indicate at least one of the following: the dynamic and static state of the map element in the first spatial area attributes, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the data processing method of the map information of the first spatial area; based on the indication information and from the perception Sensing information of the device generates first map information, the first map information is used to indicate the first map element in the first spatial area; and sends the first map information.
  • the information processing device in the first aspect may, for example, correspond to the information processing device A in the embodiments below.
  • the first map information in the first aspect may, for example, correspond to the map information A in the embodiments below, and the first map element in the first aspect may, for example, correspond to the map element A in the embodiments below.
  • the first map element in the first map information may be one or more map elements. This application does not limit the number of first map elements.
  • the first information element is used to indicate at least one of dynamic and static attributes, update frequency, data format and data processing method, the map elements or map information of the first spatial area have the same attribute characteristics.
  • the map elements in the first spatial area have the same dynamic and static attributes; when the first information element is used to indicate When the update frequency of the map information of the first spatial area is determined, the map information of the first spatial area is processed or transmitted based on the same update frequency; when the first information element is used to indicate the data format of the map information of the first spatial area, The map information of the first spatial area is generated or transmitted based on the same data format; when the map information of the first spatial area is based on the same data processing method, the map information of the first spatial area is processed based on the same data processing method.
  • the instruction information indicates the map elements or map information of the first spatial area.
  • the first spatial area is a spatial area divided in the map according to the attribute characteristics of the map elements or map information.
  • the map in this area The elements or map information have common attribute characteristics.
  • the map information processing device can generate or send the map information in a manner suitable for the common attribute characteristics, thereby Alleviate the pressure caused by excessive data volume on map generation, transmission or processing.
  • the common attribute characteristics can be embodied in the dynamic and static attributes of the map elements in the first spatial area, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and Data processing method for map information of the first spatial area. For example: if the map elements in the first spatial area are all dynamic elements, the map information processing device can generate the first spatial area encoded in a data format used to indicate dynamic elements based on the dynamic and static attributes indicated by the first information element.
  • map information and/or, based on the data format indicated by the first information element, encoding or transmitting the first map information of the first spatial area in the data format used to indicate dynamic elements; and/or, based on the first information element
  • the data processing method indicated by the element is to process the first map information in a data processing method suitable for dynamic elements; and/or, based on the update frequency indicated by the first information element, update or send the first map information.
  • the map information processing device can generate the first space encoded in the data format used to indicate the static elements based on the dynamic and static attributes indicated by the first information element.
  • Map information of the area and/or, based on the data format indicated by the first information element, encoding or transmitting the first map information of the first spatial area in the data format used to indicate static elements; and/or, based on the first
  • the data processing method indicated by the cell is to process the map information of the first spatial region in a data processing method suitable for static elements; and/or, based on the update frequency indicated by the first cell, update or send the map information of the first spatial region.
  • Map information This technical solution reflects the segmentation of spatial areas. By providing targeted instructions to individual spatial areas, it avoids the need for all spatial areas in the map to be processed in the same way, and avoids the need for a processing method that takes into account all map elements. Comes with data redundancy.
  • the indication information further includes a second information element, and the second information element is used to indicate the three-dimensional spatial range of the first spatial region.
  • the first space area is a three-dimensional space area.
  • the second information element in the indication information may specifically be a three-dimensional spatial expression of the first spatial area. Therefore, the information processing device can determine the first spatial area based on the second information element, and then generate the first map information for the three-dimensional spatial range.
  • the following provides two possible implementations of generating the first map information based on the indication information and the sensing information.
  • generating the first map information based on the indication information and sensing information from a sensing device includes: extracting the first map information from the sensing information based on the second information element. First perception information within a three-dimensional space range; generating the first map information based on the first information element and the first perception information.
  • the information processing device can extract the first perception information corresponding to the first spatial area from the perception information, and then perform element extraction based on the first perception information, and generate the first map information based on the extracted map elements and the first information element; Other perceptual information in this perceptual information may not be processed temporarily. In other words, the information processing device does not have to process and report all the sensing information, but processes and reports the first sensing information in a targeted manner, that is, the amount of data processing and data transmission can be reduced.
  • generating the first map information based on the indication information and the sensing information from the sensing device includes: extracting elements based on the sensing information to obtain map elements; Two cells: extract the first map element within the three-dimensional space range from the map information; generate the first map information based on the first cell and the first map element.
  • the information processing device may first perform element extraction based on the sensing information to obtain the map elements, and then extract the first map corresponding to the first spatial area from the map elements based on the three-dimensional spatial range of the first spatial area indicated by the second information element. elements, and then generate first map information based on the first map elements and the first information elements. For other map element information except the first spatial area, the information processing device does not need to process and report it temporarily. Therefore, the amount of data processing and data transmission can also be reduced.
  • map elements are extracted based on perceptual information, and both the first map element and the first perceptual information may correspond to the three-dimensional spatial range of the first spatial region. Therefore, the map elements correspond to the sensory information, and the first map element corresponds to the first sensory information. This application does not limit the number of map elements and the number of map elements included in the first map information.
  • obtaining the indication information includes: generating the indication information, or receiving the indication information.
  • the server can generate the instruction information by itself.
  • the information processing device is a roadside device, a terminal device, etc., and the roadside device, terminal device, etc. can receive the indication information from the server. This application does not limit this.
  • the dynamic and static attributes are: one of dynamic and static, or one of dynamic, semi-dynamic, semi-static and static.
  • dynamic and static attributes are divided based on different change frequencies of map elements in the spatial area. Based on different change frequencies, they can be divided into dynamic and static, and can also be divided into dynamic, semi-dynamic, semi-static and static. This application includes but is not limited to this.
  • the first map element has the dynamic and static attributes.
  • the first map element in the first map information may be one or more map elements. This application does not limit the number of first map elements.
  • the indication information indicates dynamic and static attributes
  • the first map elements in the first map information all have the dynamic and static attributes indicated by the indication information. In other words, the first map elements in the first map information have the same dynamic and static attributes.
  • the data format is a data format used to indicate static elements or a data format used to indicate dynamic elements.
  • Data formats can be used to define the format of map information. For example, it can be used to define what content is carried in the map information, the fields corresponding to each content, and the encoding method used to encode each content in the map information.
  • the corresponding data formats may include a data format for indicating dynamic elements and a data format for indicating static elements. Therefore, it can be avoided that all spatial areas in the map use the same data format to generate map information, and the data redundancy caused by the data format used to take into account all map elements can be avoided, which is beneficial to alleviating the generation and transmission of map data. pressure.
  • generating the first map information includes: generating the first map information having the data format; and/or sending the first map information.
  • Map information includes: sending the first map information in the data format.
  • the information processing device may generate first map information that satisfies the corresponding data format according to the data format indicated by the indication information, and may transmit the first map information in the above data format.
  • the data format corresponds to the dynamic and static attributes one-to-one.
  • the information processing device can determine the dynamic and static attributes of the map elements in the first spatial area based on the data format indicated by the indication information, and based on the dynamic and static attributes, use the corresponding update frequency and/or data processing method to perform the first map information processing and reporting.
  • the above indication information can indicate the data format while implicitly indicating the dynamic and static attributes of the map elements in the first spatial area, the update frequency and data processing method of the map information in the first spatial area, etc., thereby saving the indication information. signaling overhead.
  • the data format may not correspond to dynamic and static attributes one-to-one.
  • semi-static attributes, semi-dynamic attributes and dynamic attributes may also correspond to the same data format; for another example, semi-static attributes and static attributes may correspond to one type of data. format, semi-dynamic properties and dynamic properties corresponding to another data format, and so on.
  • the data format does not correspond one-to-one with dynamic and static attributes, the data format cannot be used to implicitly indicate the dynamic and static attributes, update frequency, data processing method, etc. of the map information of the first spatial area.
  • the sending the first map information includes: sending the first map information based on the update frequency. Map information.
  • the information processing device may transmit the first map information according to the update frequency indicated by the indication information.
  • different update frequencies can be used to send map information.
  • the above indication information can indicate the update frequency while implicitly indicating the dynamic and static attributes of the map elements in the first spatial area, the data format and data processing method of the map information in the first spatial area, etc., thereby saving the indication information. signaling overhead.
  • the update frequency may not correspond to dynamic and static attributes one-to-one.
  • semi-static attributes, semi-dynamic attributes and dynamic attributes can also correspond to the same update frequency; for another example, semi-static attributes and static attributes correspond to one update frequency, and semi-dynamic attributes and dynamic attributes correspond to another update frequency. etc.
  • the update frequency does not have a one-to-one correspondence with the dynamic and static attributes, the update frequency cannot be used to implicitly indicate the dynamic and static attributes of the map elements in the first spatial area, the data format of the map information of the first spatial area, the first Data processing methods for spatial area map information, etc.
  • the method further includes: receiving second map information, the second map information being used to indicate a second map element within the first spatial area. ;
  • the method further includes: obtaining the second information from the second information element according to the indication information. Obtain the information of the second map element from the map information; when the first information element is used to indicate the update frequency, the receiving the second map information includes: receiving the second map information based on the update frequency. .
  • the second map information in the first aspect may, for example, correspond to the map information B and/or the map information C in the following embodiments
  • the second map element in the first aspect may, for example, correspond to the map in the following embodiments.
  • the information processing device may receive map information of the first spatial area, such as second map information, from other devices, and may process or receive the second map information based on the information indicated by the first information element. For example, if the map elements in the first spatial area are all dynamic elements, the information processing device can obtain the information from the second map information based on at least one of the dynamic and static attributes, data format and data processing method indicated by the first information element. Obtain the information of the dynamic elements from frequency to receive the second map information. For another example, if the map elements in the first spatial area are all static elements, the information processing device can obtain the map information from the second map information based on at least one of the dynamic and static attributes, data format and data processing method indicated by the first information element.
  • the information processing device can obtain the information of the second map element in the first spatial area based on the received second map information. This helps the information processing device obtain more comprehensive map information, and then perform map updates, planning control, etc., thereby improving the safety of autonomous driving.
  • the present application provides an information processing method, which can be executed by an information processing device or implemented by a logic module or software capable of realizing all or part of the functions of the information processing device.
  • the information processing device may include, for example, but is not limited to, a terminal device, a roadside device, a server, etc., and components (such as a chip, a chip system, etc.) configured in the terminal device, a roadside device, a server, etc.
  • the method includes: obtaining indication information, the indication information including a first information element, the first information element being used to indicate at least one of the following: the dynamic and static state of the map element in the first spatial area attributes, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the data processing method of the map information of the first spatial area; receiving the first map information, the The first map information is used to indicate the first map element in the first spatial area; when the first information element is used to indicate at least one of the dynamic and static attributes, the data format and the data processing method, when the item is specified, the method further includes: obtaining the information of the first map element from the first map information according to the indication information; when the first information element is used to indicate the update frequency, the Receiving the first map information includes receiving the first map information based on the update frequency.
  • the information processing device in the second aspect may, for example, correspond to the information processing device B in the embodiments below.
  • the first map information in the second aspect may, for example, correspond to map information A and/or map information C in the embodiments below, and the first map element in the second aspect may, for example, correspond to map elements A and C in the embodiments below. /or map feature C.
  • the first map element in the first map information may be one or more map elements. This application does not limit the number of first map elements.
  • the first information element is used to indicate at least one of dynamic and static attributes, update frequency, data format and data processing method, the map elements or map information of the first spatial area have the same attribute characteristics.
  • the map elements in the first spatial area have the same dynamic and static attributes; when the first information element is used to indicate When the update frequency of the map information of the first spatial area is determined, the map information of the first spatial area is processed or transmitted based on the same update frequency; when the first information element is used to indicate the data format of the map information of the first spatial area, The map information of the first spatial area is generated or transmitted based on the same data format; when the map information of the first spatial area is based on the same data processing method, the map information of the first spatial area is processed based on the same data processing method.
  • the instruction information indicates the map elements or map information of the first spatial area.
  • the first spatial area is a spatial area divided in the map according to the attribute characteristics of the map elements or map information.
  • the map in this area The elements or map information have common attribute characteristics, and by instructing the map elements or map information in the first spatial area through the instruction information, the map information processing device can receive or process the map information in a manner suitable for the common attribute characteristics, This alleviates the pressure caused by excessive data volume on map processing or transmission.
  • the common attribute characteristics can be embodied in the dynamic and static attributes of the map elements in the first spatial area, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and Data processing method for map information of the first spatial area.
  • the map information processing device can obtain the data from the first map information based on at least one of the dynamic and static attributes, data format and data processing method indicated by the first information element. Obtain the information of the dynamic elements from The cell indicates the update frequency at which the first map information is received. For another example: if the map elements in the first spatial area are all static elements, the map information processing device can obtain the data from the first map based on at least one of the dynamic and static attributes, data format and data processing method indicated by the first information element.
  • map information of static elements is updated less frequently and the map information of dynamic elements is updated more frequently, then there is no need to use a higher transmission frequency when receiving map data of a spatial area with static attributes.
  • the information processing device can obtain information of the first map element in the first spatial area based on the received first map information. This helps the information processing device obtain more comprehensive map information, and then perform map updates, planning control, etc., thereby improving the safety of autonomous driving.
  • the indication information further includes a second information element, and the second information element is used to indicate the three-dimensional spatial range of the first spatial region.
  • obtaining the indication information includes: generating the indication information, or receiving the indication information.
  • the server can generate the instruction information by itself.
  • the information processing device is a roadside device, a terminal device, etc., and the roadside device, terminal device, etc. can receive the indication information from the server. This application does not limit this.
  • the dynamic and static attributes are: one of dynamic and static, or one of dynamic, semi-dynamic, semi-static and static.
  • the data format is a data format used to indicate static elements or a data format used to indicate dynamic elements.
  • second map information is generated based on the indication information and the sensing information from the sensing device, and the second map information is used to indicate the first A second map element within the spatial area; sending the second map information.
  • the information processing device can generate second map information based on the indication information and the sensing information, and send the second map information, so that other devices that receive the second map information can obtain more comprehensive map information and then perform map updates. , planning control, etc., thus helping to improve the safety of autonomous driving.
  • the second map information may, for example, correspond to map information B and/or map information C in the following embodiments
  • the second map element may, for example, correspond to map element B and/or map element C in the following embodiments. .
  • the present application provides an information processing method, which can be executed by an information processing device or implemented by a logic module or software capable of realizing all or part of the functions of the information processing device.
  • the information processing device may include, for example, but is not limited to, a terminal device, a roadside device, a server, etc., and components (such as a chip, a chip system, etc.) configured in the terminal device, a roadside device, a server, etc.
  • the method includes: generating indication information, the indication information including a first information element, the first information element being used to indicate at least one of the following: the dynamic and static state of the map element in the first spatial area attributes, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the data processing method of the map information of the first spatial area; sending the indication information.
  • the indication information including a first information element, the first information element being used to indicate at least one of the following: the dynamic and static state of the map element in the first spatial area attributes, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the data processing method of the map information of the first spatial area; sending the indication information.
  • the information processing device in the third aspect may, for example, correspond to the information processing device C in the embodiments below.
  • the map elements or map information of the first spatial area have the same attribute characteristics.
  • the map elements in the first spatial area have the same dynamic and static attributes;
  • the map elements in the first spatial area have the same dynamic and static attributes;
  • the map information of the first spatial area is processed or transmitted based on the same update frequency;
  • the map information of the first spatial area is generated or transmitted based on the same data format;
  • the map information of the first spatial area is based on the same data processing method, the map information of the first spatial area is processed based on the same data processing method.
  • the instruction information indicates the map elements or map information of the first spatial area.
  • the first spatial area is a spatial area divided in the map according to the attribute characteristics of the map elements or map information.
  • the map in this area The elements or map information have common attribute characteristics.
  • the map information processing device can generate, transmit or process the map information in a manner suitable for the common attribute characteristics. , thereby alleviating the pressure caused by excessive data volume on map generation, transmission or processing.
  • the common attribute characteristics can be embodied in the dynamic and static attributes of the map elements in the first spatial area, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and Data processing method for map information of the first spatial area.
  • the map information processing device can generate the first spatial area encoded in a data format used to indicate dynamic elements based on the dynamic and static attributes indicated by the first information element. map information, or decode the map information of the first spatial area in a data format used to indicate dynamic elements; and/or, based on the data format indicated by the first information element, decode the third spatial area in a data format used to indicate dynamic elements.
  • the map information processing device can generate the first space encoded in the data format used to indicate the static elements based on the dynamic and static attributes indicated by the first information element.
  • This technical solution reflects the segmentation of spatial areas. By providing targeted instructions to individual spatial areas, it avoids the need for all spatial areas in the map to be processed in the same way, and avoids the need for a processing method that takes into account all map elements. Comes with data redundancy.
  • map information of static elements is updated less frequently and the map information of dynamic elements is updated more frequently, then when sending map data of spatial areas with static attributes, there is no need to use a higher sending frequency to receive map data with static attributes. There is no need to use a higher receiving frequency when providing map data of a spatial area.
  • the indication information further includes a second information element, and the second information element is used to indicate the three-dimensional spatial range of the first spatial region.
  • the dynamic and static attributes are: one of dynamic and static, or one of dynamic, semi-dynamic, semi-static and static.
  • the data format is a data format used to indicate static elements or a data format used to indicate dynamic elements.
  • the method further includes: generating first map information based on the indication information and the sensing information from the sensing device, so The first map information is used to indicate the first map element in the first spatial area; and the first map information is sent.
  • first map information in the third aspect may, for example, correspond to the map information C in the embodiment below
  • first map element in the third aspect may, for example, correspond to the map element C in the embodiment below.
  • the information processing device can generate the first map information based on the indication information and the sensing information, and send the first map information, so that other devices that receive the first map information can obtain more comprehensive map information and then perform map updates. , planning control, etc., thus helping to improve the safety of autonomous driving.
  • the method further includes: receiving second map information, the second map information being used to indicate a second map element within the first spatial area; when When the first information element is used to indicate at least one of the dynamic and static attributes, the data format, and the data processing method, the method further includes: obtaining the second map information from the second map information according to the indication information. Obtaining the information of the second map element; when the first information element is used to indicate the update frequency, receiving the second map information includes: receiving the second map information based on the update frequency.
  • the second map information in the third aspect may, for example, correspond to map information A and/or map information B in the following embodiments
  • the second map element in the third aspect may, for example, correspond to the map in the following embodiments.
  • the specific process of the information processing device receiving the second map information is similar to the specific process of the information processing device receiving the second map information in the second aspect, and will not be described again here.
  • the information processing device may also acquire the information of the second map element in the first spatial area based on the received second map information. This helps the information processing device obtain more comprehensive map information, and then perform map updates, planning control, etc., thereby improving the safety of autonomous driving.
  • the method further includes: updating the indication information based on the second map information.
  • updating the indication information may include: updating the first information element and/or the second information element in the indication information.
  • updating the first information element may specifically include updating one or more of the dynamic and static attributes, update frequency, data format, and data processing method of the map information of the first spatial area.
  • Updating the second information element may specifically include updating the spatial area, for example, deleting the above-mentioned first spatial area, or adding a new spatial area.
  • the information processing device can generate and report the map information of the first spatial area based on the latest divided spatial area or the latest defined dynamic and static attributes, update frequency, data format, data processing method, etc. Therefore, the map information of the first spatial area can be generated and reported reasonably, avoiding unnecessary data processing and transmission, and improving the efficiency of map update.
  • the indication information is also used to indicate the identification of the first spatial area, and the identification of the first spatial area is used to identify the first space in the map. area; and/or, the indication information is also used to indicate reference map information, and the reference map information is used to indicate the version and/or supplier of the map on which the indication information is based.
  • Identification of spatial regions can be used to identify spatial regions. In order to easily distinguish different spatial areas, different spatial areas can be marked. The identification of the first spatial region may be used to uniquely identify the first spatial region.
  • the identification of the first spatial area may include a first field and a second field.
  • the first field is used to carry an area identification.
  • the area identification is an area to which the first spatial area belongs, such as a tile, a road, or a lane. etc.
  • the corresponding regional signs are tile signs, road signs, lane signs, etc.
  • the second field is used to uniquely identify the first spatial area within the area.
  • the identification of the first spatial area in the indication information, it is possible to facilitate different devices (such as servers, terminal devices, roadside devices, etc.) to align the three-dimensional spatial range of the first spatial area, thereby obtaining the first spatial area based on the first spatial area. Perceive information and report the first map information, thereby improving the efficiency of map update.
  • devices such as servers, terminal devices, roadside devices, etc.
  • the identification of the spatial area can also be used to identify the priority of the spatial area.
  • the different attention levels required by different spatial areas are identified by priority, thereby facilitating the information processing device to obtain perceptions based on the priorities of different spatial areas.
  • Information generate map information. Therefore, different degrees of attention can be given to different areas. For example, a higher degree of attention can be given to areas with dynamic attributes, which is more conducive to reasonable planning and control.
  • the indication information may also indicate reference map information, such as indicating the version and/or supplier of the reference map.
  • reference map information such as indicating the version and/or supplier of the reference map.
  • the map information of the first spatial area includes one or more of the following: identification of map elements, device information, time information, reference map information, first spatial area identification, confidence information and source information.
  • the identifier of the map element is used to identify the map element;
  • the equipment information is used to indicate a device that uploads the map information of the first spatial area, such as the above information processing device;
  • the time information is used to indicate the location of the map element.
  • the reference map information is used to indicate the version and/or supplier of the reference map;
  • the confidence information is used to indicate the map information of the first spatial area. Credibility level;
  • the source information is used to indicate the sensing device.
  • the receiving device of the map information in the first spatial area By indicating device information and source information, it is convenient for the receiving device of the map information in the first spatial area to identify the information uploaded by the same device, and to identify the sensing information sensed by the same sensing device, and use it as an auxiliary information source. to use.
  • the time information it is possible to facilitate the receiving device of the map information of the first spatial area to identify the latest information based on the upload time.
  • the reference map information it is convenient for the receiving device of the map information of the first spatial area to determine the map elements in the first spatial area based on the reference map and the map information of the first spatial area.
  • the identifier indicating the first spatial area facilitates each device to determine the first spatial area based on the identifier.
  • the confidence information it is convenient for the receiving device of the map information of the first spatial area to make reasonable planning control based on this.
  • the map information of the first spatial area also includes one or more of the following: motion information, color information, geometric information and position information of dynamic elements.
  • the color information is used to indicate the color of the dynamic element
  • the position information is used to indicate the position of the dynamic element
  • the geometric information is used to indicate the shape and/or size of the dynamic element
  • the The motion information is used to indicate the motion direction and/or motion speed of the dynamic element.
  • the dynamic elements change frequently and may be in motion, at least one of the motion information, position information, geometric information, and color information can be indicated for the dynamic elements to accurately determine the dynamic elements.
  • the map information of the first spatial area also includes change information, and the change information is used to indicate changes in static elements.
  • the map information of the first spatial area is used to indicate the static elements.
  • the time can be indicated by changing information.
  • the present application provides an information processing device, including a module or unit for implementing the method in any of the first to third aspects and any possible implementation manner of the first to third aspects. It should be understood that each module or unit can implement the corresponding function by executing a computer program.
  • the present application provides an information processing device, including a processor and a memory, the memory is coupled to the processor, the memory is used to store a computer program, and the processor executes the computer program, so that the The device implements the information processing method described in any of the first to third aspects and any possible implementation manner of the first to third aspects.
  • the device may further include a communication interface, which is used for the device to communicate with other devices.
  • the communication interface may be a transceiver, a circuit, a bus, a module, or other types of communication interfaces.
  • the information processing device described in the fourth and fifth aspects may be a terminal device, a roadside device, a server, or a component (such as a chip, a chip system) configured in a terminal device, a roadside device, a server, etc. wait). This application does not limit this.
  • the present application provides a vehicle that can be used to support the implementation of the functions involved in any of the above-mentioned first to third aspects and any possible implementation manner of the first to third aspects, for example, for example, receiving or process the data and/or information involved in the above methods.
  • the vehicle includes the device described in the fourth or fifth aspect.
  • the present application provides a chip system, which includes at least one processor and is used to support the implementation of any of the above-mentioned first to third aspects and any possible implementation manner of the first to third aspects.
  • the functions involved for example, include receiving or processing data and/or information involved in the above methods.
  • the chip system further includes a memory, the memory is used to store program instructions and data, and the memory is located within the processor or outside the processor.
  • the chip system can be composed of chips or include chips and other discrete devices.
  • the present application provides a communication system, including: a first information processing device and a second information processing device, wherein the first information processing device is configured to perform the first aspect and any possible implementation of the first aspect.
  • the method in; the second information processing device is used to perform the method in the third aspect and any possible implementation manner of the third aspect.
  • the communication system further includes a third information processing device, which is configured to perform the method in the third aspect and any possible implementation manner of the third aspect.
  • the present application provides a computer-readable storage medium, including a computer program that, when run on a computer, causes the computer to implement any one of the first aspect to the third aspect and the first aspect to the third aspect.
  • the present application provides a computer program product.
  • the computer program product includes: a computer program (which may also be called a code, or an instruction).
  • a computer program which may also be called a code, or an instruction.
  • the computer program When the computer program is run, it causes the computer to execute the first aspect to The method in the third aspect and any possible implementation manner of the first to third aspects.
  • Figure 1 is a schematic diagram of the system architecture provided by the embodiment of the present application.
  • Figure 2 is a schematic flow chart of the information processing method provided by the embodiment of the present application.
  • Figure 3 is a schematic diagram of multiple spatial areas provided by the embodiment of the present application.
  • Figure 4 is a schematic diagram of instruction information provided by an embodiment of the present application.
  • Figure 5 is a schematic flow chart of an information processing method provided by an embodiment of the present application.
  • Figure 6 is a schematic flow chart of another information processing method provided by an embodiment of the present application.
  • Figure 7 is a schematic flow chart of another information processing method provided by an embodiment of the present application.
  • Figure 8 is a schematic diagram of the method provided by the embodiment of the present application applied to a specific scenario
  • 9 to 12 are schematic block diagrams of an information processing device provided by embodiments of the present application.
  • sending in the embodiment of this application can be performed between devices, for example, it can be performed between different vehicles, or it can be performed between different roadside devices, or it can be performed between between different servers. It can also be done between the roadside equipment and the server, between the roadside equipment and the vehicle, or between the server and the vehicle. For another example, it can be carried out within the device, for example, transmitted between components in the device, between modules, between chips, software modules or hardware modules through buses, wires or interfaces. For example, sending coordinate conversion information may be performed within the same roadside device.
  • “Receiving” in the embodiment of this application may be performed between devices, for example, it may be performed between different vehicles, it may be performed between different roadside devices, or it may be performed between different servers. carried out in between. It can also be done between the roadside equipment and the server, between the roadside equipment and the vehicle, or between the server and the vehicle equipment. For another example, it can be performed within the device, for example, between components, modules, chips, software modules or hardware modules in the device through buses, wires or interfaces. For example, receiving coordinate conversion information may be performed within the same server or within the same vehicle.
  • the number of described objects is not limited by the prefix, and can be one or more. Taking “first device” as an example, the number of "devices” can be one or more.
  • the objects modified by different prefixes can be the same or different. For example, if the described object is “device”, then the “first device” and the “second device” can be the same device, the same type of device, or different types of devices. ; For another example, if the described object is "information”, then the "first information” and the “second information” may be information with the same content or information with different contents.
  • the use of prefixes used to distinguish the described objects in the embodiments of this application does not constitute a limitation on the described objects. For the description of the described objects, please refer to the claims or the context description in the embodiments. The use of such words should not be used. Prefix words constitute redundant restrictions.
  • At least one refers to one or more, and “multiple” refers to two or more.
  • “And/or” describes the association of associated objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural.
  • the character “/” generally indicates that the related objects are in an "or” relationship.
  • “At least one of the following” or similar expressions thereof refers to any combination of these items, including any combination of a single item (items) or a plurality of items (items).
  • At least one of a, b, or c can represent: a; b; c; a and b; a and c; b and c; or a and b and c.
  • a, b, c can be single or multiple.
  • intelligent transportation systems also known as intelligent transportation systems.
  • Intelligent transportation systems effectively apply information technology, data communication technology, sensor technology, artificial intelligence, etc. to transportation and service control, which can effectively improve the safety and efficiency of transportation.
  • FIG. 1 is a schematic diagram of a system architecture suitable for embodiments of the present application.
  • the system 100 shown in FIG. 1 includes at least one of a roadside device, a server, and a terminal device.
  • FIG. 1 shows a roadside device 110, a server 120, and terminal devices 131 and 132.
  • the roadside equipment 110 includes a roadside unit (RSU), a multi-access edge computing (MEC) or a sensor.
  • RSU roadside unit
  • MEC multi-access edge computing
  • the roadside equipment 110 can be an RSU, MEC or sensor, or it can be A system composed of RSU and MEC, or a system composed of RSU and sensors, or a system composed of RSU, MEC and sensors.
  • Server 120 may be a device with computing capabilities, such as an application server or a map server.
  • the server 120 may be, for example, a server deployed in a cloud environment, that is, a cloud server; or it may be a server deployed in an edge environment, that is, an edge computing server.
  • the server 120 may be an integrated device or multiple distributed devices, which are not specifically limited in the embodiment of this application.
  • the terminal devices 131 and 132 may be, for example, vehicles, on-board units (OBU), smart wearable devices (such as sports bracelets, watches, etc.), portable mobile devices (such as mobile phones, tablets, etc.), portable mobile devices
  • OBU on-board units
  • smart wearable devices such as sports bracelets, watches, etc.
  • portable mobile devices such as mobile phones, tablets, etc.
  • the components or chips in the various devices mentioned above are not specifically limited in the embodiments of this application.
  • FIG. 1 only shows one roadside device 110, one server 120 and two terminal devices 131 and 132, it should be understood that this application does not limit the number of roadside devices, servers and terminal devices.
  • the system 100 may also include other numbers of roadside devices, servers, and terminal devices, or may also include one or more devices among them, which is not limited in this application.
  • any device can serve as both a sending device and a receiving device.
  • the server when the electronic map is generated by the server, the server can obtain the risk event information based on the basic map and the artificial intelligence model.
  • the artificial intelligence model is trained based on historical accident data.
  • the historical accident data includes the occurrence period of the historical accident, the accident area, the risk level, the environmental information of the accident area during the occurrence period, and the road status information of the accident area, etc.
  • the server when the server detects changes in elements that affect risk events based on data source equipment (for example, road surface monitoring devices, roadside equipment, terminal equipment, etc.), the server can also update the risk based on the changed elements. event information.
  • the base map may be a high-precision map, a standard-precision map, or other types of maps, which are not specifically limited in this embodiment of the present application.
  • the data source device may be, for example, a device provided by a traffic management department that provides traffic condition data.
  • the server can serve as the publisher of the electronic map, and the terminal device or roadside device can serve as the receiver and user of the electronic map.
  • terminal devices and roadside devices also have information acquisition capabilities and computing capabilities, in addition to being receivers and users of electronic maps, terminal devices or roadside devices can also be used as producers of electronic maps to generate risk events locally. information, for your own use or to send to other devices.
  • the terminal device can be a vehicle, OBU and other devices.
  • the above-mentioned base map is stored in the terminal device.
  • the terminal device can obtain map data related to risk events at its location or within a certain geographical area from the above-mentioned basic map based on its current location information and/or its own planned trajectory information, such as environmental prediction information or road status information, combined with
  • the artificial intelligence model generates an electronic map containing risk event information within a certain geographical area for its own use or for use by other devices.
  • a map server in the cloud publishes an electronic map to a portable terminal device held by a pedestrian. It can publish it through a cellular communication network including a base station, or it can be forwarded to the portable terminal by a roadside device through V2X communication. Since risk events are closely related to dynamic elements in the surrounding environment, when the status of the associated dynamic elements changes, the risk event information will be updated accordingly.
  • the communication between the server and the terminal device, between the terminal device and the roadside device, and between the server and the roadside device can all use cellular communication technology, such as 2G cellular communication, such as Global Mobile Communication system (global system for mobile communication, GSM), general packet radio service (GPRS); or 3G cellular communications, such as wideband code division multiple access (WCDMA), time division synchronous code division Multiple access (time division-synchronous code division multiple access, TS-SCDMA), code division multiple access (code division multiple access, CDMA); or 4G cellular communications, such as long term evolution (long term evolution, LTE); Or 5G cellular communications, and other evolving cellular communications technologies.
  • 2G cellular communication such as Global Mobile Communication system (global system for mobile communication, GSM), general packet radio service (GPRS); or 3G cellular communications, such as wideband code division multiple access (WCDMA), time division synchronous code division Multiple access (time division-synchronous code division multiple access, TS-SCDMA), code division multiple access (code division multiple access, CDMA); or
  • Wireless communication systems can also utilize non-cellular communication technologies, such as Wi-Fi and wireless local area network (WLAN) communications.
  • the communication between the above-mentioned devices may also utilize infrared links, Bluetooth or Zigbee for direct communication.
  • other wireless protocols may also be used for communication between the above devices, such as various vehicle communication systems.
  • the system may include one or more dedicated short range communications (DSRC) devices. These devices It may include public and/or private data communications between vehicles and/or roadside stations, and is not specifically limited in this application.
  • DSRC dedicated short range communications
  • Figure 1 is only an exemplary architecture diagram, but does not limit the number of network elements included in the system shown in Figure 1 .
  • FIG. 1 may also include other functional entities.
  • the method provided by the embodiment of the present application can be applied to the system shown in Figure 1.
  • the method provided by the embodiment of the present application can also be applied to other communication systems, which is not limited by the embodiment of the present application.
  • Embodiments of the present application provide an information processing method that uses indication information to indicate one or more of the dynamic and static attributes, update frequency, data format, and data processing method of a certain spatial area, so that the sensing device can use the indication information to To perform data processing reasonably, such as distinguishing spatial areas with different dynamic and static attributes, processing and reporting map information of different spatial areas according to different update frequencies, etc.
  • map information of different spatial areas can be distinguished
  • Processing and reporting instead of having to process and report all sensory information every time map information is reported, can reduce the amount of data processing and reduce the computing power requirements of the device.
  • the amount of reported data can be reduced and the demand for transmission bandwidth can be reduced.
  • Map is the carrier of geographical information. Maps include multiple layers. A layer is a map dataset with a specific organizational structure. The data in the layer is organized in a certain data structure and can describe map features from multiple sources. For example, roads, lane lines, buildings, pedestrians, vehicles, traffic signs, roadside equipment, etc. in Figure 1 are all map elements.
  • map elements can be distinguished into different dynamic and static attributes.
  • map features can be divided into two types: static features and dynamic features.
  • static elements are map elements whose elements are relatively fixed, change little or have a long update cycle, such as roads, buildings, lane lines, lane directions or traffic infrastructure layout, etc.
  • dynamic elements are maps with strong time-varying characteristics. Elements can also be called events, such as traffic accidents, weather changes, icy roads, road construction, or traffic jams.
  • static features and dynamic features are recorded in different layers.
  • information about static features is carried by static layers in the map
  • information about dynamic features is carried by dynamic layers in the map.
  • the data in the map's static layers can be called elements or static features
  • the data in the map's dynamic layers can be called events or dynamic features.
  • the map can include one or more static layers, and can further include one or more dynamic layers.
  • a map includes a static layer and multiple dynamic layers.
  • the static layer records the geographical distribution of buildings, roads, trees, traffic lights and road signs.
  • the dynamic layer 1 records the real-time speed limit of the lane.
  • the dynamic layer 2 records the weather conditions, traffic construction conditions, and the flow of people and vehicles, such as sunny, rainy, snowy, windy, temperature or humidity, etc.
  • map elements can also be divided into four types: static elements, semi-static elements, semi-dynamic elements and dynamic elements.
  • static elements are map elements whose elements are relatively fixed, change little or have a long update cycle, such as roads, buildings, etc. These map elements will not change under normal circumstances and have a long update cycle, such as monthly, daily
  • semi-static elements are elements that change relatively, but the frequency of changes is not high, such as road construction, weather information, etc.
  • the update cycle of such map elements can be measured in hours or minutes.
  • Semi-dynamic elements can include traffic accidents, traffic jams, etc. on the road at any time, and the update cycle of such map elements can be less than 1 minute
  • Dynamic elements can include real-time updated information, such as vehicles, pedestrians, etc., and the update of such map elements can The period can be measured in seconds.
  • static elements, semi-static elements, semi-dynamic elements and dynamic elements are recorded in different layers.
  • information about static elements is carried by the static layer in the map
  • information about semi-static elements is carried by the map.
  • the semi-static layer in the map is carried
  • the information about the semi-dynamic features is carried by the semi-dynamic layer in the map
  • the information about the dynamic features is carried by the dynamic layer in the map.
  • a map can include one or more static layers, one or more semi-static layers, one or more semi-dynamic layers, and one or more dynamic layers.
  • the information carried by each layer can be found in the previous examples of static layers and dynamic layers, and will not be described again here.
  • map elements are classified, the essence is that they are divided according to the time variability of the map elements, but the number of categories is different.
  • Time-invariant map elements refer to those that are relatively fixed, change less, or have a longer update cycle.
  • map elements that is, the description object is related to both the elements in the map and the events in the map.
  • the geographical location of the lane is the element in the map
  • the traffic volume of the lane is the event in the map
  • the speed limit of the lane is the event in the map
  • the allowed traffic period of the lane is the event in the map. event.
  • the position of the traffic light in the intersection is an element in the map
  • the lighting change of the traffic light is an event in the map.
  • Road network structure data The road network structure data in the map can be divided into tile level, road level and lane level. Each tile in the map has a unique tile identification (ID). Each tile includes multiple roads. Each road has a unique road ID. Each road includes multiple lanes. Each lane Have a unique lane ID.
  • tiles can be understood as: cutting a map within a certain range into a rectangular raster image of several rows and columns according to a certain size and format and different map resolutions. The sliced rectangular raster image is called Tiles.
  • the information processing method provided by the embodiment of the present application will be described below with reference to the accompanying drawings.
  • the information processing method shown below can be executed by an information processing device, or can be implemented by a logic module or software that can realize all or part of the functions of the information processing device, which is not limited in this application.
  • the information processing device may include, for example, but is not limited to, a terminal device, a roadside device, a server, etc., and components (such as a chip, a chip system, etc.) configured in the terminal device, a roadside device, a server, etc.
  • the information processing device used to execute the method 200 shown in FIG. 2 is denoted as information processing device A, and the map information generated by the information processing device A is denoted as map information A.
  • the map information A can be used for Map element A indicating the first spatial area;
  • the information processing device for executing the method 500 shown in FIG. 5 is denoted as information processing device B, and the map information generated by the information processing device B is denoted as map information B.
  • Map information B The map element B that can be used to indicate the first spatial area;
  • the information processing device used to perform the method 600 shown in FIG. 6 is denoted as information processing device C, and the map information generated by the information processing device C is denoted as map information C.
  • Map Information C may be used to indicate map element C of the first spatial region.
  • map information A, map information B and map information C are all map information of the first spatial area, all can be used to indicate map elements of the first spatial area, and all can be generated based on the same indication information.
  • the map elements indicated by map information A, map information B and map information C may be the same or different.
  • Map element A, map element B, and map element C may each include one or more map elements, and map element A, map element B, and map element C may be the same or different.
  • the names in this article are only used to facilitate the differentiation of different processing devices, and should not constitute any restrictions on the map information and map elements themselves.
  • Figure 2 is a schematic flow chart of the information processing method 200 provided by an embodiment of the present application. As shown in FIG. 2 , the information processing method 200 may include steps 210 to 230 . Each step in the method 200 is described in detail below.
  • the information processing device A obtains indication information, which is used to indicate at least one of the following contents: dynamic and static attributes of the map elements of the first spatial area, update frequency of the map information of the first spatial area, The data format of the map information of the first spatial area and the data processing method of the map information of the first spatial area.
  • the first spatial area can be any spatial area in the map.
  • the perceptual information in the first spatial area can be recorded as first perceptual information.
  • the map information of the first spatial area may be recorded as first map information.
  • the map may be a map that has been pre-stored by the information processing device A, for example, a map that is pre-stored locally by a server, or obtained by a terminal device, a roadside device, etc. from a server. It should be noted that since the server may frequently update the map, the map held by the terminal equipment, roadside equipment, etc. as the information processing device A is not necessarily the latest version of the map held by the server. In other words, the map held by the information processing device A and the map in the server may be different versions of the map, or they may be the same version of the map.
  • the latest version of the map held by the server is recorded as the reference map.
  • the server can divide spatial areas based on the reference map and generate indication information for each spatial area; it can also update the reference map based on the received map information.
  • the first spatial area can be obtained by dividing the spatial area in the reference map by the server and issued to the terminal equipment, roadside equipment, etc. as the information processing device A, or it can also be obtained by the terminal equipment as the information processing device A, Roadside equipment, servers, etc. can divide the spatial areas in the maps they hold by themselves, and this application does not limit this.
  • the information processing device A includes terminal equipment and/or roadside equipment, after the server divides the spatial areas in the reference map, it can generate instruction information for each spatial area and deliver it to the terminal equipment and roadside equipment.
  • the information processing device A obtaining the indication information in step 210 may include: the information processing device A receiving the indication information.
  • the information processing device A can divide the spatial areas in the map it holds and generate instruction information for each spatial area.
  • the information processing device A obtaining the indication information in step 210 may include: the information processing device A determining the indication information.
  • each spatial area can be determined based on the spatial distribution characteristics of each map element in the map. That is to say, when the first space region is divided, the dynamic and static attributes of the first space region can be determined.
  • the indication information is indication information from the server.
  • the indication information is not only used to indicate one or more of the dynamic and static attributes of the map elements of the first spatial area, the update frequency of the first spatial area, the data format of the first spatial area, and the data processing method of the first spatial area. Item can also be used to indicate the three-dimensional spatial range of the first spatial region.
  • the indication information includes a first information element and a second information element.
  • the first information element is used to indicate the dynamic and static attributes of the map elements of the first spatial area, the update frequency of the first spatial area, and the second information element.
  • One or more of the data format of a spatial region and the data processing method of the first spatial region; the second information element is used to indicate the three-dimensional spatial range of the first spatial region.
  • the information processing device A After receiving the instruction information, the information processing device A can determine the first spatial area based on the second information element, so that the perception information in the first spatial area (that is, the above-mentioned first perception information) can be processed based on the first information element. .
  • the dynamic and static attributes may include: static attributes and dynamic attributes, or may also include static attributes, semi-static attributes, semi-dynamic attributes and dynamic attributes.
  • the map elements in the first spatial area may have the same dynamic and static attributes, such as one of static attributes and dynamic attributes, or one of static attributes, semi-static attributes, semi-dynamic attributes and dynamic attributes. This application does not limit this.
  • the spatial area can be divided according to the spatial distribution characteristics of the dynamic and static attributes of each map element in the map, and the spatial area where the map elements with the same dynamic and static attributes are located is defined as the same spatial area.
  • the way to divide spatial areas is not limited to this. Since the aforementioned design may have a higher accuracy in dividing space areas, more space areas will be divided.
  • a spatial area in which the proportion of map elements with the same dynamic and static attributes is higher than a certain threshold can be defined as a spatial area.
  • the space area divided thereby can be a continuous space area.
  • map elements in the same spatial area can be defined with the same dynamic and static attributes, so that the same processing method can be used to generate and send map information.
  • this design's division of spatial areas is not as precise as the previous design, but it can greatly reduce the computational complexity.
  • the spatial area can also be associated with dynamic and static attributes.
  • the dynamic and static attributes of the map elements in the first spatial area can be defined as the dynamic and static attributes of the first spatial area.
  • the dynamic and static attributes of the first spatial region may be, for example, one of static attributes and dynamic attributes, or may be one of static attributes, semi-static attributes, semi-dynamic attributes and dynamic attributes.
  • the indication information is used to indicate the dynamic and static attributes of the map elements in the first spatial area.
  • the indication information is used to indicate the dynamic and static attributes of the first spatial area.
  • Figure 3 shows a part of the spatial area obtained by dividing the map in Figure 1. It should be understood that the spatial area shown in Figure 3 is only an example, and the spatial area in Figure 1 has not been completely traversed. It can be seen that areas 1, 2, 3, 4, and 5 are all buildings and are static elements. The dynamic and static attributes of these areas can be defined as static attributes. Area 6 is the spatial area within the road and its vertical space. Since there are traffic flows such as pedestrians and vehicles within a certain height range above the road (for example, within 2 meters), the dynamic and static attributes of this area can be defined as dynamic attributes. .
  • the spatial area and its corresponding dynamic and static attributes shown in Figure 3 are only examples to facilitate understanding, and should not constitute any limitation on the present application.
  • more spatial areas can be obtained by dividing the space shown in Figure 1.
  • the dynamic and static properties of these areas can be defined as dynamic properties. Since the traffic environment in actual scenarios is far more complex than that shown in Figure 1, based on the number of predefined categories, the spatial area can also be defined as more dynamic and static attributes, such as static, semi-static, semi-dynamic and dynamic. No more detailed illustrations here.
  • map information is used to reflect the situation of map elements in a spatial area
  • the map elements in the first spatial area can be processed according to the data processing method for dynamic elements. , and/or, generate map information according to the data format of dynamic elements, and/or update or send map information according to the update frequency of dynamic elements;
  • the first Map elements in the spatial area can be processed according to the data processing method of static elements, and/or corresponding map information is generated according to the map data format of static elements, and/or updated according to the update frequency of static elements or Send map information.
  • the update frequency may specifically refer to the frequency with which the information processing device A updates the map information, or in other words, the frequency with which the map information is sent.
  • each update of the map information depends on the sensing information collected during the time interval between the last update and the current update (that is, the update period). Therefore, the higher the update frequency, the shorter the update period. If the dynamic and static attributes of the map elements in the first spatial area are dynamic attributes, a higher update frequency can be used; if the dynamic and static attributes of the map elements in the first spatial area are static elements, a lower update frequency can be used frequency.
  • Map information in different spatial areas can correspond to different update frequencies.
  • the indication information is used to indicate the update frequency, it may directly indicate the update frequency of the first spatial area.
  • Data formats can be used to define the format of map information. For example, it can be used to define what content is carried in the map information, the fields corresponding to each content, and the encoding method used to encode each content in the map information. It can be understood that after the map information is generated according to a certain data format, the map information can be transmitted in the form of the data format.
  • the data format may be divided into a data format for indicating static elements and a data format for indicating dynamic elements.
  • the data formats may also be divided into data formats used to indicate static elements, data formats used to indicate semi-static elements, data formats used to indicate semi-dynamic elements, and data formats used to indicate dynamic elements.
  • the data format used to indicate dynamic elements contains fields for carrying motion information, and the data format used to indicate static elements does not contain fields used to carry motion information.
  • the movement information includes movement direction and/or movement speed.
  • map data used to indicate dynamic features or semi-static features can describe changes in the static features or semi-static features through differences. In this way, the amount of data transmission can be reduced and bandwidth can be saved.
  • the encoding methods of map data used to indicate dynamic features and those used to indicate static features may also be different. For the sake of brevity, no further details will be given here.
  • the data format can also be divided into more possible formats, such as dynamic attributes, semi-dynamic attributes, semi-static attributes and static attributes.
  • the data format can also be divided into more different formats, which is not limited in this application.
  • the data processing method may specifically refer to the processing method of the information processing device A on the sensing information from the sensing device.
  • sensing information usually comes from multiple different sensing devices, such as lidar, millimeter wave radar, cameras, etc.
  • the sensing information collected by different sensing devices may be collected from different angles and different locations. , so the collected sensory information may be data in different reference systems and at different locations; and the data types of the sensory information from different sensing devices may also be different, for example, it may be point cloud data or image data. Therefore, data processing may specifically include, but is not limited to, extracting map elements from sensory information, fusing map elements, etc. Among them, fusion includes: fusing data collected at different locations, data in different coordinate systems, and different types of data together, and presenting them as one type of data in the same coordinate system.
  • map elements in different spatial areas may correspond to different dynamic and static attributes, different data processing methods can be used to process map elements in different spatial areas. For example, for dynamic elements, you can use a shorter time-consuming data processing method to obtain real-time data; for static elements, you can use a longer time-consuming data processing method, and even the sensory information at multiple time points can be processed. Fusion processing.
  • the three-dimensional space range is specifically the three-dimensional space range of the space area.
  • the three-dimensional spatial range can be specifically expressed by the three-dimensional spatial coordinates of the spatial region.
  • it can be expressed using three-dimensional coordinates in a universal coordinate system, which may include, but is not limited to, a geographical coordinate system, a geodetic coordinate system, etc.; it can also be expressed using three-dimensional coordinates in a relative coordinate system.
  • the position of the first spatial area is expressed by the three-dimensional coordinates relative to a certain position point in the reference map. This application does not limit this.
  • the information processing device A does not necessarily have a reference map.
  • the second information element in the above indication information may indicate the first spatial area by indicating the three-dimensional coordinates of the first spatial area relative to a certain position point in the reference map.
  • Three-dimensional spatial range when the information processing device A does not hold a reference map, the second information element in the above indication information can indicate the three-dimensional spatial range of the first spatial area through three-dimensional coordinates in the universal coordinate system. This application does not limit this.
  • the indication information can be used to indicate the dynamic and static attributes of the map elements in the first spatial area, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the data format of the first spatial area.
  • One or more of the data processing methods for map information can be used to indicate the dynamic and static attributes of the map elements in the first spatial area, or the update frequency, or the data format of the map information of the first spatial area, or the data processing method of the map information of the first spatial area, or , can also be used to indicate any of the four items.
  • each dynamic and static attribute may correspond to one or more of the following: the update frequency of the first map information, the data format of the first map information, and the first map How information is processed.
  • the information processing device A can process and report the sensing information in the first spatial area based on the corresponding update frequency, or based on The sensory information of the first spatial area is processed using the corresponding data processing method, or the first map information is generated based on the corresponding data format.
  • different update frequencies can be defined for map elements with different dynamic and static attributes, or That is, different update frequencies are defined for spatial areas with different dynamic and static attributes. That is, the update frequency can also correspond to dynamic and static attributes one-to-one. For example, for the spatial area where map elements with dynamic attributes are located, the update frequency of map information is the highest, and for the spatial area where map elements with static attributes are located, the update frequency of map information is the lowest. That is, the update frequency of the map information of the spatial area with dynamic attributes is the highest, and the update frequency of the map information of the spatial area with static attributes is the highest.
  • the corresponding update frequencies from high to low are: dynamic attributes, static attributes; if the dynamic and static attributes include static attributes, semi-static attributes, semi-dynamic attributes and dynamic attributes, Then the update frequencies corresponding to the four are, from high to low: dynamic attributes, semi-dynamic attributes, semi-static attributes, and static attributes.
  • update frequency does not need to correspond one-to-one with dynamic and static attributes.
  • update frequency can also be defined.
  • static attributes and semi-static attributes correspond to one update frequency
  • dynamic attributes and semi-dynamic attributes correspond to another update frequency.
  • the update frequency can also correspond to the dynamic and static attributes one-to-one
  • the two items of dynamic and static attributes and update frequency can be indicated alternatively, that is, the update frequency can be implicitly indicated through the dynamic and static attributes. , or implicitly indicate dynamic and static properties through update frequency. In this way, the signaling overhead of the indication information can be reduced.
  • the update frequency can be implicitly indicated through the dynamic and static attributes.
  • one of the four items can also be indicated, that is, through to implicitly indicate any one of the other three items to reduce the signaling overhead of indication information.
  • the indication information can also be used to indicate the identification and/or reference map information of the first spatial area.
  • the map may include more spatial areas in addition to the first spatial area. In order to easily distinguish different spatial areas, different spatial areas can be marked.
  • the identification of the first spatial region may be used to uniquely identify the first spatial region in the map.
  • the map may be a reference map or a map held by the information processing device A. This application does not limit this.
  • the identification of the first spatial area includes a first field and a second field.
  • the first field is used to carry the area identification.
  • the area identification is the tile, road, lane, etc. to which the first spatial area belongs. , corresponding signs such as tile signs, road signs, lane signs, etc.
  • the second field is used to uniquely identify the first spatial area within the tile, road, lane, etc.
  • the identification of the spatial area can also be used to identify the priority of the spatial area. For example, the different degrees of attention required by different spatial areas are identified by priority, which facilitates information processing device A to obtain information based on the priorities of different spatial areas. Perceive information and generate map information.
  • Reference map information may be used to indicate the version and/or vendor of the reference map.
  • the elements are compared with them to generate the first map information. For example, it can be determined whether the collected information is different from the information in the reference map, and then the change information is determined, the first map information is generated, and the amount of data transmission is reduced.
  • the information processing device A does not necessarily hold a reference map. If it does not hold a reference map, the information processing device A can also generate the first map information based on a priori map data.
  • FIG. 4 exemplarily shows this indication information.
  • the indication information shown in Figure 4 includes: a first information element, a second information element, a third information element and a fourth information element.
  • the first information element is used to indicate the dynamic and static attributes of the map elements in the first spatial area, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area and the map of the first spatial area. How information is processed.
  • the second information element is used to indicate the three-dimensional spatial range of the first spatial region.
  • the third information element is used to indicate the identity of the first spatial area.
  • the fourth information element is used to indicate reference map information, which may include, for example, the version of the reference map and the supplier of the reference map.
  • the indication information shown in FIG. 4 is only an example. As mentioned above, the indication information may include one or more items of information listed in FIG. 4 . For the sake of brevity, no further details will be given here. It should also be understood that the specific structure of the indication information shown in Figure 4 is only an example, and the indication information can also have other structures, which is included in this application but is not limited thereto.
  • step 220 the information processing device A generates map information A based on the indication information and the sensing information from the sensing device.
  • the first map information is used to indicate the map element A of the first spatial area.
  • the sensing device may be, for example, a sensing device configured in the information processing device A, or may be a sensing device that is communicatively connected to the information processing device A.
  • the sensing device may be a device with data processing capabilities or a device without data processing capabilities, which is not limited in this application.
  • sensing devices include, for example, roadside devices, terminal devices (including but not limited to cars, vehicle-mounted terminals, etc.), sensors (such as but not limited to lidar sensors, millimeter-wave radar sensors, etc.), cameras etc., as well as systems composed of roadside equipment and sensors and/or cameras, systems composed of terminal equipment and sensors and/or cameras, etc. No more enumeration here.
  • the information processing device A can extract the sensory information or map elements in the first spatial area based on the three-dimensional spatial range of the first spatial area, Then map information A is generated. Since the map information A is generated based on the perceptual information in the first spatial area, and the perceptual information includes real-time collected information on the map elements in the first spatial area, the first map information can be used to indicate the first spatial area. Map feature A within.
  • One possible implementation method is to extract the first perception information within the three-dimensional space range from the perception information based on the three-dimensional space range of the first space region; and based on the above dynamic and static attributes, update frequency, data format and data processing method One or more of them, and the first perception information, generate map information A.
  • the map information A obtained in this way can be used to indicate the map element A within the first spatial area.
  • the information processing device A can first exclude the sensing information that does not belong to the first spatial region from the sensing information based on the spatial division of the first spatial region, and obtain the first sensing information corresponding to the first spatial region, and then can Processing based on the first sensing information, such as merging sensing information from different sensing devices, extracting sensing information based on the fused data, etc., and then based on one of the dynamic and static attributes, update frequency, data format and data processing method or Multiple items, generate map information A.
  • Another possible implementation method is to extract elements based on the sensory information to obtain map elements; based on the three-dimensional space range of the first space area, determine the map element A within the three-dimensional space range from the map elements; based on the above dynamic One or more of static attributes, update frequency, data format and data processing method, as well as map element A, generate the map information A.
  • the information processing device A can first extract elements from the sensing information from each sensing device to obtain the map elements extracted from the sensing information of each sensing device and their corresponding spatial information, and then based on the first space
  • the three-dimensional spatial range of the area, the map elements belonging to the three-dimensional spatial range among the map elements previously extracted from the sensing information of each sensing device are determined as map element A, and then based on the map element A, the data from different sensing devices can be processed Fusion is performed, and then based on one or more of dynamic and static attributes, update frequency, data format and data processing method, the first map information A is obtained.
  • the map element A in the generated map information A has the dynamic and static attributes.
  • the generated map information A may specifically include: generating map information A that satisfies the dynamic and static attributes.
  • map information that satisfies dynamic and static attributes may specifically include one or more of the following: update frequency satisfies dynamic and static attributes, data format satisfies dynamic and static attributes, data processing method satisfies dynamic and static attributes, and is carried in the map information for indication. Identification of dynamic and static attributes.
  • the update frequency satisfies the dynamic and static attributes, which means that the update frequency corresponds to the dynamic and static attributes.
  • Different dynamic and static attributes can correspond to different update frequencies.
  • the above dynamic and static attributes may be: dynamic attributes, static attributes; or dynamic attributes, semi-dynamic attributes, semi-static attributes, and static attributes.
  • the information processing device A can process the sensing information based on the update frequency corresponding to the dynamic and static attributes to generate the map information A. In other words, the generation frequency of the map information A may be consistent with the update frequency.
  • the data format can have different designs.
  • the data format satisfies the dynamic and static attributes, which may refer to the map elements whose data format can be used to indicate the specified dynamic and static attributes.
  • the map information A that satisfies the dynamic and static attributes is generated, which may refer to the map elements based on the specified dynamic and static attributes.
  • the data format generates map information A. For example, map information A is generated based on a data format indicating dynamic elements, or map information A is generated based on a data format indicating static elements.
  • map information A is generated based on a data format for indicating dynamic elements, or map information A is generated based on a data format for indicating semi-dynamic elements, or map information A is generated based on a data format for indicating semi-static elements, or Map information A is generated based on a data format indicating static features.
  • the data processing method satisfies the dynamic and static attributes, which may mean that the data processing method corresponds to the dynamic and static attributes.
  • Different dynamic and static attributes can use different data processing methods. For example, map information that meets dynamic attributes has high latency requirements and requires real-time processing of collected data, so an algorithm with high latency requirements can be used; map information that meets static attributes has low latency requirements, so latency can be used
  • the complex algorithm with low requirements can even fuse the sensory information at multiple time points.
  • map information that satisfies dynamic and static attributes, it is conducive to more reasonable map updates and reduces the amount of data processing and data transmission.
  • generating map information A may specifically include: based on the data format, first map information A.
  • the data format used to indicate dynamic features contains fields for carrying motion information
  • the data format used to indicate static features does not contain fields used to carry motion information
  • the data format used to indicate dynamic elements may also include at least one of the following fields: a field used to carry color information of dynamic elements, a field used to carry geometric information of dynamic elements, a field used to carry dynamic elements Field for location information.
  • the color information is used to indicate the color of the dynamic element;
  • the position information is used to indicate the position of the dynamic element, and
  • the geometric information is used to indicate the shape and/or size of the dynamic element.
  • the data format used to indicate static features may also include fields for carrying change information. This change information is used to indicate changes to static features.
  • the change information includes, but is not limited to, change time, change content, etc.
  • the map information of the first spatial area may include one or more of motion information, color information, geometric information and position information of dynamic elements, or the map information of the first spatial area may include change information of static elements. It should be understood that the above dynamic elements and static elements can be extracted based on sensory information.
  • the first spatial area map information may also include one or more of the following: Identification of map elements: Device information, time information, reference map information, identification of the first spatial area, confidence information and source information.
  • the identifier of the map element is used to identify the map element.
  • the device information is used to indicate the device that uploaded the map information of the first spatial area, such as the information processing device A that uploaded the map information A.
  • the time information is used to indicate the upload time of the map information of the first spatial area.
  • Reference map information is used to indicate the version and/or vendor of the reference map currently in use.
  • the confidence information is used to indicate the degree of credibility of the map information of the first spatial area.
  • Source information is used to indicate the sensing device.
  • the receiving device of the map information of the first spatial area such as the information processing device B or the information processing device C that receives the map information A mentioned below
  • the sensing information sensed by the same sensing device can also be identified and used as an auxiliary information source.
  • the receiving device of the map information of the first spatial area By indicating the reference map information, it is convenient for the receiving device of the map information of the first spatial area to determine the map information in the first spatial area based on the reference map and the map information of the first spatial area.
  • the receiving device that receives the map information of the first spatial area to determine the first spatial area based on the identifier.
  • step 230 the information processing device A sends the map information A.
  • the information processing device A can send the map information A through an existing communication link, so that the device that receives the map information A can process it.
  • the device that receives the map information A can be, for example, the information processing device B mentioned in the following method 500, or it can be the information processing device C mentioned in the following method 600.
  • This application is concerned with the reception of the map information A. The device does not limit this.
  • step 230 may specifically include: the information processing device A sends the first map information based on the update frequency.
  • the information processing device A may generate the map information A based on the update frequency, and then send the first map information A; or it may generate the map information A every time the sensing information is obtained, and send the map information A based on the update frequency. This application does not limit this.
  • information processing device A may also receive map information from other devices, such as receiving map information B from the information processing device B described below, and/or from the information processing device B described below.
  • Device C receives map information C.
  • the information processing device A can also generate and send map information of other spaces, and/or receive map information of other space areas. This application includes but is not limited to this.
  • the indication information indicates the map elements or map information of the first spatial area.
  • the first spatial area is a spatial area divided in the map according to the attribute characteristics of the map elements or map information.
  • the map in this area The elements or map information have common attribute characteristics.
  • the information processing device can generate or send the map information in a manner suitable for the common attribute characteristics, so that the information processing device can generate or send the map information in a manner suitable for the common attribute characteristics. Alleviate the pressure caused by excessive data volume on map generation, transmission or processing.
  • This technical solution reflects the segmentation of spatial areas. By giving targeted instructions to individual spatial areas, it avoids the need for all spatial areas in the map to be processed in the same way, and avoids the need for a processing method that takes into account all map elements. Comes with data redundancy.
  • Figure 5 is a schematic flow chart of an information processing method 500 provided by another embodiment of the present application. As shown in FIG. 5 , the information processing method 500 may include steps 510 to 530 . Each step in the method 500 is described in detail below.
  • step 510 information processing device B obtains indication information, which is used to indicate at least one of the following: dynamic and static attributes of map elements in the first spatial area, and update frequency of map information in the first spatial area. , the data format transmission format of the map information of the first spatial area and the data processing method of the map information of the first spatial area.
  • step 510 is similar to the specific process of step 210 in the above method 200. Please refer to the relevant description in the previous step 210, which will not be described again here.
  • step 520 the information processing device B receives the map information A, which is used to indicate the map element A of the first spatial area.
  • the information processing device B may be a device that has a communication link with the information processing device A.
  • the indication information may be used to indicate the dynamic and static attributes of the map elements in the first spatial area, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the data format of the first spatial area.
  • One or more of the data processing methods for map information may be used to indicate the dynamic and static attributes of the map elements in the first spatial area, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the data format of the first spatial area.
  • the information processing device B can perform corresponding processing.
  • step 520 may specifically include step 5201.
  • the information processing device B may receive map information A based on the update frequency.
  • the method also includes step 530.
  • the indication information is used for one or more of dynamic and static attributes, data formats and data processing methods
  • the information processing device B obtains from the map information A based on the indication information. Information about map feature A.
  • the information processing device B can be generated based on one or more of dynamic and static attributes, data formats and data processing methods. Process the map information A and obtain the information of the map element A.
  • the information processing device B can process the map information A based on the dynamic and static attributes.
  • the map elements A in the map information A are all map elements with the dynamic and static attributes.
  • the information processing device B can interpret the map information A based on the dynamic and static attributes to obtain the information of the map element A.
  • the indication information indicates that the dynamic and static attributes of the map elements in the first spatial area are static or semi-static, it can be determined that the data in the map information A is reported as a difference, and the map information can be interpreted based on this.
  • the indication information indicates that the dynamic and static attributes of the map elements in the first spatial area are dynamic, an algorithm with high latency requirements can be used to process it in real time to interpret the information.
  • an algorithm with low latency requirements can be used to process it to interpret the information therein.
  • the information processing device B can process the map information A based on the data format to obtain the information of the map element A in the map information A.
  • data formats can correspond to dynamic and static attributes.
  • information processing device B can determine the dynamic and static attributes of the first spatial area based on the data format of map information A, and then interpret map information A based on the dynamic and static attributes.
  • map information A For the specific process, please refer to the previous example and will not be repeated here.
  • the data format does not need to correspond to dynamic and static attributes.
  • the information processing device B can interpret the map information A based on the data format indicated by the instruction information.
  • the information processing device B can process the map information A based on the data processing method to obtain the information of the map element A in the map information A.
  • data processing methods can correspond to dynamic and static attributes.
  • information processing device B can determine the dynamic and static attributes of map information A based on the data processing method of map information A, and then interpret map information A based on the dynamic and static attributes.
  • map information A can correspond to dynamic and static attributes.
  • the data processing method does not need to correspond to dynamic and static attributes.
  • the information processing device B can interpret the map information A according to the data processing method corresponding to the data processing method indicated by the instruction information.
  • the information processing device B can update, plan and control the map it holds; it can also improve its own sensing, positioning, planning and control capabilities based on the map information A. This application does not limit this.
  • the above indication information may include the first information element, and one or more of the above dynamic and static attributes, update frequency, data format and data processing method may be indicated through the first information element.
  • the indication information may also include a second information element used to indicate the three-dimensional spatial range of the first spatial area; the indication information may also include a third information element used to indicate the identification of the first spatial area;
  • the indication information may also include a fourth information element used to indicate the version and/or supplier of the reference map.
  • information processing device B may also receive map information from other devices, such as receiving map information C from information processing device C described below.
  • the information processing device B may also have the ability to obtain sensory information and the ability to process sensory information. Therefore, in addition to receiving map information, the information processing device B may also generate a map based on the indication information and the acquired sensory information.
  • Information B the map information B can be used to indicate the map element B of the first spatial area.
  • the information processing device B can also generate and send map information of other spaces, and/or receive map information of other space areas.
  • the indication information indicates the map elements or map information of the first spatial area.
  • the first spatial area is a spatial area divided in the map according to the attribute characteristics of the map elements or map information.
  • the map in this area The elements or map information have common attribute characteristics.
  • the information processing device can receive or process the map information in a manner suitable for the common attribute characteristics, so that the information processing device can receive or process the map information in a manner suitable for the common attribute characteristics. Alleviate the pressure caused by excessive data volume on map generation, transmission or processing.
  • This technical solution reflects the segmentation of spatial areas. By providing targeted instructions to individual spatial areas, it avoids the need for all spatial areas in the map to be processed in the same way, and avoids the need for a processing method that takes into account all map elements. Comes with data redundancy.
  • Figure 6 is a schematic flow chart of an information processing method 600 provided by yet another embodiment of the present application. As shown in FIG. 6 , the information processing method 600 may include step 610 and step 640 . Each step in method 600 is described in detail below.
  • the information processing device C In step 610, the information processing device C generates instruction information, which is used to indicate at least one of the following: dynamic and static attributes of map elements in the first spatial area, and update frequency of map information in the first spatial area. , the data format of the map information of the first spatial area and the data processing method of the map information of the first spatial area.
  • the information processing device C can divide the spatial areas in the map based on the spatial distribution characteristics of the map elements to obtain multiple different spatial areas.
  • the information processing device C can generate instruction information based on the divided spatial areas. For example, for the first spatial region, indication information is generated to indicate one or more of the above dynamic and static attributes, update frequency, data format and data processing method.
  • step 620 the information processing device C sends the instruction information.
  • the information processing device C can send the instruction information through the existing communication link.
  • the device for receiving the indication information may include, for example, the information processing device A in the above method 200, and may also include the information processing device B in the above method 500.
  • the method also includes: step 630, the information processing device C receives map information of the first spatial area; and
  • Step 640 The information processing device C updates the indication information based on the map information of the first spatial area.
  • the map information of the first spatial area may include, but is not limited to, the map information A and map information C listed above.
  • the information processing device C may receive at least one of the map information A and the map information C, and may also receive map information of the first spatial area from other devices. This application includes but is not limited to this.
  • the information processing device C may receive and process the map information of the first spatial area based on the indication information.
  • the map information of the first spatial area may be received based on the update frequency indicated by the indication information, and the map information of the first spatial area may also be processed based on the data format and/or data processing method indicated by the indication information. Since the information processing device C receives the map information of the first spatial area and processes the map information of the first spatial area, please refer to the above method 500 for the information processing device B to receive the map information A and process the map information A. The relevant description will not be detailed here for the time being.
  • the information processing device C After analyzing the received map information of the first spatial area, the information processing device C can obtain the latest information on the map elements in the first spatial area. Therefore, the information processing device C can update the current version of the reference map based on the map information of the first spatial area. Since there may be changes in dynamic features and/or static features in the updated reference map, the spatial distribution characteristics of dynamic features and static features may also change. Therefore, the information processing device C can also update the indication information based on this.
  • the update instruction information may include updating the dynamic and static attributes of the map elements of the first spatial area, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the map of the first spatial area.
  • One or more of the data processing methods of the information may include updating the dynamic and static attributes of the map elements of the first spatial area, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the map of the first spatial area.
  • One or more of the data processing methods of the information may include updating the dynamic and static attributes of the map elements of the first spatial area, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the map of the first spatial area.
  • the dynamic and static attributes of the map elements in the first spatial area can be changed.
  • Static properties are updated.
  • the first information element of the indication information indicates the dynamic and static attributes of the map elements of the first spatial area
  • the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area and the first According to one or more of the data processing methods of the map information of the spatial area, the information processing device C can update the corresponding content in the indication information based on the dynamic and static attributes of the updated map elements.
  • the second information element of the indication information can be updated so that the updated three-dimensional spatial range is more consistent with the current spatial distribution characteristics of dynamic elements and static elements.
  • the first spatial area is no longer suitable. If the map information is reported as a spatial area, the indication information can be updated. For example, the indication of the three-dimensional spatial range of the original first spatial area in the second information element can be deleted, and the first information element can be deleted. Instructions on one or more of the dynamic and static attributes, update frequency, data format and data processing method.
  • the indication information can also be updated, for example On the basis of deleting or updating the original indication information corresponding to the first spatial area (for example, updating the three-dimensional spatial range of the first spatial area in the second information element), adding a new three-dimensional spatial range indication, and can be in the first information element.
  • Instructions for one or more of the dynamic and static attributes, update frequency, data format and data processing method of the map information of the corresponding spatial area are added to the element.
  • the above-mentioned updates to the indication information are only a few possible situations, and there may be more changes in the spatial area division that may be brought about by changes in the spatial distribution characteristics of the dynamic elements and static elements in the first spatial area. Possibly, the corresponding instruction information can be updated in a variety of possible ways, which are not enumerated here for the sake of simplicity.
  • the information processing device C may also have the ability to obtain sensory information and the ability to process the sensory information. Therefore, the information processing device C may also generate map information C based on the instruction information and the acquired sensory information.
  • the map information C Map feature C that can be used to indicate the first spatial area.
  • the information processing device C can also generate and send map information of other spaces, and/or receive map information of other space areas. This application includes but is not limited to this.
  • the indication information indicates the map elements or map information of the first spatial area.
  • the first spatial area is a spatial area divided in the map according to the attribute characteristics of the map elements or map information.
  • the map in this area The elements or map information have common attribute characteristics.
  • the information processing device can receive or process the map information in a manner suitable for the common attribute characteristics, so that the information processing device can receive or process the map information in a manner suitable for the common attribute characteristics. Alleviate the pressure caused by excessive data volume on map generation, transmission or processing.
  • This technical solution reflects the segmentation of spatial areas. By providing targeted instructions to individual spatial areas, it avoids the need for all spatial areas in the map to be processed in the same way, and avoids the need for a processing method that takes into account all map elements. Comes with data redundancy.
  • Figure 7 shows the method provided by the embodiment of the present application from the perspective of device interaction.
  • the information processing device A, the information processing device B, and the information processing device C in FIG. 7 may respectively correspond to the information processing device A, the information processing device B, and the information processing device C in the foregoing methods 200, 500, and 600.
  • the information processing method 700 shown in FIG. 7 may include steps 701 to 712. Each step in method 700 is described in detail below.
  • step 701 the information processing device C generates instruction information, which is used to indicate at least one of the following: dynamic and static attributes of the map elements of the first spatial area, update frequency of the map information of the first spatial area, the first One or more of the data format of the map information of the spatial area and the data processing method of the map information of the first spatial area.
  • step 702 the information processing device C sends the instruction information. Accordingly, information processing device A and information processing device B can receive the indication information.
  • step 703 the information processing device A generates map information A based on the indication information and the sensing information from the sensing device.
  • the map information A can be used to indicate the map element A in the first spatial area.
  • step 704 the information processing device A sends the map information A. Accordingly, the information processing device B and the information processing device C can receive the map information A.
  • step 705 information processing device B and information processing device C acquire the information of map element A from map information A based on the instruction information.
  • map information A by information processing device B and information processing device C are related to their respective functions, and this application is not limited thereto.
  • step 706 the information processing device B generates map information B based on the indication information and the sensing information from the sensing device.
  • the map information B can be used to indicate the map element B in the first spatial area.
  • step 707 the information processing device B sends the map information B. Accordingly, the information processing device A and the information processing device C can receive the map information B.
  • step 708 information processing device A and information processing device C acquire the information of map element B from map information B based on the instruction information.
  • the information processing device C generates map information C based on the indication information and the sensing information from the sensing device.
  • the map information C can be used to indicate the map element C in the first spatial area.
  • step 710 the information processing device sends the map information C. Accordingly, the information processing device A and the information processing device B can receive the map information C.
  • step 711 the information processing device C updates the instruction information based on at least one of the map information A, the map information B, and the map information C.
  • step 712 the information processing device C sends the updated instruction information.
  • step 709 and step 710 may be executed before step 706 and step 707, or may be executed before step 703 and step 704, or may be executed synchronously with step 706 and step 707, or synchronously with step 703 and step 704, Or it can also be executed after step 711.
  • Step 703 and step 704 may also be executed before step 706 and step 707, or may be executed simultaneously with step 706 and step 707, or may also be executed after step 712, etc., which will not be enumerated here.
  • steps 709 and 710 are executed after step 711, the map information C generated by the information processing device C is generated based on the updated indication information; if steps 703 and 704 are executed after step 712, then the information The map information based on which the processing device C updates the instruction information may include map information B and/or map information C.
  • the map information A generated by the information processing device A is generated based on the updated instruction information; similarly, if step 706 and Step 707 is executed after step 712, then the map information based on which the information processing device C updates the indication information may include map information A and/or map information C, and the map information B generated by the information processing device B is based on the updated indication information. Generated.
  • the execution order of each step should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
  • the indication information indicates the map elements or map information of the first spatial area.
  • the first spatial area is a spatial area divided in the map according to the attribute characteristics of the map elements or map information.
  • the map in this area The elements or map information have common attribute characteristics.
  • the information processing device can generate or send the map information in a manner suitable for the common attribute characteristics, or it can
  • the map information is received or processed in a manner suitable for the common attribute characteristics, thereby alleviating the pressure caused by excessive data volume on map generation, transmission or processing.
  • This technical solution reflects the segmentation of spatial areas. By providing targeted instructions to individual spatial areas, it avoids the need for all spatial areas in the map to be processed in the same way, and avoids the need for a processing method that takes into account all map elements. Comes with data redundancy.
  • Figure 8 shows a specific embodiment using the method provided by the present application.
  • the server in Figure 8 can be used to implement the functions of the information processing device C in the method 600.
  • the roadside equipment and terminal equipment in Figure 8 can be used to implement the functions of the information processing device A in the method 200, and can also be used to implement the information in the method 500.
  • Processing device B functions.
  • the server generates indication information and delivers the indication information to the terminal device and/or roadside device.
  • This server may correspond, for example, to the information processing device C listed above.
  • Either the terminal device or the roadside device can collect sensing information, and generate map information of the first spatial area based on the sensing information and the indication information.
  • the figure shows an example in which the roadside device and the terminal device respectively generate map information of the first spatial area.
  • the roadside device may, for example, correspond to the information processing device A listed above, and the map information of the first spatial area generated by the roadside device may be, for example, the map information A listed above.
  • the terminal device may correspond to the information processing device B listed above, and the map information of the first spatial area generated by the terminal device may be, for example, the map information B listed above.
  • the roadside device can send the map information A to the server and the terminal device.
  • the server and the terminal device may respectively obtain the information of the map element A in the first spatial area from the map information A based on the indication information.
  • the terminal device After the terminal device generates the map information B, it can also send the map information B to the server and the roadside device.
  • the server and the roadside device can also respectively obtain the information of the map element B in the first spatial area from the map information B based on the indication information.
  • the server can update the reference map based on the map information of the first spatial area (such as map information A and map information B), and can perform planning control based on the map information of the first spatial area; the terminal device can based on the map information of the first spatial area.
  • Map information improves its own capabilities of perception, positioning, planning and control, and can also update locally stored maps based on the map information of the first spatial area. This application does not limit this.
  • the server can also generate map information of the first spatial area based on the indication information and the perception information.
  • the map information can, for example, be the map information C listed above.
  • the server may also send the generated map information C to the terminal device and the roadside device, so that the terminal device and the roadside device can obtain the information of the map element C in the first spatial area from the map information C.
  • the indication information indicates the map elements or map information of the first spatial area.
  • the first spatial area is a spatial area divided in the map according to the attribute characteristics of the map elements or map information.
  • the map in this area The elements or map information have common attribute characteristics.
  • the information processing device can generate or send the map information in a manner suitable for the common attribute characteristics, or it can
  • the map information is received or processed in a manner suitable for the common attribute characteristics, thereby alleviating the pressure caused by excessive data volume on map generation, transmission or processing.
  • This technical solution reflects the segmentation of spatial areas. By providing targeted instructions to individual spatial areas, it avoids the need for all spatial areas in the map to be processed in the same way, and avoids the need for a processing method that takes into account all map elements. Comes with data redundancy.
  • Figure 9 is a schematic block diagram of an information processing device provided by an embodiment of the present application.
  • the device 900 may include: an obtaining module 910, a generating module 920 and a sending module 930.
  • the functions of the information processing device 900 can be implemented by hardware, software, or a combination of software and hardware.
  • the obtaining module 910 is used to obtain indication information, where the indication information includes a first information element, and the first information element is used to indicate at least one of the following contents: dynamic and static attributes of map elements in the first spatial area, The update frequency of the first spatial area, the data format of the first spatial area, and the data processing method of the first spatial area; the generating module 920 is configured to generate the first map information based on the indication information and the sensing information from the sensing device, so The first map information is used to indicate map elements of the first spatial area; the sending module 930 is used to send the first map information.
  • the device 900 may include modules for executing various processes and/or steps corresponding to the information processing device A in the aforementioned method 200 and method 700 .
  • the device 900 may include modules for executing various processes and/or steps corresponding to the information processing device A in the aforementioned method 200 and method 700 .
  • the device 900 may include modules for executing various processes and/or steps corresponding to the information processing device A in the aforementioned method 200 and method 700 .
  • the device 900 may include modules for executing various processes and/or steps corresponding to the information processing device A in the aforementioned method 200 and method 700 .
  • Figure 10 is a schematic block diagram of another information processing device provided by an embodiment of the present application.
  • the device 1000 may include: a first obtaining module 1010 and a receiving module 1020.
  • the functions of the information processing device 1000 can be implemented by hardware, software, or a combination of software and hardware.
  • the first acquisition module 1010 is used to acquire indication information, where the indication information includes a first information element, and the first information element is used to indicate at least one of the following contents: movement of map elements in the first spatial area. Static attributes, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the data processing method of the map information of the first spatial area; the receiving module 1020 is used to receive the first A map information, the first map information is used to indicate the first map element in the first spatial area; when the first information element is used to indicate the dynamic and static attributes, the data format and the data
  • the device further includes a second acquisition module 1030, configured to acquire the information of the first map element from the first map information according to the instruction information; when the first When the information element is used to indicate the update frequency, the receiving module 1020 is specifically configured to receive the first map information based on the update frequency.
  • the device 1000 may include modules for executing various processes and/or steps corresponding to the information processing device B in the aforementioned methods 500 and 700. For the sake of brevity, we will not go into details here.
  • Figure 11 is a schematic block diagram of yet another information processing device 1100 of the present application. As shown in Figure 11, the device 1100 may include: a generating module 1110 and a sending module 1120.
  • the generation module 1110 is used to generate indication information, where the indication information includes a first information element, and the first information element is used to indicate at least one of the following contents: dynamic and static attributes of map elements in the first spatial area. , the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the data processing method of the map information of the first spatial area; the sending module 1120 is used to send the instruction information.
  • the device 1100 may include modules for executing various processes and/or steps corresponding to the information processing device C in the aforementioned methods 600 and 700. For the sake of brevity, no further details will be given here.
  • each functional module in various embodiments of the present application can be integrated into a processor, or can exist physically alone, or two or more modules can be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or software function modules.
  • Figure 12 is another schematic block diagram of an information device provided by an embodiment of the present application.
  • the device 1200 includes a processor 1210 and a memory 1220.
  • the memory 1220 can be used to store a computer program.
  • the processor 1210 can be used to call and execute the computer program, so that the device implements the implementation of the present application. Functions of information processing device A, information processing device B, and information processing device C in the method provided by the example.
  • the device 1200 may also include a communication interface 1230.
  • the communication interface 1230 may be a transceiver, an interface, a bus, a circuit, or a device capable of implementing transceiver functions.
  • the communication interface 1230 is used to communicate with other devices through a transmission medium, so that the device used in the device 1200 can communicate with other devices.
  • the processor 1210 may be used to obtain indication information, where the indication information includes a first information element, and the first information element is used to indicate the following: At least one of: the dynamic and static attributes of the map elements in the first spatial area, the update frequency of the map information in the first spatial area, the data format of the map information in the first spatial area, and the map information in the first spatial area
  • the data processing method and can be used to generate the first map information based on the indication information and the sensing information from the sensing device, the first map information is used to indicate the first map element in the first spatial area; also It can be used to control the communication interface 1230 to send the first map information.
  • the indication information includes a first information element
  • the first information element is used to indicate the following: At least one of: the dynamic and static attributes of the map elements in the first spatial area, the update frequency of the map information in the first spatial area, the data format of the map information in the first spatial area, and the map information in the first spatial area
  • the data processing method and can be used to generate the first map
  • the processor 1210 may be used to obtain indication information, where the indication information includes a first information element, and the first information element is used to indicate the following content At least one of: the dynamic and static attributes of the map elements in the first spatial area, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the data of the map information of the first spatial area.
  • the processor 1210 is also used to control the communication interface 1230 to receive the first map information, the first map information is used to indicate the first map element in the first spatial area; when the first information element is used to indicate dynamic and static attributes, When at least one of the data format and the data processing method is selected, the processor 1210 is further configured to obtain the information of the first map element from the first map information according to the indication information; when the first information element is used to indicate the update frequency At this time, the processor 1210 is also used to control the communication interface 1230 to receive the first map information based on the update frequency. For details, please refer to the detailed descriptions in methods 500 and 700, which will not be described again here.
  • the processor 1210 may be used to generate indication information, where the indication information includes a first information element, and the first information element is used to indicate the following content At least one of: the dynamic and static attributes of the map elements in the first spatial area, the update frequency of the map information of the first spatial area, the data format of the map information of the first spatial area, and the data of the map information of the first spatial area.
  • Processing method can also be used to control the communication interface 1230 to send the indication information. For details, please refer to the detailed descriptions in methods 600 and 700, which will not be described again here.
  • the coupling in the embodiment of this application is an indirect coupling or communication connection between devices, units or modules, which may be in electrical, mechanical or other forms, and is used for information interaction between devices, units or modules.
  • the processor 1210 may cooperate with the memory 1220.
  • Processor 1210 may execute program instructions stored in memory 1220 . At least one of the at least one memory may be included in the processor.
  • connection medium between the processor 1210, the memory 1220 and the communication interface 1230 is not limited in the embodiment of the present application.
  • the memory 1220, the processor 1210 and the communication interface 1230 are connected through a bus 1240 in Figure 10.
  • the bus is represented by a thick line in Figure 12.
  • the connection methods between other components are only schematically explained. , is not limited.
  • the bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one thick line is used in Figure 12, but it does not mean that there is only one bus or one type of bus.
  • the processor in the embodiment of the present application may be an integrated circuit chip with signal processing capabilities.
  • each step of the above method embodiment can be completed through an integrated logic circuit of hardware in the processor or instructions in the form of software.
  • the above-mentioned processor can be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (field programmable gate array, FPGA), or other available processors.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • Programmd logic devices discrete gate or transistor logic devices, discrete hardware components.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.
  • non-volatile memory may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory.
  • non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically removable memory. Erase electrically programmable read-only memory (EPROM, EEPROM) or flash memory.
  • Volatile memory can be random access memory (RAM), which is used as an external cache.
  • RAM static random access memory
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • double data rate SDRAM double data rate SDRAM
  • DDR SDRAM double data rate SDRAM
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous link dynamic random access memory
  • direct rambus RAM direct rambus RAM
  • the present application provides a communication system, including: a first information processing device and a second information processing device, wherein the first information processing device is used to implement the information processing device A in the embodiment shown in Figure 2 or Figure 7. Method; the second information processing device can be used to implement the method performed by the information processing device C in the embodiment shown in FIG. 6 or FIG. 7 .
  • the communication system also includes a third information processing device for implementing the method performed by information processing device B in the embodiment shown in Figure 5 or Figure 7 .
  • the present application also provides a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium.
  • the computer program is executed by a processor, the execution of the information processing device A in the embodiment shown in Figure 2 or Figure 7 is realized.
  • the method, or the method executed by the information processing device B in the embodiment shown in FIG. 5 or FIG. 7 , or the method executed by the information processing device C in the embodiment shown in FIG. 6 or 7 is realized.
  • This application also provides a computer program product, including a computer program.
  • the computer program When the computer program is run, the method executed by the information processing device A in the embodiment shown in Figure 2 or Figure 7 is implemented, or the method shown in Figure 5 or Figure 7 is implemented.
  • the method executed by the information processing device B in the embodiment shown in the embodiment, or the method executed by the information processing device C in the embodiment shown in FIG. 6 or FIG. 7 is implemented.
  • unit may be used to refer to computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution.
  • the unit described as a separate component may or may not be physically separated, and the component shown as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.
  • each functional unit may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
  • software When implemented using software, it may be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions (programs). When the computer program instructions (program) are loaded and executed on the computer, the processes or functions according to the embodiments of the present application are generated in whole or in part.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted over a wired connection from a website, computer, server, or data center (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) to another website, computer, server or data center.
  • the computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center integrated with one or more available media.
  • the available media may be magnetic media (e.g., floppy disks, hard disks, tapes), optical media (e.g., digital video discs (DVD)), or semiconductor media (e.g., solid state disks (SSD)) wait.
  • this function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

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Abstract

本申请实施例提供了一种信息处理方法及相关装置、系统。该方法包括：信息处理装置获取指示信息，该指示信息用于指示以下内容中的至少一项：第一空间区域的地图要素的动静态属性、第一空间区域的地图信息的更新频率、第一空间区域的地图信息的数据格式和第一空间区域的地图信息的数据处理方式；基于该指示信息和来自感知设备的感知信息，生成并发送第一地图信息，该第一地图信息用于指示第一空间区域的地图要素。通过对个别空间区域进行针对性地指示，可以避免地图中所有空间区域都采用相同的处理方式，避免用于兼顾所有地图要素的处理方式带来的数据冗余，从而有利于缓解地图数据的生成、传输或处理等环节的压力。

Description

信息处理方法及相关装置、系统
本申请要求于2022年4月12日递交中国国家知识产权局、申请号为202210379605.0、申请名称为“信息处理方法及相关装置、系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及地图领域，更具体地，涉及信息处理方法及相关装置、系统。
背景技术
随着自动驾驶的发展，高精度地图的重要性日渐提升。为了保障自动驾驶的安全与高效，高精度地图需要保持足够的鲜度和丰富度。
高精度地图不仅包括了例如道路、交通标识线、交通标志牌等时效性低、变化频率低的地图要素，还包括了例如道路施工、交通信息流等时效性高、变化频率高的地图要素。更加丰富的地图要素以及地图要素更加高频的更新需求，使得地图数据量变得越来越大，从而地图数据的生成、传输或处理等环节面临着较大的压力
发明内容
本申请提供一种信息处理方法及相关装置、系统，以期缓解地图数据的生成、传输或处理等环节中面临的地图数据量压力。
第一方面，本申请提供了一种信息处理方法，该方法可以由信息处理装置执行，还可以由能够实现全部或部分信息处理装置的功能的逻辑模块或软件实现，本申请对此不作限定。该信息处理装置例如可以包括但不限于，终端设备、路侧设备或服务器等，以及配置在终端设备、路侧设备或服务器等中的部件(如芯片、芯片系统等)。
示例性地，该方法包括：获取指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式；基于所述指示信息和来自感知设备的感知信息，生成第一地图信息，所述第一地图信息用于指示所述第一空间区域内的第一地图要素；发送所述第一地图信息。
应理解，第一方面中的信息处理装置例如可以对应于下文实施例中的信息处理装置A。第一方面中的第一地图信息例如可对应于下文实施例中的地图信息A，第一方面中的第一地图要素例如可对应于下文实施例中的地图要素A。
还应理解，该第一地图信息中的第一地图要素可以为一个或多个地图要素。本申请并不限定第一地图要素的数量。当该第一信元用于指示动静态属性、更新频率、数据格式和数据处理方式中的至少一项时，该第一空间区域的地图要素或地图信息具有相同的属性特征。例如，当该第一信元用于指示第一空间区域内的地图要素的动静态 属性时，该第一空间区域内的地图要素具有相同的动静态属性；当该第一信元用于指示第一空间区域的地图信息的更新频率时，该第一空间区域的地图信息基于相同的更新频率处理或传输；当该第一信元用于指示第一空间区域的地图信息的数据格式时，该第一空间区域的地图信息基于相同的数据格式生成或传输；该第一空间区域的地图信息基于相同的数据处理方式时，该第一空间区域的地图信息基于相同的数据处理方式处理。
基于上述技术内容，指示信息针对第一空间区域的地图要素或地图信息进行指示，第一空间区域是根据地图要素或地图信息的属性特征在地图中划分出的空间区域，在该区域内的地图要素或地图信息具有共同的属性特征，通过指示信息针对第一空间区域的地图要素或地图信息进行指示，可以使地图信息处理装置以适合于该共同的属性特征的方式生成或发送地图信息，从而缓解数据量过大对地图的生成、传输或处理等环节造成的压力。具体地，该共同的属性特征可以体现为第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式。例如：如果第一空间区域内的地图要素均为动态要素，则地图信息处理装置可以基于第一信元指示的动静态属性，生成以用于指示动态要素的数据格式进行编码的第一空间区域的地图信息；和/或，基于第一信元指示的数据格式，以用于指示动态要素的数据格式对第一空间区域的第一地图信息进行编码或者传输；和/或，基于第一信元指示的数据处理方式，以适合于动态要素的数据处理方式对第一地图信息进行处理；和/或，基于第一信元指示的更新频率，更新或者发送第一地图信息。又例如：如果第一空间区域内的地图要素均为静态要素，则地图信息处理装置可以基于第一信元指示的动静态属性，生成以用于指示静态要素的数据格式进行编码的第一空间区域的地图信息；和/或，基于第一信元指示的数据格式，以用于指示静态要素的数据格式对第一空间区域的第一地图信息进行编码或者传输；和/或，基于第一信元指示的数据处理方式，以适合于静态要素的数据处理方式对第一空间区域的地图信息进行处理；和/或，基于第一信元指示的更新频率，更新或者发送第一空间区域的地图信息。该技术方案体现出了对空间区域的切分，通过对个别空间区域进行针对性的指示，避免了地图中所有空间区域都采用相同的处理方式，避免了用于兼顾所有地图要素的处理方式带来的数据冗余。例如，静态要素的编码字段较少，动态要素的编码字段较多，则生成具备静态属性的空间区域的地图数据时，没有必要添加动态要素具有而静态要素不具有的编码字段。又例如，静态要素的地图信息更新频率较低，动态要素的地图信息更新频率较高，则发送具备静态属性的空间区域的地图数据时，没有必要采用较高的发送频率。
结合第一方面，在第一方面的某些可能的实现方式中，所述指示信息还包括第二信元，所述第二信元用于指示所述第一空间区域的三维空间范围。
也就是说，第一空间区域为三维空间区域。该指示信息中的第二信元具体可以是该第一空间区域的三维空间表达。因此，信息处理装置可以基于该第二信元来确定第一空间区域，进而针对该三维空间范围来生成第一地图信息。
下文提供了基于指示信息和感知信息生成第一地图信息的两种可能的实现方式。
在第一种实现方式中，所述基于所述指示信息和来自感知设备的感知信息，生成 所述第一地图信息，包括：基于所述第二信元，从所述感知信息中提取所述三维空间范围内的第一感知信息；基于所述第一信元和所述第一感知信息生成所述第一地图信息。
信息处理装置可以从感知信息中提取对应于该第一空间区域的第一感知信息，进而基于第一感知信息进行要素提取，并基于提取到的地图要素及第一信元生成第一地图信息；而对于该感知信息中的其他感知信息，可以暂不做处理。换言之，信息处理装置不必对所有的感知信息进行处理和上报，而是有针对性地对第一感知信息进行处理和上报，也即，可以减少数据处理量和数据传输量。
在第二种实现方式中，所述基于所述指示信息和来自感知设备的感知信息，生成所述第一地图信息，包括：基于所述感知信息进行要素提取，得到地图要素；基于所述第二信元，从所述地图信息中提取所述三维空间范围内的第一地图要素；基于所述第一信元和所述第一地图要素生成所述第一地图信息。
信息处理装置可以先基于感知信息进行要素提取，得到地图要素，然后基于第二信元所指示的第一空间区域的三维空间范围，从地图要素中提取出对应于第一空间区域的第一地图要素，进而基于第一地图要素及第一信元生成第一地图信息。而对于除第一空间区域之外的其他地图要素信息，信息处理装置可以暂不必对其进行处理和上报，因此，也可以减少数据处理量和数据传输量。
应理解，地图要素是基于感知信息提取到的，第一地图要素和第一感知信息均可对应于第一空间区域的三维空间范围。故地图要素与感知信息对应，第一地图要素与第一感知信息对应。本申请并不限定地图要素的数量及第一地图信息所包含的地图要素的数量。
结合第一方面或第二方面，在某些可能的实现方式中，所述获取指示信息，包括：生成所述指示信息，或接收所述指示信息。
比如，该信息处理装置为服务器，服务器可自行生成该指示信息。又比如，该信息处理装置为路侧设备、终端设备等，该路侧设备、终端设备等可以从服务器接收该指示信息。本申请对此不作限定。
结合第一方面，在第一方面的某些可能的实现方式中，所述动静态属性为：动态和静态中的一种，或者，动态、半动态、半静态和静态中的一种。
应理解，动静态属性是基于空间区域内地图要素不同的变化频率做出的划分，基于不同的变化频率，可以分为动态和静态，也可以分为动态、半动态、半静态和静态。本申请包含但不限于此。
进一步地，当所述指示信息指示所述动静态属性时，所述第一地图要素具备所述动静态属性。
应理解，第一地图信息中的第一地图要素可以为一个或多个地图要素。本申请并不限定第一地图要素的数量。当指示信息指示动静态属性时，该第一地图信息中的第一地图要素均具备指示信息所指示的动静态属性。换言之，该第一地图信息中的第一地图要素具备相同的动静态属性。
结合第一方面，在第一方面的某些可能的实现方式中，所述数据格式为用于指示静态要素的数据格式或用于指示动态要素的数据格式。
数据格式可用于定义地图信息的格式。例如，可用于定义在地图信息中承载哪些内容，各项内容对应的字段，还可用于定义各项内容在地图信息中采用怎样的编码方式来编码。
例如，若将动静态属性分为动态属性和静态属性，则对应的数据格式可包括用于指示动态要素的数据格式和用于指示静态要素的数据格式。因此，可以避免地图中所有空间区域都采用相同的数据格式来生成地图信息，避免用于兼顾所有地图要素的数据格式带来的数据冗余，从而有利于缓解地图数据的生成、传输等缓解的压力。
进一步地，当所述指示信息指示所述数据格式时，所述生成所述第一地图信息，包括：生成具有所述数据格式的第一地图信息；和/或，所述发送所述第一地图信息，包括：以所述数据格式发送所述第一地图信息。
信息处理装置可以根据指示信息所指示的数据格式，来生成满足相应数据格式的第一地图信息，并可基于将第一地图信息以上述数据格式的形式进行传输。
一种可能的设计是，数据格式与动静态属性一一对应。
信息处理装置可以基于指示信息所指示的数据格式，确定第一空间区域内的地图要素的动静态属性，并基于该动静态属性，采用相应的更新频率和/或数据处理方式进行第一地图信息的处理和上报。换言之，上述指示信息可以在指示数据格式的同时隐式地指示第一空间区域内的地图要素的动静态属性、第一空间区域的地图信息的更新频率和数据处理方式等，从而可以节省指示信息的信令开销。
应理解，数据格式也可以不与动静态属性一一对应，比如，半静态属性、半动态属性和动态属性也可以对应于同一数据格式；又比如，半静态属性和静态属性对应于一种数据格式，半动态属性和动态属性对应于另一种数据格式，等等。在数据格式不与动静态属性一一对应的情况下，数据格式不能用于隐式地指示第一空间区域的地图信息的动静态属性、更新频率、数据处理方式等。
结合第一方面，在第一方面的某些可能的实现方式中，当所述指示信息指示更新频率时，所述发送所述第一地图信息，包括：基于所述更新频率发送所述第一地图信息。
信息处理装置可以根据指示信息所指示的更新频率来发送第一地图信息。换言之，对于不同的动静态属性的空间区域，可以采用不同的更新频率来发送地图信息。
如前所述，不同的动静态属性可以对应不同的更新频率，而不同的动静态属性也可以对应不同的数据格式、不同的数据处理方式。因此，上述指示信息可以在指示更新频率的同时隐式地指示第一空间区域内的地图要素的动静态属性、第一空间区域的地图信息的数据格式和数据处理方式等，从而可以节省指示信息的信令开销。
应理解，更新频率也可以不与动静态属性一一对应。比如，半静态属性、半动态属性和动态属性也可以对应于同一更新频率；又比如，半静态属性和静态属性对应于一种更新频率，半动态属性和动态属性对应于另一种更新频率，等等。在更新频率不与动静态属性一一对应的情况下，更新频率不能用于隐式地指示第一空间区域内的地图要素的动静态属性、第一空间区域的地图信息的数据格式、第一空间区域的地图信息的数据处理方式等。
结合第一方面，在第一方面的某些可能的实现方式中，该方法还包括：接收第二 地图信息，所述第二地图信息用于指示所述第一空间区域内的第二地图要素；当所述第一信元用于指示所述动静态属性、所述数据格式和所述数据处理方式中的至少一项时，所述方法还包括：根据所述指示信息从所述第二地图信息中获取所述第二地图要素的信息；当所述第一信元用于指示所述更新频率时，所述接收第二地图信息包括：基于所述更新频率接收所述第二地图信息。
应理解，第一方面中的第二地图信息例如可对应于下文实施例中的地图信息B和/或地图信息C，第一方面中的第二地图要素例如可对应于下文实施例中的地图要素B和/或地图要素C。
信息处理装置可以从其他设备接收到第一空间区域的地图信息，如第二地图信息，并可以基于第一信元所指示的信息来处理或接收第二地图信息。例如，如果第一空间区域内的地图要素均为动态要素，则该信息处理装置可以基于第一信元指示的动静态属性、数据格式和数据处理方式中的至少一项，从第二地图信息中获取动态要素的信息；和/或，基于第一信元指示的数据格式，以用于指示动态要素的数据格式对第二地图信息进行解码；和/或，基于第一信元指示的更新频率，接收第二地图信息。又例如，如果第一空间区域内的地图要素均为静态要素，则信息处理装置可以基于第一信元指示的动静态属性、数据格式和数据处理方式中的至少一项，从第二地图信息中获取动态要素的信息，从第二地图信息中获取静态要素的信息；和/或，基于第一信元指示的数据格式，以用于指示静态要素的数据格式对第二地图信息进行解码；和/或，基于第一信元指示的更新频率，接收第二地图信息。
如此一来，该信息处理装置可以基于接收到的第二地图信息，获取第一空间区域中第二地图要素的信息。这有利于该信息处理装置获得更全面的地图信息，进而进行地图更新、规划控制等，从而有利于提高自动驾驶的安全性。
第二方面，本申请提供了一种信息处理方法，该方法可以由信息处理装置执行，还可以由能够实现全部或部分信息处理装置的功能的逻辑模块或软件实现，本申请对此不作限定。该信息处理装置例如可以包括但不限于，终端设备、路侧设备或服务器等，以及配置在终端设备、路侧设备或服务器等中的部件(如芯片、芯片系统等)。
示例性地，该方法包括：获取指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式；接收第一地图信息，所述第一地图信息用于指示所述第一空间区域内的第一地图要素；当所述第一信元用于指示所述动静态属性、所述数据格式和所述数据处理方式中的至少一项时，所述方法还包括：根据所述指示信息从所述第一地图信息中获取所述第一地图要素的信息；当所述第一信元用于指示所述更新频率时，所述接收第一地图信息包括：基于所述更新频率接收所述第一地图信息。
应理解，第二方面中的信息处理装置例如可对应于下文实施例中的信息处理装置B。第二方面中的第一地图信息例如可对应于下文实施例中的地图信息A和/或地图信息C，第二方面中的第一地图要素例如可对应于下文实施例中的地图要素A和/或地图要素C。
还应理解，该第一地图信息中的第一地图要素可以为一个或多个地图要素。本申请并不限定第一地图要素的数量。当该第一信元用于指示动静态属性、更新频率、数据格式和数据处理方式中的至少一项时，该第一空间区域的地图要素或地图信息具有相同的属性特征。例如，当该第一信元用于指示第一空间区域内的地图要素的动静态属性时，该第一空间区域内的地图要素具有相同的动静态属性；当该第一信元用于指示第一空间区域的地图信息的更新频率时，该第一空间区域的地图信息基于相同的更新频率处理或传输；当该第一信元用于指示第一空间区域的地图信息的数据格式时，该第一空间区域的地图信息基于相同的数据格式生成或传输；该第一空间区域的地图信息基于相同的数据处理方式时，该第一空间区域的地图信息基于相同的数据处理方式处理。
基于上述技术内容，指示信息针对第一空间区域的地图要素或地图信息进行指示，第一空间区域是根据地图要素或地图信息的属性特征在地图中划分出的空间区域，在该区域内的地图要素或地图信息具有共同的属性特征，通过指示信息针对第一空间区域的地图要素或地图信息进行指示，可以使该地图信息处理装置以适合于该共同的属性特征的方式接收或处理地图信息，从而缓解数据量过大对地图的处理或传输等环节造成的压力。具体地，该共同的属性特征可以体现为第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式。例如：如果第一空间区域内的地图要素均为动态要素，则地图信息处理装置可以基于第一信元指示的动静态属性、数据格式和数据处理方式中的至少一项，从第一地图信息中获取动态要素的信息；和/或，基于第一信元指示的数据格式，以用于指示动态要素的数据格式对第一空间区域的第一地图信息进行解码；和/或，基于第一信元指示的更新频率，接收第一地图信息。又例如：如果第一空间区域内的地图要素均为静态要素，则地图信息处理装置可以基于第一信元指示的动静态属性、数据格式和数据处理方式中的至少一项，从第一地图信息中获取动态要素的信息，从第一地图信息中获取静态要素的信息；和/或，基于第一信元指示的数据格式，以用于指示静态要素的数据格式对第一空间区域的第一地图信息进行解码；和/或，基于第一信元指示的更新频率，接收第一空间区域的地图信息。该技术方案体现出了对空间区域的切分，通过对个别空间区域进行针对性地指示，避免了地图中所有空间区域都采用相同的处理方式，避免了用于兼顾所有地图要素的处理方式带来的数据冗余。例如，静态要素的地图编码字段较少，动态要素的地图编码字段较多，则对具备静态属性的空间区域的地图数据进行解码时，所需解码的字段较少。又例如，静态要素的地图信息更新频率较低，动态要素的地图信息更新频率较高，则接收具备静态属性的空间区域的地图数据时，没有必要采用较高的发送频率。
此外，该信息处理装置可以基于接收到的第一地图信息，获取第一空间区域中第一地图要素的信息。这有利于该信息处理装置获得更全面的地图信息，进而进行地图更新、规划控制等，从而有利于提高自动驾驶的安全性。
结合第二方面，在第二方面的某些可能的实现方式中，所述指示信息还包括第二信元，所述第二信元用于指示所述第一空间区域的三维空间范围。
关于第二信元和三维空间区域可参看第一方面中的相关说明，此处不再赘述。
结合第一方面或第二方面，在某些可能的实现方式中，所述获取指示信息，包括：生成所述指示信息，或接收所述指示信息。
比如，该信息处理装置为服务器，服务器可自行生成该指示信息。又比如，该信息处理装置为路侧设备、终端设备等，该路侧设备、终端设备等可以从服务器接收该指示信息。本申请对此不作限定。
结合第二方面，在第二方面的某些可能的实现方式中，所述动静态属性为：动态和静态中的一种，或者，动态、半动态、半静态和静态中的一种。
结合第二方面，在第二方面的某些可能的实现方式中，所述数据格式为用于指示静态要素的数据格式或用于指示动态要素的数据格式。
应理解，关于三维空间区域、动静态属性和数据格式的内容可参看第一方面中的相关说明，此处不再赘述。
结合第二方面，在第二方面的某些可能的实现方式中，基于所述指示信息和来自感知设备的感知信息，生成第二地图信息，所述第二地图信息用于指示所述第一空间区域内的第二地图要素；发送所述第二地图信息。
该信息处理装置可以基于指示信息和感知信息生成第二地图信息，并将该第二地图信息发送出去，以便于其他接收到该第二地图信息的设备获得更全面的地图信息，进而进行地图更新、规划控制等，从而有利于提高自动驾驶的安全性。
应理解，该第二地图信息例如可对应于下文实施例中的地图信息B和/或地图信息C，该第二地图要素例如可对应于下文实施例中的地图要素B和/或地图要素C。
还应理解，该第二地图信息的生成过程与第一地图信息的生成过程相似，此处不再赘述。
第三方面，本申请提供了一种信息处理方法，该方法可以由信息处理装置执行，还可以由能够实现全部或部分信息处理装置的功能的逻辑模块或软件实现，本申请对此不作限定。该信息处理装置例如可以包括但不限于，终端设备、路侧设备或服务器等，以及配置在终端设备、路侧设备或服务器等中的部件(如芯片、芯片系统等)。
示例性地，该方法包括：生成指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式；发送所述指示信息。
应理解，第三方面中的信息处理装置例如可对应于下文实施例中的信息处理装置C。
还应理解，当该第一信元用于指示动静态属性、更新频率、数据格式和数据处理方式中的至少一项时，该第一空间区域的地图要素或地图信息具有相同的属性特征。例如，当该第一信元用于指示第一空间区域内的地图要素的动静态属性时，该第一空间区域内的地图要素具有相同的动静态属性；当该第一信元用于指示第一空间区域的地图信息的更新频率时，该第一空间区域的地图信息基于相同的更新频率处理或传输；当该第一信元用于指示第一空间区域的地图信息的数据格式时，该第一空间区域的地图信息基于相同的数据格式生成或传输；该第一空间区域的地图信息基于相同的数据 处理方式时，该第一空间区域的地图信息基于相同的数据处理方式处理。
基于上述技术内容，指示信息针对第一空间区域的地图要素或地图信息进行指示，第一空间区域是根据地图要素或地图信息的属性特征在地图中划分出的空间区域，在该区域内的地图要素或地图信息具有共同的属性特征，通过指示信息针对第一空间区域的地图要素或地图信息进行指示，可以使地图信息处理装置以适合于该共同的属性特征的方式生成、传输或处理地图信息，从而缓解数据量过大对地图的生成、传输或处理等环节造成的压力。具体地，该共同的属性特征可以体现为第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式。例如：如果第一空间区域内的地图要素均为动态要素，则地图信息处理装置可以基于第一信元指示的动静态属性，生成以用于指示动态要素的数据格式进行编码的第一空间区域的地图信息，或以用于指示动态要素的数据格式对第一空间区域的地图信息进行解码；和/或，基于第一信元指示的数据格式，以用于指示动态要素的数据格式对第一空间区域的第一地图信息进行编码或者传输；和/或，基于第一信元指示的数据处理方式，以适合于动态要素的数据处理方式对第一地图信息进行处理；和/或，基于第一信元指示的更新频率，更新或者发送第一地图信息。又例如：如果第一空间区域内的地图要素均为静态要素，则地图信息处理装置可以基于第一信元指示的动静态属性，生成以用于指示静态要素的数据格式进行编码的第一空间区域的地图信息，或以用于指示动态要素的数据格式对第一空间区域的地图信息进行解码；和/或，基于第一信元指示的数据格式，以用于指示静态要素的数据格式对第一空间区域的第一地图信息进行编码或者传输；和/或，基于第一信元指示的数据处理方式，以适合于静态要素的数据处理方式对第一空间区域的地图信息进行处理；和/或，基于第一信元指示的更新频率，更新或者发送第一空间区域的地图信息。该技术方案体现出了对空间区域的切分，通过对个别空间区域进行针对性的指示，避免了地图中所有空间区域都采用相同的处理方式，避免了用于兼顾所有地图要素的处理方式带来的数据冗余。例如，静态要素的编码字段较少，动态要素的编码字段较多，则生成具备静态属性的空间区域的地图数据时，没有必要添加动态要素具有而静态要素不具有的编码字段，对具备静态属性的空间区域的地图数据进行解码时，所需解码的字段较少。又例如，静态要素的地图信息更新频率较低，动态要素的地图信息更新频率较高，则发送具备静态属性的空间区域的地图数据时，没有必要采用较高的发送频率，接收具备静态属性的空间区域的地图数据时，也没有必要采用较高的接收频率。
结合第三方面，在第三方面的某些可能的实现方式中，所述指示信息还包括第二信元，所述第二信元用于指示所述第一空间区域的三维空间范围。
结合第三方面，在第三方面的某些可能的实现方式中，所述动静态属性为：动态和静态中的一种，或者，动态、半动态、半静态和静态中的一种。
结合第三方面，在第三方面的某些可能的实现方式中，所述数据格式为用于指示静态要素的数据格式或用于指示动态要素的数据格式。
应理解，关于三维空间区域、动静态属性和数据格式的内容可参看第一方面中的相关说明，此处不再赘述。
结合第三方面，在第三方面的某些可能的实现方式中，所述方法还包括：所述方法还包括：基于所述指示信息和来自感知设备的感知信息，生成第一地图信息，所述第一地图信息用于指示所述第一空间区域内的第一地图要素；发送所述第一地图信息。
应理解，第三方面中的第一地图信息例如可对应于下文实施例中的地图信息C，第三方面中的第一地图要素例如可对应于下文实施例中的地图要素C。
该信息处理装置可以基于指示信息和感知信息生成第一地图信息，并将该第一地图信息发送出去，以便于其他接收到该第一地图信息的设备获得更全面的地图信息，进而进行地图更新、规划控制等，从而有利于提高自动驾驶的安全性。
结合第三方面，在第三方面的某些可能的实现方式中，所述方法还包括：接收第二地图信息，该第二地图信息用于指示第一空间区域内的第二地图要素；当所述第一信元用于指示所述动静态属性、所述数据格式和所述数据处理方式中的至少一项时，所述方法还包括：根据所述指示信息从所述第二地图信息中获取所述第二地图要素的信息；当所述第一信元用于指示所述更新频率时，所述接收第二地图信息，包括：基于所述更新频率接收所述第二地图信息。
应理解，第三方面中的第二地图信息例如可对应于下文实施例中的地图信息A和/或地图信息B，第三方面中的第二地图要素例如可对应于下文实施例中的地图要素A和/或地图要素B。
该信息处理装置接收第二地图信息的具体过程与第二方面中信息处理装置接收第二地图信息的具体过程相似，此处不再赘述。
该信息处理装置也可以基于接收到的第二地图信息，获取第一空间区域中第二地图要素的信息。这有利于该信息处理装置获得更全面的地图信息，进而进行地图更新、规划控制等，从而有利于提高自动驾驶的安全性。
结合第三方面，在第三方面的某些可能的实现方式中，所述方法还包括：基于所述第二地图信息，更新所述指示信息。
其中，更新指示信息可以包括：更新该指示信息中的第一信元和/或第二信元。
示例性地，更新第一信元具体可以包括对第一空间区域的地图信息的动静态属性、更新频率、数据格式和数据处理方式中一项或多项的更新。更新第二信元具体可以包括，更新空间区域，例如删除上述第一空间区域，或，增加新的空间区域。
通过对指示信息的更新，可以使得信息处理装置基于最新划分的空间区域或最新定义的动静态属性、更新频率、数据格式、数据处理方式等进行第一空间区域的地图信息的生成和上报。从而可以合理地进行第一空间区域的地图信息的生成和上报，避免不必要的数据处理和传输，有利于提高地图更新的效率。
结合上述各方面，在某些可能的实现方式中，所述指示信息还用于指示所述第一空间区域的标识，所述第一空间区域的标识用于在地图中标识所述第一空间区域；和/或，所述指示信息还用于指示参考地图信息，所述参考地图信息用于指示所述指示信息所基于的地图的版本和/或供应商。
空间区域的标识可用于标识空间区域。为了便于区分不同的空间区域，可以对不同的空间区域予以标识。第一空间区域的标识可用于唯一地标识该第一空间区域。
示例性地，该第一空间区域的标识可以包括第一字段和第二字段，该第一字段用 于承载区域标识，该区域标识为第一空间区域所属的区域，比如瓦片、道路、车道等，与之对应的区域标识比如为瓦片标识、道路标识、车道标识等。该第二字段用于在该区域内唯一标识该第一空间区域。
通过在指示信息中指示第一空间区域的标识，可以便于不同的设备(比如服务器、终端设备、路侧设备等)对齐第一空间区域的三维空间范围，从而基于该第一空间区域获取第一感知信息，并上报第一地图信息，从而可以提高地图更新的效率。
此外，空间区域的标识还可以用于标识空间区域的优先级，例如，将不同的空间区域需要的不同关注度通过优先级来标识，进而便于信息处理装置基于不同空间区域的优先级来获取感知信息，生成地图信息。从而可以针对不同区域予以不同的关注度，例如针对动态属性的区域予以更高的关注度，更有利于合理地规划控制。
另一方面，指示信息还可以指示参考地图信息，例如指示参考地图的版本和/或供应商。通过指示参考地图信息，一方面可以便于不同的设备基于相同的参考地图来对齐第一空间区域的三维空间范围；另一方面，也可以便于信息处理装置基于同一参考地图，将提取到的地图要素与之对比，确定采集到的信息与参考地图中的信息是否有区别，进而确定变化信息，生成第一地图信息，降低数据传输量。
结合上述各方面，在某些可能的实现方式中，所述第一空间区域的地图信息包括如下一项或多项：地图要素的标识、设备信息、时间信息、参考地图信息、第一空间区域的标识、置信度信息和来源信息。其中，所述地图要素的标识用于标识所述地图要素；所述设备信息用于指示上传所述第一空间区域的地图信息的设备，如上述信息处理装置；所述时间信息用于指示所述第一空间区域的地图信息的上传时间；所述参考地图信息用于指示所述参考地图的版本和/或供应商；所述置信度信息用于指示所述第一空间区域的地图信息的可信程度；所述来源信息用于指示所述感知设备。
通过指示设备信息、来源信息，便于第一空间区域的地图信息的接收设备，将同一设备上传的信息识别出来，并可将同一感知设备感知到的感知信息识别出来，将其作为辅助的信息源来使用。通过指示时间信息，可以便于第一空间区域的地图信息的接收设备根据上传的时间来识别最新的信息。通过指示参考地图信息，便于第一空间区域的地图信息的接收设备基于该参考地图和第一空间区域的地图信息，确定第一空间区域中的地图要素。通过指示第一空间区域的标识便于各设备基于该标识，确定第一空间区域。通过指示置信度信息，便于第一空间区域的地图信息的接收设备基于此来做出合理的规划控制。
可选地，所述第一空间区域的地图信息还包括如下一项或多项：动态要素的运动信息、颜色信息、几何信息和位置信息。其中，所述颜色信息用于指示所述动态要素的颜色；所述位置信息用于指示所述动态要素的位置，所述几何信息用于指示所述动态要素的形状和/或尺寸，所述运动信息用于指示所述动态要素的运动方向和/或运动速度。
由于动态要素的变化频率高，可能处于运动状态，因此可针对动态要素，指示其运动信息、位置信息、几何信息、颜色信息中的至少一项，以便于准确地确定出该动态要素。
可选地，所述第一空间区域的地图信息还包括变化信息，所述变化信息用于指示 静态要素发生的变化。
由于静态要素也可能存在变化，比如交通标识线由实线变为虚线，或由白色变为黄色等，这类变化频率不高，因此，该第一空间区域的地图信息在用于指示静态要素时可通过变化信息来指示。
第四方面，本申请提供了一种信息处理装置，包括用于实现第一方面至第三方面以及第一方面至第三方面的任一种可能实现方式中的方法的模块或单元。应理解，各个模块或单元可通过执行计算机程序来实现相应的功能。
第五方面，本申请提供了一种信息处理装置，包括处理器和存储器，所述存储器与所述处理器耦合，所述存储器用于存储计算机程序，所述处理器执行计算机程序，以使得所述装置实现第一方面至第三方面以及第一方面至第三方面的任一种可能实现方式中所述的信息处理方法。
可选地，所述装置还可以包括通信接口，所述通信接口用于该装置与其它设备进行通信，示例性地，通信接口可以是收发器、电路、总线、模块或其它类型的通信接口。
应理解，第四方面和第五方面中所述的信息处理装置可以是终端设备、路侧设备、服务器，或者，配置在终端设备、路侧设备或服务器等中的部件(如芯片、芯片系统等)。本申请对此不作限定。
第六方面，本申请提供了一种车，该车可用于支持实现上述第一方面至第三方面以及第一方面至第三方面任一种可能实现方式中所涉及的功能，例如，例如接收或处理上述方法中所涉及的数据和/或信息。
示例性地，该车包括第四方面或第五方面所述的装置。
第七方面，本申请提供了一种芯片系统，该芯片系统包括至少一个处理器，用于支持实现上述第一方面至第三方面以及第一方面至第三方面的任一种可能实现方式中所涉及的功能，例如，例如接收或处理上述方法中所涉及的数据和/或信息。
在一种可能的设计中，所述芯片系统还包括存储器，所述存储器用于保存程序指令和数据，存储器位于处理器之内或处理器之外。
该芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
第八方面，本申请提供了一种通信系统，包括：第一信息处理装置和第二信息处理装置，其中，第一信息处理装置用于执行第一方面以及第一方面任一种可能实现方式中的方法；第二信息处理装置用于执行第三方面以及第三方面任一种可能实现方式中的方法。
可选地，所述通信系统还包括第三信息处理装置，该第三信息处理装置用于执行第三方面以及第三方面任一种可能实现方式中的方法。
第九方面，本申请提供了一种计算机可读存储介质，包括计算机程序，当其在计算机上运行时，使得计算机实现第一方面至第三方面以及第一方面至第三方面的任一种可能实现方式中的方法。
第十方面，本申请提供了一种计算机程序产品，所述计算机程序产品包括：计算机程序(也可以称为代码，或指令)，当所述计算机程序被运行时，使得计算机执行第一方面至第三方面以及第一方面至第三方面的任一种可能实现方式中的方法。
附图说明
图1是本申请实施例提供的系统架构的示意图；
图2是本申请实施例提供的信息处理方法的示意性流程图；
图3是本申请实施例提供的多个空间区域的示意图；
图4是本申请实施例提供的指示信息的示意图；
图5是本申请实施例提供的一种信息处理方法的示意性流程图；
图6是本申请实施例提供的另一种信息处理方法的示意性流程图；
图7是本申请实施例提供的另一种信息处理方法的示意性流程图；
图8是本申请实施例提供的方法应用于具体场景的示意图；
图9至图12是本申请实施例提供的信息处理装置的示意性框图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
为了便于理解本申请实施例，首先做出如下几点说明：
第一，本申请实施例中的“发送”可以是在设备之间进行的，例如，可以是在不同车辆之间进行的，也可以是在不同路侧设备之间进行的，也可以是在不同服务器之间进行的。还可以是路侧设备和服务器之间进行的，还可以是路侧设备和车辆之间进行的，还可以是服务器和车辆之间进行的。再比如，可以是在设备内进行的，例如，通过总线、走线或接口在设备内的部件之间、模组之间、芯片之间、软件模块或者硬件模块之间发送。例如，发送坐标转换信息可以是同一路侧设备内进行的。
本申请实施例中的“接收”可以是在设备之间进行的，例如，可以是在不同车辆之间进行的，也可以是在不同路侧设备之间进行的，也可以是在不同服务器之间进行的。还可以是路侧设备和服务器之间进行的，还可以是路侧设备和车辆之间进行的，还可以是服务器和车辆设备之间进行的。再比如，可以是在设备内进行的，例如，通过总线、走线或接口在设备内的部件之间、模组之间、芯片之间、软件模块或者硬件模块之间进行。例如，接收坐标转换信息可以是同一服务器内进行的，也可以是同一车辆内进行的。
第二，本申请实施例中采用诸如“第一”、“第二”的前缀词，仅仅为了区分不同的描述对象，对被描述对象的位置、顺序、优先级、数量或内容等没有任何限定作用。例如，被描述对象为“字段”，则“第一字段”和“第二字段”中“字段”之前的序数词并不限制“字段”之间的位置或顺序，“第一”和“第二”并不限制其修饰的“字段”是否在同一个消息中，也不限制“第一字段”和“第二字段”的先后顺序。再如，被描述对象为“等级”，则“第一等级”和“第二等级”中“等级”之前的序数词并不限制“等级”之间的优先级。再如，被描述对象的数量并不受前缀词的限制，可以是一个或者多个，以“第一设备”为例，其中“设备”的数量可以是一个或者多个。此外，不同前缀词修饰的对象可以相同或不同，例如，被描述对象为“设备”，则“第一设备”和“第二设备”可以是同一个设备、相同类型的设备或者不同类型的设备；再如，被描述对象为“信息”，则“第一信息”和“第二信息”可以是相同内 容的信息或者不同内容的信息。总之，本申请实施例中对用于区分描述对象的前缀词的使用不构成对所描述对象的限制，对所描述对象的陈述参见权利要求或实施例中上下文的描述，不应因为使用这种前缀词而构成多余的限制。
第三，在本申请实施例中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b，或c中的至少一项(个)，可以表示：a；b；c；a和b；a和c；b和c；或a和b和c。其中a，b，c可以是单个，也可以是多个。
第四，在本申请实施例中，“当…时”、“若”以及“如果”均指在某种客观情况下装置会做出相应的处理，并非是限定时间，且也不要求装置实现时一定要有判断的动作，也不意味着存在其它限定。
第五，本申请实施例中的“同时”可以理解为在相同的时间点，也可以理解为在一段时间段内，还可以理解为在同一个周期内，具体可以结合上下文进行理解。
本申请提供的技术方案可以应用于智能交通系统，又称智能运输系统(intelligent transportation system)。智能交通系统将信息技术、数据通信技术、传感器技术、人工智能等有效运用于交通运输和服务控制，可有效提高交通运输的安全和效率。
图1是适用于本申请实施例提供的系统架构的示意图。图1所示的系统100包括路侧设备、服务器和终端设备中的至少一项。例如，图1示出了路侧设备110、服务器120以及终端设备131和132。
其中，路侧设备110包括路侧单元(road side unit，RSU)、多接入边缘计算(multi-access edge computing，MEC)或者传感器等装置，例如，可以是RSU、MEC或者传感器，也可以是由RSU和MEC组成的系统，或者是由RSU和传感器组成的系统，还可以是由RSU、MEC和传感器组成的系统。
服务器120可以是具有计算功能的设备，例如应用服务器或地图服务器。该服务器120例如可以是部署在云环境中的服务器，即云端服务器；或者也可以是部署在边缘环境中的服务器，即边缘计算服务器。服务器120可以是集成的一个设备，也可以是分布式的多个设备，本申请实施例不做具体限定。
终端设备131和132例如可以是车辆、车载单元(on board unit，OBU)、智能穿戴设备(例如，运动手环、手表等)、便携移动设备(例如，手机、平板等)、便携移动设备内的部件或上述多种设备内的芯片，本申请实施例不做具体限定。
图1虽然仅示出了一个路侧设备110、一个服务器120和两个终端设备131、132，但应理解，本申请对于路侧设备、服务器和终端设备的数量均不作限定。该系统100中还可以包括其他数量的路侧设备、服务器和终端设备，或者也可以包括其中的一个或多个设备，本申请对此不作限定。
应理解，对于任意一个设备而言，既可作为发送设备，也可作为接收设备。
示例性地，在具体实施中，在电子地图由服务器生成时，服务器可以基于基础地图和人工智能模型获得风险事件信息。其中，人工智能模型是根据历史事故数据进行 训练获得，历史事故数据包括历史事故的发生时段、事故区域、风险等级、事故区域在发生时段的环境信息和事故区域的道路状态信息等。在一些可能的实施例中，服务器可以基于数据源设备(例如，路面监测装置、路侧设备、终端设备等)检测到影响风险事件的要素发生变化时，服务器还可以根据变化后的要素更新风险事件信息。需要说明的是，基础地图可以是高精地图、标精地图或者其他类型的地图，本申请实施例在此不作具体限定。在一些可能的实施例中，数据源设备例如可以是交通管理部门提供交通路况数据的设备等。在此情况下，服务器可以作为电子地图的发布者，终端设备或路侧设备可以作为电子地图的接收者和使用者。
由于终端设备和路侧设备也具备信息获取能力和计算能力，因此，终端设备或路侧设备除了可以作为电子地图的接收者和使用者，也可以作为电子地图的生产者在本地生成该风险事件信息，供自身使用或者发送给其他的设备。
以终端设备作为电子地图的生产者为例，终端设备可以是车辆、OBU等装置。在此情况下，终端设备中存储有上述基础地图。终端设备可以基于自身当前的位置信息和/或自身的规划轨迹信息，从上述基础地图获取所在位置处或者一定地理区域范围内与风险事件相关的地图数据，例如环境预测信息或道路状态信息，结合人工智能模型生成包含一定地理区域范围内的风险事件信息的电子地图，以供自身使用，或者供其他设备使用。
发布电子地图时，既可以通过蜂窝通信网络，又可以通过车联网(vehicle to everything，V2X)进行发布。例如，云端的地图服务器向行人手持的便携终端设备发布电子地图，既可以通过包括基站在内的蜂窝通信网络进行发布，又可以通过V2X通信由路侧设备向便携终端转发。由于风险事件与周围环境中动态要素息息相关，在关联的动态要素的状态发生变化时，会相应地更新风险事件信息。
需要说明的是，上述各系统中，服务器与终端设备之间，终端设备与路侧设备之间，服务器与路侧设备之间的通信均可使用蜂窝通信技术，例如2G蜂窝通信，如全球移动通信系统(global system for mobile communication，GSM)、通用分组无线业务(general packet radio service，GPRS)；或者3G蜂窝通信，如宽带码分多址(wideband code division multiple access，WCDMA)、时分同步码分多址接入(time division-synchronous code division multiple access，TS-SCDMA)、码分多址接入(code division multiple access，CDMA)；或者4G蜂窝通信，如长期演进(long term evolution，LTE)；或者5G蜂窝通信，及其他演进的蜂窝通信技术等。无线通信系统也可利用非蜂窝通信技术，如Wi-Fi与无线局域网(wireless local area network，WLAN)通信。在一些实施例中，上述设备之间通信还可利用红外链路、蓝牙(bluetooth)或紫蜂(zigbee)进行直接通信。在一些实施例中，上述设备之间通信还可以采用其他无线协议，例如各种车辆通信系统，例如，系统中可包括一个或多个专用短程通信(dedicated short range communications，DSRC)设备，这些设备可包括车辆和/或路边台站之间的公共和/或私有数据通信，本申请不做具体限定。
需要说明的是，图1仅为示例性架构图，但不限定图1所示系统包括的网元的数量。虽然图1未示出，但除图1所示的功能实体外，图1还可以包括其他功能实体。另外，本申请实施例提供的方法可以应用于图1所示的系统，当然本申请实施例提供 的方法也可以适用其他通信系统，本申请实施例对此不予限制。
本申请实施例提供一种信息处理方法，通过指示信息来指示某一空间区域的动静态属性、更新频率、数据格式和数据处理方式中的一项或多项，使得感知设备可以基于该指示信息来合理地进行数据处理，比如将不同动静态属性的空间区域区分处理、按照不同的更新频率处理和上报不同空间区域的地图信息等等，如此一来，便可不同的空间区域的地图信息区分处理和上报，而不必在每次上报地图信息时，针对所有的感知信息进行处理和上报，因此可以减少数据处理量，减少对设备的算力要求。此外，由于不必对所有的感知信息都进行处理和上报，也可以减少上报的数据量，减小对传输带宽的需求。
下面将结合附图对本申请实施例提供的信息处理方法做详细说明。
为方便理解下文的实施例，首先对下文涉及到的术语进行介绍。
1、地图：地图是地理信息的载体。地图包括多个图层(layer)。图层是具有特定组织结构的地图数据集。图层中的数据以一定的数据结构进行组织，能够描述多种来源的地图要素。例如图1中的道路、车道线、建筑、行人、车辆、交通标志牌、路侧设备等均为地图要素。
根据地图要素的时变性，可以将地图要素区分不同的动静态属性。
在一种可能的设计中，地图要素可分为静态要素和动态要素两种类型。其中，静态要素是元素是比较固定、变化小或者更新周期较长的地图要素，例如道路、建筑物、车道线、车道方向或交通基础设施布局等；动态要素是具有较强时变特性的地图要素，也可以称为事件，例如，交通事故、天气变化、路面结冰、道路施工或交通拥堵情况等。
在地图中，静态要素和动态要素被记录于不同的图层，例如，关于静态要素的信息由地图中的静态图层承载，关于动态要素的信息由地图中的动态图层承载。换言之，地图的静态图层中的数据可以称为元素或静态要素，地图的动态图层中的数据可以称为事件或动态要素。
地图中可以包括一个或多个静态图层，还可以进一步包括一个或多个动态图层。例如，某地图包括一个静态图层和多个动态图层，静态图层中记录了建筑物、道路、树木、交通灯和道路指示牌的地理分布，动态图层1记录了车道的实时限速情况、交通施工情况和人流车流情况，动态图层2记录了天气情况，例如晴天、下雨、下雪、刮风、温度或湿度等。
在另一种可能的设计中，地图要素也可以分为静态要素、半静态要素、半动态要素和动态要素四种类型。其中，静态要素是元素是比较固定、变化小或者更新周期较长的地图要素，例如包括道路、建筑物等，这些地图要素在一般情况下不会改变，更新周期较长，例如按月、天来计；半静态要素相比与静态要素来说，是有相对变化，但变化频率不高的要素，例如包括道路施工、气象信息等，这类地图要素的更新周期可以以小时或分钟来计；半动态要素可以包括路面随时的交通事故、交通拥堵等，这类地图要素的更新周期可以小于1分钟；动态要素可以包括实时更新的信息，例如包括车辆、行人等，这类地图要素的更新周期可以用秒计。
基于这样的划分，静态要素、半静态要素、半动态要素和动态要素被记录于不同 的图层，例如，关于静态要素的信息由地图中的静态图层承载，关于半静态要素的信息由地图中的半静态图层承载，关于半动态要素的信息由地图中的半动态图层承载，关于动态要素的信息由地图中的动态图层承载。
地图中可以包括一个或多个静态图层、一个或多个半静态图层、一个或多个半动态图层，以及一个或多个动态图层。各图层承载的信息可参看前文对静态图层和动态图层的举例，此处不再赘述。
可以理解的是，不管对地图要素如何分类，其实质都是根据地图要素的时变性而进行的划分，只是划分的类别数量不同。
需要说明的是，对于某个地图描述对象而言，其可能兼具时变性的地图要素和非时变性的地图要素，非时变性的地图要素是指比较固定、变化较小或者更新周期较长的地图要素，即该描述对象既与地图中的元素相关，也与地图中的事件相关。例如，针对某一个车道，该车道的地理位置为地图中的元素，该车道的交通流量为地图中的事件，该车道的限速为地图中的事件，该车道的允许通行时段为地图中的事件。针对某一个交通灯，该交通灯在路口中的位置为地图中的元素，该交通灯的亮灯变化为地图中的事件。
2、路网结构数据：地图中的路网结构数据可分为瓦片级、道路级和车道级。地图中的每个瓦片有唯一的瓦片标识(identification，ID)，每个瓦片内包括多条道路，每条道路有唯一的道路ID，每条道路又包括多条车道，每条车道有唯一的车道ID。其中，瓦片可以理解为：将一定范围内的地图按照一定的尺寸和格式，以及不同的地图分辨率，切成若干行和列的矩形栅格图片，对切片后的矩形栅格图片称为瓦片(tile)。
下面结合附图来描述本申请实施例提供的信息处理方法。下文所示的信息处理方法可以由信息处理装置来执行，也可以由能够实现全部或部分信息处理装置的功能的逻辑模块或软件实现，本申请对此不作限定。该信息处理装置例如可以包括但不限于，终端设备、路侧设备或服务器等，以及配置在终端设备、路侧设备或服务器等中的部件(如芯片、芯片系统等)。
另外，为了方便区分和说明，将用于执行图2所示的方法200的信息处理装置记为信息处理装置A，由信息处理装置A生成的地图信息记为地图信息A，地图信息A可用于指示第一空间区域的地图要素A；将用于执行图5所示的方法500的信息处理装置记为信息处理装置B，由信息处理装置B生成的地图信息记为地图信息B，地图信息B可用于指示第一空间区域的地图要素B；将用于执行图6所示的方法600的信息处理装置记为信息处理装置C，由信息处理装置C生成的地图信息记为地图信息C，地图信息C可用于指示第一空间区域的地图要素C。
应理解，地图信息A、地图信息B和地图信息C都为第一空间区域的地图信息，都可用于指示第一空间区域的地图要素，都可基于同一指示信息而生成。地图信息A、地图信息B和地图信息C所指示的地图要素可以相同，也可以不同。地图要素A、地图要素B和地图要素C分别可以包括一个或多个地图要素，且地图要素A、地图要素B和地图要素C可以相同，也可以不同。文中仅为便于区分不同的处理装置而命名，不应对地图信息、地图要素本身构成任何限定。
参看图2，图2是本申请实施例提供的信息处理方法200的示意性流程图。如图2 所示，该信息处理方法200可以包括步骤210至步骤230。下面详细说明方法200中的各个步骤。
在步骤210中，信息处理装置A获取指示信息，该指示信息用于指示以下内容中的至少一项：第一空间区域的地图要素的动静态属性、第一空间区域的地图信息的更新频率、第一空间区域的地图信息的数据格式和第一空间区域的地图信息的数据处理方式。
如前所述，对地图中的空间区域进行划分，可以得到多个不同的空间区域。本文中以第一空间区域作为示例来描述本申请提供的方法。该第一空间区域可以是地图中的任意一个空间区域。与此对应，该第一空间区域内的感知信息可以记为第一感知信息。该第一空间区域的地图信息可以记为第一地图信息。
其中，该地图可以是该信息处理装置A此前就预存的地图，如，服务器预存在本地的，或终端设备、路侧设备等从服务器获取到的。需要说明的是，由于服务器可能会频繁地对地图进行更新，故作为信息处理装置A的终端设备、路侧设备等设备所持有的地图并不一定是服务器所持有的最新版本的地图。换言之，信息处理装置A所持有的地图和服务器中的地图可能是不同版本的地图，也可能是同一版本的地图。
在本申请实施例中，为便于区分和说明，将服务器持有的最新版本的地图记为参考地图。服务器可以基于该参考地图进行空间区域的划分，并针对每个空间区域生成指示信息；还可基于接收到的地图信息对参考地图进行更新。该第一空间区域可以是由服务器对参考地图中的空间区域划分得到，并下发给作为信息处理装置A的终端设备、路侧设备等，或者也可以由作为信息处理装置A的终端设备、路侧设备、服务器等自行对自身持有的地图中的空间区域进行划分得到，本申请对此不作限定。
一示例，若信息处理装置A包括终端设备和/或路侧设备，服务器对参考地图中的空间区域进行划分后，可针对每个空间区域生成指示信息，下发至终端设备和路侧设备。换言之，步骤210中的信息处理装置A获取指示信息可以包括：信息处理装置A接收指示信息。
另一示例，若信息处理装置A包括服务器、终端设备或路侧设备，信息处理装置A可执行对自身持有的地图中的空间区域进行划分，并针对每个空间区域生成指示信息。换言之，步骤210中的信息处理装置A获取指示信息可以包括：信息处理装置A确定指示信息。
由于各空间区域的划分可以基于地图中各地图要素的空间分布特点确定。也就是说，在划分得到第一空间区域时，该第一空间区域的动静态属性便可以确定。
若该第一空间区域是由服务器确定的，则该指示信息是来自服务器的指示信息。该指示信息不但用于指示第一空间区域的地图要素中的动静态属性、第一空间区域的更新频率、第一空间区域的数据格式及第一空间区域的数据处理方式中的一项或多项，还可用于指示第一空间区域的三维空间范围。
一种可能的设计是，该指示信息包括第一信元和第二信元，第一信元用于指示该第一空间区域的地图要素的动静态属性、第一空间区域的更新频率、第一空间区域的数据格式及第一空间区域的数据处理方式中的一项或多项；第二信元用于指示第一空间区域的三维空间范围。
信息处理装置A接收到该指示信息，便可基于第二信元确定第一空间区域，从而可以基于第一信元对第一空间区域内的感知信息(也即上述第一感知信息)进行处理。
下面分别该指示信息所指示的内容做详细说明。
1)第一空间区域内的地图要素的动静态属性：
基于前述的对地图要素的分类，以及不同的地图要素的空间分布特点，本申请实施例中对空间区域进行了划分，使得同一区域内的地图要素对应于相同的动静态属性。例如，动静态属性可以包括：静态属性和动态属性，或者也可以包括静态属性、半静态属性、半动态属性和动态属性。
第一空间区域内的地图要素可以具有相同的动静态属性，比如为静态属性和动态属性中的一种，或者为静态属性、半静态属性、半动态属性和动态属性中的一种。本申请对此不作限定。
在一种可能的设计中，空间区域可以根据地图中各地图要素的动静态属性的空间分布特点来划分，将具有同一动静态属性的地图要素所在的空间区域定义为同一空间区域。当然，对空间区域的划分方式也并不限于此。由于前述的设计对空间区域的划分精度可能较高，导致被划分的空间区域较多。在另一种可能的设计中，可以根据地图中各地图要素的动静态属性的空间分布特点，将具有同一动静态属性的地图要素的占比高于某一阈值的空间区域定义为一个空间区域，由此而划分得到的空间区域可以是一个连续的空间区域。在完成了对空间区域的划分后，同一空间区域内的地图要素可以定义成相同的动静态属性，以便于后续采用相同的处理方式来生成和发送地图信息。相比而言，这种设计对空间区域的划分精度不及前一种设计精细，但是可以大大减小计算复杂度。
应理解，对地图中空间区域的划分并不限于上文的列举。例如在对空间区域进行划分时，还可结合空间区域的大小、同一空间区域中各地图要素可能带来的安全隐患等因素来考虑，本申请包含但不限于此。
为了便于区分不同的空间区域内的地图要素的动静态属性，还可以将空间区域与动静态属性关联。例如，可以将第一空间区域内的地图要素的动静态属性定义为该第一空间区域的动静态属性。第一空间区域的动静态属性例如可以为静态属性和动态属性中的一种，或者可以为静态属性、半静态属性、半动态属性和动态属性中的一种。此情况下，指示信息用于指示第一空间区域内的地图要素的动静态属性，也可以替换为，指示信息用于指示第一空间区域的动静态属性。
图3示出了将图1中的地图划分后得到的一部分空间区域。应理解，图3所示的空间区域仅为示例，并未将图1中的空间区域全部遍历。可以看到，区域1、2、3、4、5均为建筑，属于静态要素，可以将这些区域的动静态属性定义为静态属性。区域6为道路及其垂直上空内的空间区域，由于在道路上空的一定高度范围内(比如2米的范围内)存在行人、车辆等交通流量，可以将此区域的动静态属性定义为动态属性。
应理解，应理解，图3所示的空间区域及其对应的动静态属性仅为便于理解而示例，不应对本申请构成任何限定。除了图3所示的空间区域，对图1中所示的空间进行划分还可得到更多的空间区域，例如在区域1至5周边一定高度范围内的区域中，也可能存在行人，因此也可将这些区域的动静态属性定义为动态属性。由于实际场景 中，交通环境远比图1所示更为复杂，基于预定义的类别数量，还可将空间区域定义为更多的动静态属性，比如静态、半静态、半动态和动态。此处不再一一附图说明。
由于地图信息用于反映空间区域中的地图要素的情况，若第一空间区域的动静态属性为动态属性，则该第一空间区域内的地图要素都可以按照对动态要素的数据处理方式来处理，和/或，按照动态要素的数据格式来生成地图信息，和/或，按照动态要素的更新频率来更新或发送地图信息；若第一空间区域的动静态属性为静态属性，则该第一空间区域内的地图要素都可以按照对静态要素的数据处理方式来处理，和/或，按照静态要素的地图数据格式来生成相应的地图信息，和/或，按照静态要素的更新频率来更新或发送地图信息。以此类推，不再赘述。
2)更新频率：
应理解，更新频率具体可以是指该信息处理装置A更新地图信息的频率，或者说发送地图信息的频率。对于信息处理装置A来说，地图信息的每一次更新依赖于上一次更新和本次更新的时间间隔(也即，更新周期)内采集到的感知信息。因此，更新频率越高，更新周期越短。如果第一空间区域内的地图要素的动静态属性为动态属性，则可以使用较高的更新频率；如果第一空间区域内的地图要素的动静态属性为静态要素，则可以使用较低的更新频率。
不同空间区域的地图信息可以对应于不同的更新频率。该指示信息在用于指示更新频率时，可直接指示该第一空间区域的更新频率。
3)数据格式：
数据格式可用于定义地图信息的格式。例如，可用于定义在地图信息中承载哪些内容，各项内容对应的字段，还可用于定义各项内容在地图信息中采用怎样的编码方式来编码。可以理解，按照某一数据格式生成地图信息后，该地图信息便可以该数据格式的形式来传输。
示例性地，可以将数据格式分为用于指示静态要素的数据格式和用于指示动态要素的数据格式。或者，也可以将数据格式分为用于指示静态要素的数据格式、用于指示半静态要素的数据格式、用于指示半动态要素的数据格式和用于指示动态要素的数据格式。
一种可能的设计是，用于指示动态要素的数据格式中包含用于承载运动信息的字段，用于指示静态要素的数据格式中不包含用于承载运动信息的字段。其中运动信息包括运动方向和/或运动速度。
这是因为不同动静态的地图要素可能存在不同程度的安全隐患。比如，动态要素变化频率高，存在安全隐患的风险也较高。因此可以通过运动信息予以指示，以便基于实时获取到的感知信息及时地更新地图。静态要素变化频率低，不需要基于实时获取到的感知信息频繁地更新地图。
除了是否包含用于运动信息的字段之外，用于指示动态要素的数据格式和用于指示动态要素的数据格式还可能存在其他不同。例如，用于指示静态要素、半静态要素的地图数据可通过差量来描述该静态要素、半静态要素的变化。如此，可以减少数据传输量，节省带宽。再例如，用于指示动态要素和用于指示静态要素的地图数据的编码方式也可以不同。为了简洁，此处不再赘述。
当然，基于对不同空间区域内的地图要素的动静态属性的定义的不同，还可将数据格式分为更多可能的格式，比如相对于动态属性、半动态属性、半静态属性和静态属性，还可以将数据格式分为更多不同的格式，本申请对此不作限定。
4)数据处理方式：
数据处理方式具体可以是指，信息处理装置A对来自感知设备的感知信息的处理方式。在实际场景中，感知信息通常来自多个不同的感知设备，比如激光雷达、毫米波雷达、摄像头等，不同的感知设备所采集到的感知信息可能是从不同的角度、不同的位置采集到的，故采集到的感知信息可能是不同参考系下、不同位置的数据；而且来自不同感知设备的感知信息的数据类型也可能不同，例如可以能是点云数据，也可能是图像数据。因此数据处理具体可以包括但不限于，从感知信息中提取地图要素，对地图要素进行融合等。其中，融合就包括：将不同位置采集到的数据、不同坐标系下的数据、不同类型的数据，融合到一起，并在同一个坐标系下，以一种类型的数据来呈现。
用于数据处理的方式也有多种，有的数据处理方式较为复杂，计算耗时较长；有的数据处理方式较为简单，计算耗时较短。由于不同的空间区域内的地图要素可能对应不同的动静态属性，因此对于不同的空间区域内的地图要素的处理可以采用不同的数据处理方式。例如，对于动态要素，可以使用耗时较短的数据处理方式，以获得实时的数据；对于静态要素，可以使用耗时较长的数据处理方式，甚至还可将多个时间点的感知信息进行融合处理。
5)三维空间范围：
三维空间范围具体为空间区域的三维空间范围。在本申请实施例中，三维空间范围具体可通过空间区域的三维空间坐标来表达。例如，可以使用通用坐标系下的三维坐标来表达，该通用坐标系例如可以包括但不限于，地理坐标系(geographic coordinate system)、大地坐标系等；也可以使用相对坐标系下的三维坐标来表达，例如，将该第一空间区域的位置通过相对于参考地图中某一位置点的三维坐标来表达。本申请对此不作限定。
需要说明的是，信息处理装置A并不一定要持有参考地图。在信息处理装置A持有参考地图的情况下，上述指示信息中的第二信元可通过指示第一空间区域相对于参考地图中某一位置点的三维坐标的方式来指示第一空间区域的三维空间范围；在信息处理装置A未持有参考地图的情况下，上述指示信息中的第二信元可通过通用坐标系下的三维坐标来指示第一空间区域的三维空间范围。本申请对此并不予以限制。
如前所述，该指示信息可用于指示第一空间区域内地图要素的动静态属性、第一空间区域的地图信息的更新频率、第一空间区域的地图信息的数据格式和第一空间区域的地图信息的数据处理方式中的一项或多项。换言之，该指示信息可用于指示第一空间区域内地图要素的动静态属性、或更新频率、或第一空间区域的地图信息的数据格式、或第一空间区域的地图信息的数据处理方式，或者，也可以用于指示该四项中的任意多项。
在一种可能的设计中，对于第一空间区域来说，每一种动静态属性可对应以下一项或多项：第一地图信息的更新频率、第一地图信息的数据格式以及第一地图信息的 数据处理方式。换言之，信息处理装置A在确定了第一空间区域内的地图要素的动静态属性后，便可基于与之对应的更新频率来对第一空间区域内的感知信息进行处理和上报，或基于与之对应的数据处理方式来对该第一空间区域的感知信息进行处理，或基于与之对应的数据格式来生成第一地图信息。
以更新频率与动静态属性的对应关系为例，不同地图要素的更新周期不同，故，基于上文对于动静态属性的划分，可以分别对不同动静态属性的地图要素定义不同的更新频率，或者说，对不同动静态属性的空间区域定义不同的更新频率。即，更新频率也可以与动静态属性一一对应。例如，对于动态属性的地图要素所在的空间区域，地图信息的更新频率最高，对于静态属性的地图要素所在的空间区域，地图信息的更新频率最低。也即，动态属性的空间区域的地图信息的更新频率最高，静态属性的空间区域的地图信息的更新频率最高。
若动静态属性包括静态属性和动态属性，则二者对应的更新频率由高到低依次为：动态属性、静态属性；若动静态属性包括静态属性、半静态属性、半动态属性和动态属性，则四者对应的更新频率由高到低依次为：动态属性、半动态属性、半静态属性、静态属性。
当然，更新频率也可以不与动静态属性一一对应。对于不同的动静态属性，也可以定义相同的更新频率。比如，静态属性和半静态属性对应于一种更新频率；动态属性和半动态属性对应于另一种更新频率。
可以理解的是，在更新频率也可以与动静态属性一一对应的情况下，动静态属性和更新频率这两项可以择一指示，也即，可通过动静态属性来隐式地指示更新频率，或通过更新频率来隐式地指示动静态属性。如此，可以减少指示信息的信令开销。
当然，即便更新频率不与动静态属性一一对应，但若将不同的动静态属性所对应的更新频率预先定义好，也可以通过动静态属性来隐式地指示更新频率。
数据格式、数据处理方式分别与动静态属性的对应关系与之相似，为了简洁，处处不一一举例详述。
可以理解的是，在多种动静态属性、多种更新频率、多种数据格式和多种数据处理方式存在一一对应的关系时，也可以对该四项择一指示，也即，通过其中的任意一项来隐式地指示其他三项中的任意一项，以减少指示信息的信令开销。
除了动静态属性、更新频率、数据格式、数据处理方式和三维空间范围之外，该指示信息还可用于指示第一空间区域的标识和/或参考地图信息。
可以理解，地图中可以包括除第一空间区域之外更多的空间区域。为了便于区分不同的空间区域，可以对不同的空间区域予以标识。第一空间区域的标识可用于在该地图中唯一地标识该第一空间区域。应理解，该地图可以是参考地图，也可以是信息处理装置A持有的地图。本申请对此不作限定。
一种可能的设计是，该第一空间区域的标识包括第一字段和第二字段，该第一字段用于承载区域标识，该区域标识为第一空间区域所属的瓦片、道路、车道等，与之对应的标识比如为瓦片标识、道路标识、车道标识等。该第二字段用于在该瓦片、道路、车道等范围内唯一标识该第一空间区域。
此外，空间区域的标识还可以用于标识空间区域的优先级，例如，将不同的空间 区域需要的不同关注度通过优先级来标识，进而便于信息处理装置A基于不同空间区域的优先级来获取感知信息，生成地图信息。
参考地图信息可用于指示参考地图的版本和/或供应商。通过指示参考地图信息，一方面可以便于不同的设备基于相同的参考地图来对齐第一空间区域的三维空间范围；另一方面，也可以便于信息处理装置A基于同一参考地图，将提取到的地图要素与之对比，生成第一地图信息，例如，可确定采集到的信息与参考地图中的信息是否有区别，进而确定变化信息，生成第一地图信息，降低数据传输量。
应理解，信息处理装置A并不一定持有参考地图，在未持有参考地图的情况下，信息处理装置A也可以基于先验的地图数据生成第一地图信息。
图4示例性地示出了该指示信息。图4所示的指示信息包括：第一信元、第二信元、第三信元和第四信元。其中，第一信元用于指示第一空间区域内的地图要素的动静态属性、第一空间区域的地图信息的更新频率、第一空间区域的地图信息的数据格式和第一空间区域的地图信息的数据处理方式。第二信元用于指示第一空间区域的三维空间范围。第三信元用于指示第一空间区域的标识。第四信元用于指示参考地图信息，例如可包括参考地图的版本和参考地图的供应商。
应理解，图4所示的指示信息仅为示例，如前所述，该指示信息可以包括图4所列举中的各项信息中的一项或多项。为了简洁，此处不再赘述。还应理解，图4所示的指示信息的具体结构仅为示例，该指示信息也可以为其他结构，本申请包含但不限于此。
在步骤220中，信息处理装置A基于该指示信息和来自感知设备的感知信息，生成地图信息A，该第一地图信息用于指示第一空间区域的地图要素A。
其中，感知设备例如可以是信息处理装置A中配置的感知设备，也可以是与信息处理装置A存在通信连接的感知设备。感知设备可以是具有数据处理能力的设备，也可以是不具有数据处理能力的设备，本申请对此不作限定。
作为示例而非限定，感知设备例如包括路侧设备、终端设备(例如包括但不限于，车、车载终端等)、传感器(例如包括但不限于，激光雷达传感器、毫米波雷达传感器等)、摄像头等，以及由路侧设备和传感器和/或摄像头组合而成的系统、终端设备和传感器和/或摄像头组合而成的系统等。此处不再枚举。
由于感知设备采集到的感知信息不仅仅包含了第一空间区域内的感知信息，故信息处理装置A可以基于第一空间区域的三维空间范围，提取第一空间区域内的感知信息或地图要素，进而生成地图信息A。由于该地图信息A是基于第一空间区域内的感知信息生成，该感知信息包含了对第一空间区域内的地图要素实时采集到的信息，故该第一地图信息可用于指示第一空间区域内的地图要素A。
一种可能的实现方式是，基于第一空间区域的三维空间范围，从感知信息中提取该三维空间范围内的第一感知信息；并基于上述动静态属性、更新频率、数据格式和数据处理方式中的一项或多项，以及第一感知信息，生成地图信息A。如此得到的地图信息A可用于指示第一空间区域内的地图要素A。
也就是说，信息处理装置A可以先基于第一空间区域的空间划分，将感知信息中不属于该第一空间区域的感知信息排除，得到对应于第一空间区域的第一感知信息， 然后可基于第一感知信息进行处理，比如融合来自不同感知设备的感知信息、基于融合后的数据进行感知信息的提取等，再基于动静态属性、更新频率、数据格式和数据处理方式中的一项或多项，生成地图信息A。
另一种可能的实现方式是，基于所述感知信息进行要素提取，得到地图要素；基于第一空间区域的三维空间范围，从地图要素中确定该三维空间范围内的地图要素A；基于上述动静态属性、更新频率、数据格式和数据处理方式中的一项或多项，以及地图要素A，生成所述地图信息A。
也就是说，信息处理装置A可以先对来自各感知设备的感知信息分别进行要素提取，得到从各感知设备的感知信息中提取到的地图要素及其对应的空间信息，然后可基于第一空间区域的三维空间范围，将此前从各感知设备的感知信息中提取到的地图要素中属于该三维空间范围的地图要素确定为地图要素A，进而可基于地图要素A，对来自不同感知设备的数据进行融合，再基于动静态属性、更新频率、数据格式和数据处理方式中的一项或多项，第一地图信息A。
可选地，当指示信息用于指示第一空间区域内的地图要素的动静态属性时，生成的地图信息A中的地图要素A具备该动静态属性。
与此对应，当指示信息用于指示第一空间区域内的地图要素的动静态属性时，生成的地图信息A具体可以包括：生成满足该动静态属性的地图信息A。
这里，满足动静态属性的地图信息具体可以包括如下一项或多项：更新频率满足动静态属性、数据格式满足动静态属性、数据处理方式满足动静态属性，以及在地图信息中携带用于指示动静态属性的标识。
更新频率满足动静态属性，可以是指更新频率与动静态属性相对应，不同的动静态属性，可对应不同的更新频率。例如，按照更新频率由高到低的顺序，上述动静态属性可依次为：动态属性、静态属性；或者，动态属性、半动态属性、半静态属性、静态属性。信息处理装置A可以基于该动静态属性所对应的更新频率对感知信息进行处理，以生成地图信息A。换言之，该地图信息A的生成频率可以与更新频率一致。
针对不同的动静态属性的地图要素，数据格式可以有不同的设计。数据格式满足动静态属性，可以是指数据格式可用于指示指定的动静态属性的地图要素，生成满足动静态属性的地图信息A，可以是指基于用于指示指定的动静态属性的地图要素的数据格式生成地图信息A。例如，基于用于指示动态要素的数据格式生成地图信息A，或基于用于指示静态要素的数据格式生成地图信息A。又例如，基于用于指示动态要素的数据格式生成地图信息A，或基于用于指示半动态要素的数据格式生成地图信息A，或基于用于指示半静态要素的数据格式生成地图信息A，或基于用于指示静态要素的数据格式生成地图信息A。
数据处理方式满足动静态属性，可以是指数据处理方式与动静态属性相对应。不同的动静态属性，可以采用不同的数据处理方式。例如，满足动态属性的地图信息对时延要求高，需要对采集到的数据做实时处理，可以采用时延要求高的算法；满足静态属性的地图信息因对时延要求低，可以采用时延要求低的复杂算法，甚至可以做多个时间点的感知信息的融合。
通过生成满足动静态属性的地图信息，有利于更合理地进行地图更新，减小数据 处理量和数据传输量。
可选地，当指示信息用于指示数据格式时，生成地图信息A具体可以包括：基于该数据格式，第一地图信息A。
如前所述，用于指示动态要素的数据格式中包含用于承载运动信息的字段，用于指示静态要素的数据格式中不包含用于承载运动信息的字段。
除此之外，用于指示动态要素的数据格式中还可包含如下至少一个字段：用于承载动态要素的颜色信息的字段，用于承载动态要素的几何信息的字段，用于承载动态要素的位置信息的字段。
其中，颜色信息用于指示动态要素的颜色；位置信息用于指示动态要素的位置，几何信息用于指示动态要素的形状和/或尺寸。
用于指示静态要素的数据格式还可包括用于承载变化信息的字段。该变化信息用于指示静态要素发生的变化。
由于静态要素也可能存在变化，比如交通标识线由实线变为虚线，或由白色变为黄色等，这类变化频率不高，可通过变化信息来指示。
示例性地，该变化信息包括但不限于，变化时间、变化内容等。
因此，该第一空间区域的地图信息可以包括动态要素的运动信息、颜色信息、几何信息和位置信息中的一项或多项，或者第一空间区域的地图信息可以包括静态要素的变化信息。应理解，上述动态要素和静态要素可以基于感知信息进行要素提取得到。
除了上文所列举的动态要素的运动信息、颜色信息、几何信息、位置信息，及静态要素的变化信息，该第一空间区域地图信息还可包括如下一项或多项：地图要素的标识：设备信息、时间信息、参考地图信息、第一空间区域的标识、置信度信息和来源信息。
其中，地图要素的标识用于标识该地图要素。设备信息用于指示上传该第一空间区域的地图信息的设备，如上传地图信息A的信息处理装置A。时间信息用于指示该第一空间区域的地图信息的上传时间。参考地图信息用于指示当前使用的参考地图的版本和/或供应商。置信度信息用于指示该第一空间区域的地图信息的可信程度。来源信息用于指示感知设备。
通过指示设备信息、来源信息，便于第一空间区域的地图信息的接收设备(如下文中提及的接收到地图信息A的信息处理装置B或信息处理装置C)将同一设备上传的信息识别出来，还可将同一感知设备感知到的感知信息识别出来，将其作为辅助的信息源来使用。
通过指示时间信息，可以便于第一空间区域的地图信息的接收设备根据上传的时间来识别最新的信息。
通过指示参考地图信息，便于第一空间区域的地图信息的接收设备基于该参考地图和第一空间区域的地图信息，确定第一空间区域中的地图信息。
通过指示第一空间区域的标识，可以便于接收到该第一空间区域的地图信息的接收设备基于该标识，确定第一空间区域。
通过指示置信度信息，便于第一空间区域的地图信息的接收设备基于此来做出合理的规划控制。
在步骤230中，信息处理装置A发送该地图信息A。
信息处理装置A可以通过已有的通信链路发送该地图信息A，以便于接收到该地图信息A的装置可以对其进行处理。这里，接收到地图信息A的设备例如可以是下述方法500中提及的信息处理装置B，也可以是下述方法600中提及的信息处理装置C，本申请对于该地图信息A的接收装置对此不作限定。
可选地，当上述指示信息用于指示更新频率时，步骤230具体可以包括：信息处理装置A基于该更新频率发送该第一地图信息。
信息处理装置A可以基于该更新频率来生成地图信息A，进而发送第一地图信息A；也可以在每一次获取到感知信息时生成地图信息A，并基于该更新频率发送地图信息A。本申请对此不作限定。
应理解，信息处理装置A除了生成并发送地图信息A之外，还可能从其他设备接收地图信息，比如从下述的信息处理装置B接收地图信息B，和/或，从下述的信息处理装置C接收地图信息C。此外，信息处理装置A还可以生成并发送其他空间的地图信息，和/或，接收其他空间区域的地图信息。本申请包含但不限于此。
基于上述技术方案，指示信息针对第一空间区域的地图要素或地图信息进行指示，第一空间区域是根据地图要素或地图信息的属性特征在地图中划分出的空间区域，在该区域内的地图要素或地图信息具有共同的属性特征，通过指示信息针对第一空间区域的地图要素或地图信息进行指示，可以使信息处理装置以适合于该共同的属性特征的方式生成或发送地图信息，从而可以缓解数据量过大对地图的生成、传输或处理等环节造成的压力。该技术方案体现出了对空间区域的切分，通过对个别空间区域进行针对性的指示，避免了地图中所有空间区域都采用相同的处理方式，避免了用于兼顾所有地图要素的处理方式带来的数据冗余。
参看图5，图5是本申请另一实施例提供的信息处理方法500的示意性流程图。如图5所示，该信息处理方法500可以包括步骤510至步骤530。下面详细说明方法500中的各个步骤。
在步骤510中，信息处理装置B获取指示信息，该指示信息用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、第一空间区域的地图信息的更新频率、第一空间区域的地图信息的数据格式传输格式和第一空间区域的地图信息的数据处理方式。
应理解，步骤510与上文方法200中的步骤210的具体过程相似，可参看前文步骤210中的相关说明，此处不再赘述。
在步骤520中，信息处理装置B接收地图信息A，该地图信息A用于指示第一空间区域的地图要素A。
可以理解，与信息处理装置A存在通信链路的设备都可以接收该地图信息A。换言之，该信息处理装置B可以是与信息处理装置A存在通信链路的设备。
如前所述，指示信息可用于指示第一空间区域内的地图要素的动静态属性、第一空间区域的地图信息的更新频率、第一空间区域的地图信息的数据格式和第一空间区域的地图信息的数据处理方式中的一项或多项。
基于指示信息所指示的内容的不同，信息处理装置B可以作出相应的处理。
示例性地，步骤520具体可包括步骤5201，该指示信息用于指示更新频率时，该信息处理装置B可以基于该更新频率来接收地图信息A。
由于每一次接收信号都需要耗费接收功率，基于已知的更新频率来接收地图信息A可以减少不必要的功耗。
示例性地，该方法还包括步骤530，当指示信息用于动静态属性、数据格式和数据处理方式中的一项或多项时，信息处理装置B基于该指示信息，从地图信息A中获取地图要素A的信息。
由于地图信息A基于动静态属性、数据格式和数据处理方式中的一项或多项生成，故该信息处理装置B可以基于动静态属性、数据格式和数据处理方式中的一项或多项来对地图信息A进行处理，从中获取到地图要素A的信息。
一示例，该指示信息用于指示动静态属性时，该信息处理装置B可以基于该动静态属性对地图信息A进行处理。
如前所述，该指示信息用于指示动静态属性时，该地图信息A中的地图要素A均为具备该动静态属性的地图要素。信息处理装置B可以基于该动静态属性来解读该地图信息A，以获取到地图要素A的信息。
比如，如果该指示信息指示第一空间区域内的地图要素的动静态属性为静态或半静态，则可确定该地图信息A中的数据是以差量上报的，则可基于此来解读地图信息A。又比如，如果该指示信息指示第一空间区域内的地图要素的动静态属性为动态，则可采用时延要求高的算法，对其进行实时地处理，以解读其中的信息。再比如，如果该指示信息指示第一空间区域内的地图要素的动静态属性为静态，则可采用时延要求低的算法，对其进行处理，以解读其中的信息。
另一示例，该指示信息用于指示数据格式时，该信息处理装置B可以基于该数据格式对地图信息A进行处理，以获取地图信息A中地图要素A的信息。
如前所述，数据格式可以与动静态属性相对应。在二者相对应的情况下，信息处理装置B可以基于地图信息A的数据格式来确定该第一空间区域的动静态属性，进而基于该动静态属性来解读地图信息A。具体过程可参看前文示例，此处不再赘述。
当然，数据格式也可以不与动静态属性对应。此情况下，信息处理装置B可以基于指示信息所指示的数据格式来解读地图信息A。
再一示例，该指示信息用于指示数据处理方式时，该信息处理装置B可以基于该数据处理方式对地图信息A进行处理，以获取地图信息A中地图要素A的信息。
如前所述，数据处理方式可以与动静态属性相对应。在二者相对应的情况下，信息处理装置B可以基于地图信息A的数据处理方式来确定该地图信息A的动静态属性，进而基于该动静态属性来解读地图信息A。具体过程可参看前文示例，此处不再赘述。
当然，数据处理方式也可以不与动静态属性对应。此情况下，信息处理装置B可以基于指示信息所指示的数据处理方式，按照与之对应的数据处理方式来解读地图信息A。
信息处理装置B在解读地图信息A之后，可以对其持有的地图进行更新、规划控制等；也可以基于该地图信息A，提高自身的感知、定位、规划控制等能力。本申请对此不作限定。
前已述及，上述指示信息可以包括第一信元，上述动静态属性、更新频率、数据格式和数据处理方式中的一项或多项可通过第一信元来指示。除此之外，该指示信息还可包括第二信元，用于指示该第一空间区域的三维空间范围；该指示信息还可包括第三信元，用于指示第一空间区域的标识；该指示信息还可包括第四信元，用于指示参考地图的版本和/或供应商。关于指示信息的具体结构可参看前文结合图4的相关描述，此处不再赘述。
应理解，信息处理装置B除了从信息处理装置A接收地图信息A之外，还可能从其他设备接收地图信息，比如从下述的信息处理装置C接收地图信息C。此外，该信息处理装置B也可能具备获取感知信息的能力和处理感知信息的能力，因此，除了接收地图信息之外，该信息处理装置B也可以基于指示信息和获取到的感知信息，生成地图信息B，该地图信息B可用于指示第一空间区域的地图要素B。此外，该信息处理装置B还可以生成并发送其他空间的地图信息，和/或，接收其他空间区域的地图信息。
基于上述技术方案，指示信息针对第一空间区域的地图要素或地图信息进行指示，第一空间区域是根据地图要素或地图信息的属性特征在地图中划分出的空间区域，在该区域内的地图要素或地图信息具有共同的属性特征，通过指示信息针对第一空间区域的地图要素或地图信息进行指示，可以使信息处理装置以适合于该共同的属性特征的方式接收或处理地图信息，从而可以缓解数据量过大对地图的生成、传输或处理等环节造成的压力。该技术方案体现出了对空间区域的切分，通过对个别空间区域进行针对性的指示，避免了地图中所有空间区域都采用相同的处理方式，避免了用于兼顾所有地图要素的处理方式带来的数据冗余。
参看图6，图6是本申请又一实施例提供的信息处理方法600的示意性流程图。如图6所示，该信息处理方法600可以包括步骤610和步骤640。下面详细说明方法600中的各个步骤。
在步骤610中，信息处理装置C生成指示信息，该指示信息用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、第一空间区域的地图信息的更新频率、第一空间区域的地图信息的数据格式和第一空间区域的地图信息的数据处理方式。
如前所述，信息处理装置C可以基于地图要素的空间分布特点来对地图中的空间区域进行划分，得到多个不同的空间区域。信息处理装置C可以基于划分后的空间区域，生成指示信息。例如针对第一空间区域，生成指示信息，以用于指示上述动静态属性、更新频率、数据格式和数据处理方式中的一项或多项。
在步骤620中，信息处理装置C发送该指示信息。
信息处理装置C可将该指示信息通过已有的通信链路发送出去。该指示信息的接收装置例如可以包括上述方法200中的信息处理装置A，还可以包括上述方法500中的信息处理装置B。
可选地，该方法还包括：步骤630，信息处理装置C接收第一空间区域的地图信息；及
步骤640，信息处理装置C基于第一空间区域的地图信息，更新指示信息。
第一空间区域的地图信息可以包括但不限于上文列举的地图信息A和地图信息C。信息处理装置C可能接收到地图信息A和地图信息C中的至少一项，也可能接收到来自其他设备的第一空间区域的地图信息，本申请包含但不限于此。
可选地，信息处理装置C可以基于指示信息来接收和处理第一空间区域的地图信息。
例如，可基于指示信息所指示的更新频率来接收第一空间区域的地图信息，还可基于指示信息所指示的数据格式和/或数据处理方法来对该第一空间区域的地图信息进行处理。由于信息处理装置C接收该第一空间区域的地图信息及对该第一空间区域的地图信息的处理可参看上文方法500中信息处理装置B对接收地图信息A及对地图信息A进行处理的相关描述，此处暂且不做详述。
信息处理装置C在对接收到的第一空间区域的地图信息解析后，可以获取到第一空间区域内地图要素的最新的信息。因此，信息处理装置C可以基于该第一空间区域的地图信息，对当前版本的参考地图进行更新。由于更新后的参考地图中可能存在动态要素和/或静态要素的变化，动态要素和静态要素的空间分布特点也可能会发生变化。因此，信息处理装置C还可以基于此更新指示信息。
示例性地，更新指示信息可以包括更新第一空间区域的地图要素的动静态属性、第一空间区域的地图信息的更新频率、第一空间区域的地图信息的数据格式和第一空间区域的地图信息的数据处理方式中的一项或多项。
例如，若第一空间区域中的动态要素和静态要素的空间分布特点发生了变化，第一空间区域的地图要素的动静态属性发生了变化，则可对该第一空间区域内地图要素的动静态属性做出更新。与之相应，若该指示信息的第一信元指示第一空间区域的地图要素的动静态属性、第一空间区域的地图信息的更新频率、第一空间区域的地图信息的数据格式和第一空间区域的地图信息的数据处理方式中的某一项或多项，信息处理装置C便可基于更新后的地图要素的动静态属性，更新指示信息中的相应内容。
又例如，若第一空间区域中的动态要素和静态要素的空间分布特点发生了变化，使得第一空间区域的三维空间范围发生了变化，较此前指示的三维空间范围更大或更小，则可对该指示信息的第二信元做出更新，以使得更新后的三维空间范围更符合当前的动态要素和静态要素的空间分布特点。
还例如，若第一空间区域中的动态要素和静态要素的空间分布特点发生了变化，使得第一空间区域内的地图要素不再具有相同的动静态属性，则该第一空间区域不再适合作为一个空间区域来进行地图信息的上报，则可对该指示信息做出更新，例如可删除第二信元中对原来的第一空间区域的三维空间范围的指示，并可删除第一信元中对该动静态属性、更新频率、数据格式和数据处理方式中一项或多项的指示。或者，若原来的第一空间区域可以拆分为两个或更多个空间区域，每个空间区域内的地图要素对应一种动静态属性，则也可对该指示信息做出更新，例如可在删除或更新原来的第一空间区域对应的指示信息(例如更新第二信元中第一空间区域的三维空间范围)的基础上，增加新的三维空间范围的指示，并可在第一信元中增加对相应空间区域的地图信息的动静态属性、更新频率、数据格式和数据处理方式中一项或多项的指示。
应理解，上文所列举的对指示信息的更新仅为几种可能的情况，第一空间区域的 动态要素和静态要素的空间分布特点变化可能带来的空间区域划分的变化可能存在更多种可能，与之对应的指示信息的更新也可以有多种可能的方式，此处为了简洁，不再枚举。
还应理解，信息处理装置C也可能具备获取感知信息的能力和处理感知信息的能力，故该信息处理装置C也可以基于指示信息和获取到的感知信息，生成地图信息C，该地图信息C可用于指示第一空间区域的地图要素C。
此外，信息处理装置C还可以生成并发送其他空间的地图信息，和/或，接收其他空间区域的地图信息。本申请包含但不限于此。
基于上述技术方案，指示信息针对第一空间区域的地图要素或地图信息进行指示，第一空间区域是根据地图要素或地图信息的属性特征在地图中划分出的空间区域，在该区域内的地图要素或地图信息具有共同的属性特征，通过指示信息针对第一空间区域的地图要素或地图信息进行指示，可以使信息处理装置以适合于该共同的属性特征的方式接收或处理地图信息，从而可以缓解数据量过大对地图的生成、传输或处理等环节造成的压力。该技术方案体现出了对空间区域的切分，通过对个别空间区域进行针对性的指示，避免了地图中所有空间区域都采用相同的处理方式，避免了用于兼顾所有地图要素的处理方式带来的数据冗余。
参看图7，图7从设备交互的角度示出了本申请实施例提供的方法。图7中的信息处理装置A、信息处理装置B和信息处理装置C可以分别对应于前文方法200、方法500和方法600中的信息处理装置A、信息处理装置B和信息处理装置C。
图7所示的信息处理方法700可以包括步骤701至步骤712。下面详细说明方法700中的各个步骤。
在步骤701中，信息处理装置C生成指示信息，该指示信息用于指示如下至少一项内容：第一空间区域的地图要素的动静态属性、第一空间区域的地图信息的更新频率、第一空间区域的地图信息的数据格式和第一空间区域的地图信息的数据处理方式中的一项或多项。
在步骤702中，信息处理装置C发送该指示信息。相应地，信息处理装置A和信息处理装置B可以接收该指示信息。
在步骤703中，信息处理装置A基于该指示信息和来自感知设备的感知信息，生成地图信息A，该地图信息A可用于指示第一空间区域内的地图要素A。
在步骤704中，信息处理装置A发送该地图信息A。相应地，信息处理装置B和信息处理装置C可以接收该地图信息A。
在步骤705中，信息处理装置B和信息处理装置C基于该指示信息，从地图信息A中获取地图要素A的信息。
应理解，信息处理装置B和信息处理装置C对地图信息A的处理以及使用与各自的功能相关，本申请对此并不限定。
在步骤706中，信息处理装置B基于该指示信息和来自感知设备的感知信息，生成地图信息B，该地图信息B可用于指示第一空间区域内的地图要素B。
在步骤707中，信息处理装置B发送该地图信息B。相应地，信息处理装置A和信息处理装置C可以接收该地图信息B。
在步骤708中，信息处理装置A和信息处理装置C基于该指示信息，从地图信息B中获取地图要素B的信息。
在步骤709中，信息处理装置C基于该指示信息和来自感知设备的感知信息，生成地图信息C，该地图信息C可用于指示第一空间区域内的地图要素C。
在步骤710中，信息处理装置发送该地图信息C。相应地，信息处理装置A和信息处理装置B可以接收该地图信息C。
在步骤711中，信息处理装置C根据地图信息A、地图信息B和地图信息C中的至少一项，更新指示信息。
在步骤712中，信息处理装置C发送更新后的指示信息。
应理解，上文中的各个步骤的具体实施过程可参看前文结合图2、图5和图6的相关说明，此处不再赘述。
还应理解，图7中所示的流程仅为示例，本申请并不限定各步骤的先后执行顺序。比如，步骤709和步骤710可以在步骤706和步骤707之前执行，也可以在步骤703和步骤704之前执行，或者还可以与步骤706和步骤707同步执行，或与步骤703和步骤704同步执行，或者还可以在步骤711之后执行。步骤703和步骤704也可以在步骤706和步骤707之前执行，或与步骤706和步骤707同步执行，或者还可以在步骤712之后执行，等等，此处不再枚举。
需注意，若步骤709和步骤710在步骤711之后执行，则信息处理装置C所生成的地图信息C是基于更新后的指示信息生成的；若步骤703和步骤704在步骤712之后执行，则信息处理装置C更新指示信息所基于的地图信息可以包括地图信息B和/或地图信息C，信息处理装置A所生成的地图信息A是基于更新后的指示信息生成的；同理，若步骤706和步骤707在步骤712之后执行，则信息处理装置C更新指示信息所基于的地图信息可以包括地图信息A和/或地图信息C，信息处理装置B所生成的地图信息B是基于更新后的指示信息生成的。各步骤的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
还应理解，信息处理装置A、信息处理装置B和信息处理装置C接收到的对地图信息的处理以及使用与各自的功能相关，本申请对此并不限定。
基于上述技术方案，指示信息针对第一空间区域的地图要素或地图信息进行指示，第一空间区域是根据地图要素或地图信息的属性特征在地图中划分出的空间区域，在该区域内的地图要素或地图信息具有共同的属性特征，通过指示信息针对第一空间区域的地图要素或地图信息进行指示，可以使信息处理装置以适合于该共同的属性特征的方式生成或发送地图信息，也可以以适合于该共同的属性特征的方式接收或处理地图信息，从而可以缓解数据量过大对地图的生成、传输或处理等环节造成的压力。该技术方案体现出了对空间区域的切分，通过对个别空间区域进行针对性的指示，避免了地图中所有空间区域都采用相同的处理方式，避免了用于兼顾所有地图要素的处理方式带来的数据冗余。
为了更好地理解本申请实施例，图8示出了使用了本申请提供的方法的一个具体的实施例。图8中的服务器可用于实现方法600中信息处理装置C的功能，图8中的路侧设备和终端设备可用于实现方法200中的信息处理装置A的功能，也可用于实现 方法500中信息处理装置B的功能。
如图8所示，服务器生成指示信息，并将指示信息下发至终端设备和/或路侧设备。该服务器例如可对应于上文列举的信息处理装置C。终端设备和路侧设备中的任意一个都可以采集感知信息，并基于感知信息和该指示信息生成第一空间区域的地图信息。图中示出了路侧设备和终端设备分别生成第一空间区域的地图信息的一例。该路侧设备例如可以对应于上文列举的信息处理装置A，该路侧设备生成的第一空间区域的地图信息例如可以是上文列举的地图信息A。该终端设备例如可以对应于上文列举的信息处理装置B，该终端设备生成的第一空间区域的地图信息例如可以是上文列举的地图信息B。路侧设备在生成该地图信息A之后，可以将该地图信息A发送给服务器和终端设备。服务器和终端设备可分别基于指示信息从该地图信息A中获取第一空间区域内地图要素A的信息。终端设备生成地图信息B之后，也可以将地图信息B发送给服务器和路侧设备。服务器和路侧设备也可分别基于指示信息从该地图信息B中获取第一空间区域内地图要素B的信息。此后，服务器可以基于第一空间区域的地图信息(比如地图信息A和地图信息B)更新参考地图，并可基于第一空间区域的地图信息进行规划控制等；终端设备可以基于第一空间区域的地图信息提高自身的感知、定位、规划控制等能力，也可基于第一空间区域的地图信息，对本地存储的地图进行更新。本申请对此不作限定。
图8虽未示出，但可以理解，除了图中所示的信息，服务器也可以基于指示信息和感知信息生成第一空间区域的地图信息，该地图信息例如可以是上文列举的地图信息C。服务器也可将生成的地图信息C发送给终端设备和路侧设备，以便于终端设备和路侧设备从地图信息C中获取第一空间区域内的地图要素C的信息。
关于各设备生成的信息以及对接收到的信息的处理可以参看前文结合图2、图5至图7的相关说明，此处不再赘述。
基于上述技术方案，指示信息针对第一空间区域的地图要素或地图信息进行指示，第一空间区域是根据地图要素或地图信息的属性特征在地图中划分出的空间区域，在该区域内的地图要素或地图信息具有共同的属性特征，通过指示信息针对第一空间区域的地图要素或地图信息进行指示，可以使信息处理装置以适合于该共同的属性特征的方式生成或发送地图信息，也可以以适合于该共同的属性特征的方式接收或处理地图信息，从而可以缓解数据量过大对地图的生成、传输或处理等环节造成的压力。该技术方案体现出了对空间区域的切分，通过对个别空间区域进行针对性的指示，避免了地图中所有空间区域都采用相同的处理方式，避免了用于兼顾所有地图要素的处理方式带来的数据冗余。
以上，结合图2至图8详细描述了本申请实施例提供的方法。以下，结合图9至图12详细说明本申请实施例提供的装置。
图9是本申请实施例提供的信息处理装置的示意性框图。如图9所示，该装置900可以包括：获取模块910、生成模块920和发送模块930。该信息处理装置900的功能可以通过硬件、软件或者软硬件结合的方式来实现。
其中，获取模块910用于获取指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域的地图要素的动静态属性、第一 空间区域的更新频率、第一空间区域的数据格式和第一空间区域的数据处理方式；生成模块920用于基于所述指示信息和来自感知设备的感知信息，生成第一地图信息，所述第一地图信息用于指示所述第一空间区域的地图要素；发送模块930用于发送所述第一地图信息。
应理解，该装置900可以包括用于执行前述方法200和方法700中与信息处理装置A对应的各个流程和/或步骤的模块。为了简洁，此处不再赘述。
图10是本申请实施例提供的另一信息处理装置的示意性框图。如图10所示，该装置1000可以包括：第一获取模块1010和接收模块1020。该信息处理装置1000的功能可以通过硬件、软件或者软硬件结合的方式来实现。
其中，第一获取模块1010用于获取指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式；接收模块1020用于接收第一地图信息，所述第一地图信息用于指示所述第一空间区域内的第一地图要素；当所述第一信元用于指示所述动静态属性、所述数据格式和所述数据处理方式中的至少一项时，所述装置还包括第二获取模块1030，用于根据所述指示信息从所述第一地图信息中获取所述第一地图要素的信息；当所述第一信元用于指示所述更新频率时，所述接收模块1020具体用于基于所述更新频率接收所述第一地图信息。
应理解，该装置1000可以包括用于执行前述方法500和方法700中与信息处理装置B对应的各个流程和/或步骤的模块。为了简洁，此处不再赘述
图11是本申请又一信息处理装置1100的示意性框图。如图11所示，该装置1100可以包括：生成模块1110和发送模块1120。
其中，生成模块1110用于生成指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式；发送模块1120用于发送所述指示信息。
应理解，该装置1100可以包括用于执行前述方法600和方法700中与信息处理装置C对应的各个流程和/或步骤的模块。为了简洁，此处不再赘述。
还应理解，本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。另外，在本申请各个实施例中的各功能模块可以集成在一个处理器中，也可以是单独物理存在，也可以两个或两个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。
图12是本申请实施例提供的信息装置的另一示意性框图。如图12所示，如图12所示，该装置1200包括处理器1210和存储器1220，该存储器1220可用于存储计算机程序，处理器1210可用于调用并执行计算机程序，以使得装置实现本申请实施例提供的方法中信息处理装置A、信息处理装置B和信息处理装置C的功能。
可选地，该装置1200还可以包括通信接口1230。其中，该通信接口1230可以是收发器、接口、总线、电路或者能够实现收发功能的装置。该通信接口1230用于通过 传输介质和其它设备进行通信，从而用于装置1200中的装置可以和其它设备进行通信。
一示例，若装置1200对应于上述方法实施例中的信息处理装置A，处理器1210可用于获取指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、第一空间区域内的地图信息的更新频率、第一空间区域内的地图信息的数据格式和第一空间区域内的地图信息的数据处理方式；并可用于基于所述指示信息和来自感知设备的感知信息，生成第一地图信息，所述第一地图信息用于指示所述第一空间区域内的第一地图要素；还可用于控制通信接口1230发送所述第一地图信息。具体参见方法200及700中的详细描述，此处不做赘述。
另一示例，若装置1200对应于上述方法实施例中的信息处理装置B，处理器1210可用于获取指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、第一空间区域的地图信息的更新频率、第一空间区域的地图信息的数据格式和第一空间区域的地图信息的数据处理方式；还用于控制通信接口1230接收第一地图信息，所述第一地图信息用于指示所述第一空间区域内的第一地图要素；当第一信元用于指示动静态属性、数据格式和数据处理方式中的至少一项时，处理器1210还用于根据所述指示信息从所述第一地图信息中获取第一地图要素的信息；当第一信元用于指示更新频率时，处理器1210还用于控制通信接口1230用于基于更新频率接收第一地图信息。具体参见方法500及700中的详细描述，此处不做赘述。
另一示例，若装置1200对应于上述方法实施例中的信息处理装置C，处理器1210可用于生成指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、第一空间区域的地图信息的更新频率、第一空间区域的地图信息的数据格式和第一空间区域的地图信息的数据处理方式；还可用于控制通信接口1230发送所述指示信息。具体参见方法600及700中的详细描述，此处不做赘述。
本申请实施例中的耦合是装置、单元或模块之间的间接耦合或通信连接，可以是电性，机械或其它的形式，用于装置、单元或模块之间的信息交互。处理器1210可能和存储器1220协同操作。处理器1210可能执行存储器1220中存储的程序指令。所述至少一个存储器中的至少一个可以包括于处理器中。
本申请实施例中不限定上述处理器1210、存储器1220以及通信接口1230之间的具体连接介质。本申请实施例在图10中以存储器1220、处理器1210以及通信接口1230之间通过总线1240连接，总线在图12中以粗线表示，其它部件之间的连接方式，仅是进行示意性说明，并不引以为限。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示，图12中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
应理解，本申请实施例中的处理器可以是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、 现场可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。
还应理解，本申请实施例中的存储器可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。应注意，本文描述的系统和方法的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
本申请提供了一种通信系统，包括：第一信息处理装置和第二信息处理装置，其中，第一信息处理装置用于实现图2或图7所示实施例中信息处理装置A所执行的方法；第二信息处理装置可用于实现图6或图7所示实施例中信息处理装置C所执行的方法。可选地，该通信系统还包括第三信息处理装置，用于实现图5或图7所示实施例中信息处理装置B所执行的方法。
本申请还提供一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，当该计算机程序被处理器执行时，实现图2或图7所示实施例中信息处理装置A执行的方法，或，实现图5或图7所示实施例中信息处理装置B执行的方法，或，实现图6或图7所示实施例中信息处理装置C执行的方法。
本申请还提供一种计算机程序产品，包括计算机程序，当该计算机程序被运行时，实现图2或图7所示实施例中信息处理装置A执行的方法，或，实现图5或图7所示实施例中信息处理装置B执行的方法，或，实现图6或图7所示实施例中信息处理装置C执行的方法。
本说明书中使用的术语“单元”、“模块”等，可用于表示计算机相关的实体、硬件、固件、硬件和软件的组合、软件、或执行中的软件。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各种说明性逻辑块(illustrative logical block)和步骤(step)，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方 案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。在本申请所提供的几个实施例中，应该理解到，所揭露的装置、设备和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，该单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
该作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
在上述实施例中，各功能单元的功能可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。该计算机程序产品包括一个或多个计算机指令(程序)。在计算机上加载和执行该计算机程序指令(程序)时，全部或部分地产生按照本申请实施例该的流程或功能。该计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。该计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，该计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。该计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。该可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，数字视频光盘(digital video disc，DVD))、或者半导体介质(例如固态硬盘(solid state disk，SSD))等。
该功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (56)

  1. 一种信息处理方法，其特征在于，包括：
    获取指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式；
    基于所述指示信息和来自感知设备的感知信息，生成第一地图信息，所述第一地图信息用于指示所述第一空间区域内的第一地图要素；
    发送所述第一地图信息。
  2. 如权利要求1所述的方法，其特征在于，所述指示信息还包括第二信元，所述第二信元用于指示所述第一空间区域的三维空间范围。
  3. 如权利要求2所述的方法，其特征在于，所述基于所述指示信息和来自感知设备的感知信息，生成所述第一地图信息，包括：
    基于所述第二信元，从所述感知信息中提取所述三维空间范围内的第一感知信息；
    基于所述第一信元和所述第一感知信息生成所述第一地图信息。
  4. 如权利要求1-3中任一项所述的方法，其特征在于，所述获取指示信息，包括：生成所述指示信息，或接收所述指示信息。
  5. 如权利要求1-4中任一项所述的方法，其特征在于，所述动静态属性为：动态和静态中的一种，或者，动态、半动态、半静态和静态中的一种；
    当所述第一信元用于指示所述动静态属性时，所述第一地图要素具备所述动静态属性。
  6. 如权利要求1-5中任一项所述的方法，其特征在于，所述数据格式为用于指示静态要素的数据格式或用于指示动态要素的数据格式；
    当所述第一信元用于指示所述数据格式时，
    所述生成第一地图信息，包括：生成具有所述数据格式的第一地图信息；和/或
    所述发送所述第一地图信息，包括：以所述数据格式发送所述第一地图信息。
  7. 如权利要求1-6中任一项所述的方法，其特征在于，当所述指示信息指示所述更新频率时，所述发送所述第一地图信息，包括：
    基于所述更新频率发送所述第一地图信息。
  8. 如权利要求1-7中任一项所述的方法，其特征在于，所述指示信息还用于指示所述第一空间区域的标识，所述第一空间区域的标识用于在地图中标识所述第一空间区域；和/或
    所述指示信息还用于指示参考地图信息，所述参考地图信息用于指示所述指示信息所基于的地图的版本和/或供应商。
  9. 如权利要求1-8中任一项所述的方法，其特征在于，所述方法还包括：
    接收第二地图信息，所述第二地图信息用于指示所述第一空间区域内的第二地图要素；
    当所述第一信元用于指示所述动静态属性、所述数据格式和所述数据处理方式中 的至少一项时，所述方法还包括：根据所述指示信息从所述第二地图信息中获取所述第二地图要素的信息；
    当所述第一信元用于指示所述更新频率时，所述接收第二地图信息，包括：基于所述更新频率接收所述第二地图信息。
  10. 一种信息处理方法，其特征在于，包括：
    获取指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式；
    接收第一地图信息，所述第一地图信息用于指示所述第一空间区域内的第一地图要素；
    当所述第一信元用于指示所述动静态属性、所述数据格式和所述数据处理方式中的至少一项时，所述方法还包括：根据所述指示信息从所述第一地图信息中获取所述第一地图要素的信息；
    当所述第一信元用于指示所述更新频率时，所述接收第一地图信息包括：基于所述更新频率接收所述第一地图信息。
  11. 如权利要求10所述的方法，其特征在于，所述指示信息还包括第二信元，所述第二信元用于指示所述第一空间区域的三维空间范围。
  12. 如权利要求11所述的方法，其特征在于，所述方法还包括：
    根据所述第二信元从所述第一地图信息中获取所述三维空间范围内的所述第一地图要素的信息。
  13. 根据权利要求10-12任一项所述的方法，其特征在于，所述获取指示信息，包括：生成所述指示信息，或接收所述指示信息。
  14. 如权利要求10-13中任一项所述的方法，其特征在于，所述动静态属性为动态和静态中的一种，或者，动态、半动态、半静态和静态中的一种。
  15. 如权利要求10-14中任一项所述的方法，其特征在于，所述数据格式为用于指示静态要素的数据格式或用于指示动态要素的数据格式。
  16. 如权利要求10-15中任一项所述的方法，其特征在于，所述指示信息还用于指示所述第一空间区域的标识，所述第一空间区域的标识用于在地图中标识所述第一空间区域；和/或
    所述指示信息还用于指示参考地图信息，所述参考地图信息用于指示所述指示信息所基于的地图的版本和/或供应商。
  17. 如权利要求10-16中任一项所述的方法，其特征在于，所述方法还包括：
    基于所述指示信息和来自感知设备的感知信息，生成第二地图信息，所述第二地图信息用于指示所述第一空间区域内的第二地图要素；
    发送所述第二地图信息。
  18. 一种信息处理方法，其特征在于，包括：
    生成指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信 息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式；
    发送所述指示信息。
  19. 如权利要求18所述的方法，其特征在于，所述指示信息还包括第二信元，所述第二信元用于指示所述第一空间区域的三维空间范围。
  20. 如权利要求18或19所述的方法，其特征在于，所述动静态属性为：动态和静态中的一种，或者，动态、半动态、半静态和静态中的一种。
  21. 如权利要求18-20中任一项所述的方法，其特征在于，所述数据格式为用于指示静态要素的地图数据格式或用于指示动态要素的地图数据格式。
  22. 如权利要求18-21中任一项所述的方法，其特征在于，所述方法还包括：
    基于所述指示信息和来自感知设备的感知信息，生成第一地图信息，所述第一地图信息用于指示所述第一空间区域内的第一地图要素；
    发送所述第一地图信息。
  23. 如权利要求18-22中任一项所述的方法，其特征在于，所述方法还包括：
    接收第二地图信息，所述第二地图信息用于指示所述第一空间区域内的第二地图要素；
    当所述第一信元用于指示所述动静态属性、所述数据格式和所述数据处理方式中的至少一项时，所述方法还包括：根据所述指示信息从所述第二地图信息中获取所述第二地图要素的信息；
    当所述第一信元用于指示所述更新频率时，所述接收第二地图信息，包括：基于所述更新频率接收所述第二地图信息。
  24. 如权利要求23所述的方法，其特征在于，所述方法还包括：
    基于所述第二地图信息，更新所述指示信息。
  25. 一种信息处理装置，其特征在于，包括处理器和存储器，所述存储器用于存储计算机程序，所述处理器用于执行所述计算机程序，以使得所述装置实现如权利要求1-9中任一项所述的方法。
  26. 一种信息处理装置，其特征在于，包括：
    第一获取模块，用于获取指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式；
    第一生成模块，用于基于所述指示信息和来自感知设备的感知信息，生成第一地图信息，所述第一地图信息用于指示所述第一空间区域内的第一地图要素；
    发送模块，用于发送所述第一地图信息。
  27. 如权利要求26所述的装置，其特征在于，所述指示信息还包括第二信元，所述第二信元用于指示所述第一空间区域的三维空间范围。
  28. 如权利要求27所述的装置，其特征在于，所述第一生成模块具体用于：
    基于所述第二信元，从所述感知信息中提取所述三维空间范围内的第一感知信息；
    基于所述第一信元和所述第一感知信息生成所述第一地图信息。
  29. 如权利要求26-28中任一项所述的装置，其特征在于，所述第一获取模块包括用于生成所述指示信息的第二生成模块；或者，用于接收所述指示信息的第一接收模块。
  30. 如权利要求26-29中任一项所述的装置，其特征在于，所述动静态属性为：动态和静态中的一种，或者，动态、半动态、半静态和静态中的一种；
    当所述指示信息指示所述动静态属性时，所述第一地图要素具备所述动静态属性。
  31. 如权利要求26-30中任一项所述的装置，其特征在于，所述数据格式为用于指示静态要素的数据格式或用于指示动态要素的数据格式；
    当所述第一信元用于指示所述数据格式时，所述第一生成模块具体用于生成具有所述数据格式的第一地图信息；和/或，所述发送模块具体用于以所述数据格式发送所述第一地图信息。
  32. 如权利要求26-31中任一项所述的装置，其特征在于，当所述指示信息指示更新频率时，所述发送模块具体用于基于所述更新频率发送所述第一地图信息。
  33. 如权利要求26-32中任一项所述的装置，其特征在于，所述指示信息还用于指示所述第一空间区域的标识，所述第一空间区域的标识用于在地图中标识所述第一空间区域；和/或
    所述第一空间区域的标识还用于指示参考地图信息，所述参考地图信息用于指示参考地图的版本和/或供应商。
  34. 如权利要求26-33中任一项所述的装置，其特征在于，所述装置还包括第二接收模块和第二获取模块；
    所述第二接收模块用于接收第二地图信息，所述第二地图信息用于指示所述第一空间区域内的第二地图要素；
    当所述第一信元用于指示所述动静态属性、所述数据格式和所述数据处理方式中的至少一项时，所述第二获取模块还用于根据所述指示信息从所述第二地图信息中获取所述第二地图要素的信息；
    当所述第一信元用于指示所述更新频率时，所述第二接收模块用于基于所述更新频率接收所述第二地图信息。
  35. 一种信息处理装置，其特征在于，包括处理器和存储器，所述存储器用于存储计算机程序，所述处理器用于执行所述计算机程序，以使得所述装置实现如权利要求10-17中任一项所述的方法。
  36. 一种信息处理装置，其特征在于，包括：
    第一获取模块，用于获取指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式；
    第一接收模块，用于接收第一地图信息，所述第一地图信息用于指示所述第一空间区域内的第一地图要素；
    当所述第一信元用于指示所述动静态属性、所述数据格式和所述数据处理方式中的至少一项时，所述装置还包括第二获取模块，用于根据所述指示信息从所述第一地 图信息中获取所述第一地图要素的信息；
    当所述第一信元用于指示所述更新频率时，所述第一接收模块具体用于，基于所述更新频率接收所述第一地图信息。
  37. 如权利要求36所述的装置，其特征在于，所述指示信息还包括第二信元，所述第二信元用于指示所述第一空间区域的三维空间范围。
  38. 如权利要求37所述的装置，其特征在于，所述第二获取模块具体用于根据所述第二信元从所述第一地图信息中获取所述三维空间范围内的所述第一地图要素的信息。
  39. 如权利要求36-38中任一项所述的装置，其特征在于，所述第一获取模块包括用于生成所述指示信息的生成模块；或者，用于接收所述指示信息的第二接收模块。
  40. 如权利要求36-39中任一项所述的装置，其特征在于，所述动静态属性为：动态和静态中的一种，或者，动态、半动态、半静态和静态中的一种。
  41. 如权利要求36-40中任一项所述的装置，其特征在于，所述数据格式为用于指示静态要素的数据格式或用于指示动态要素的数据格式。
  42. 如权利要求36-41中任一项所述的装置，其特征在于，所述指示信息还用于指示所述第一空间区域的标识，所述第一空间区域的标识用于在地图中标识所述第一空间区域；和/或
    所述指示信息还用于指示参考地图信息，所述参考地图信息用于指示所述指示信息所基于的地图的版本和/或供应商。
  43. 如权利要求36-42中任一项所述的装置，其特征在于，所述装置还包括：
    生成模块，用于基于所述指示信息和来自感知设备的感知信息，生成第二地图信息，所述第二地图信息用于指示所述第一空间区域内的第二地图要素；
    发送模块，用于发送所述第二地图信息。
  44. 一种信息处理装置，其特征在于，包括处理器和存储器，所述存储器用于存储计算机程序，所述处理器用于执行所述计算机程序，以使得所述装置实现如权利要求18-24中任一项所述的方法。
  45. 一种信息处理装置，其特征在于，包括：
    第一生成模块，用于生成指示信息，所述指示信息包括第一信元，所述第一信元用于指示以下内容中的至少一项：第一空间区域内的地图要素的动静态属性、所述第一空间区域的地图信息的更新频率、所述第一空间区域的地图信息的数据格式和所述第一空间区域的地图信息的数据处理方式；
    第一发送模块，用于发送所述指示信息。
  46. 如权利要求45所述的装置，其特征在于，所述指示信息还包括第二信元，所述第二信元用于指示所述第一空间区域的三维空间范围。
  47. 如权利要求45或46所述的装置，其特征在于，所述动静态属性为：动态和静态中的一种，或者，动态、半动态、半静态和静态中的一种。
  48. 如权利要求45-47中任一项所述的装置，其特征在于，所述数据格式为用于指示静态要素的地图数据格式或用于指示动态要素的地图数据格式。
  49. 如权利要求45-48中任一项所述的装置，其特征在于，所述装置还包括：
    第二生成模块，用于基于所述指示信息和来自感知设备的感知信息，生成第一地图信息，所述第一地图信息用于指示所述第一空间区域内的第一地图要素；
    第二发送模块，用于发送所述第一地图信息。
  50. 如权利要求45-49中任一项所述的装置，其特征在于，所述装置还包括接收模块，用于接收第二地图信息，所述第二地图信息用于指示所述第一空间区域内的第二地图要素；
    当所述第一信元用于指示所述动静态属性、所述数据格式和所述数据处理方式中的至少一项时，所述装置还包括获取模块，用于根据所述指示信息从所述第二地图信息中获取所述第二地图要素的信息；
    当所述第一信元用于指示所述更新频率时，所述接收模块具体用于基于所述更新频率接收所述第二地图信息。
  51. 如权利要求50所述的装置，其特征在于，所述第一生成模块还用于，基于所述第二地图信息，更新所述指示信息。
  52. 一种车，其特征在于，包括如权利要求25-51中任一项所述的装置。
  53. 一种通信系统，其特征在于，包括：
    第一信息处理装置，用于实现如权利要求1-9中任一项所述的方法；和
    第二信息处理装置，用于实现如权利要求18-24中任一项所述的方法。
  54. 如权利要求53所述的通信系统，其特征在于，还包括第三信息处理装置，用于实现如权利要求10-17中任一项所述的方法。
  55. 一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时，实现如权利要求1-24中任一项所述的方法。
  56. 一种计算机程序产品，其特征在于，包括计算机程序，当所述计算机程序被运行时，实现如权利要求1-24中任一项所述的方法。
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