WO2024078334A1

WO2024078334A1 - Map data processing method and apparatus, and vehicle and readable storage medium

Info

Publication number: WO2024078334A1
Application number: PCT/CN2023/121849
Authority: WO
Inventors: 李旭; 徐伟萍
Original assignee: 长城汽车股份有限公司
Priority date: 2022-10-11
Filing date: 2023-09-27
Publication date: 2024-04-18
Also published as: CN116860762A

Abstract

Provided are a map data processing method and apparatus, and a vehicle and a readable storage medium. The method comprises: acquiring a plurality of pieces of map data corresponding to a navigation path, and dividing the navigation path into a plurality of consecutive path units according to a set distance, wherein each path unit corresponds to one piece of map data (S101); and updating the plurality of pieces of map data to a pre-constructed path unit data matrix, wherein the path unit data matrix comprises at least one data merging row, and the value of each row element in the data merging row is obtained by means of merging map data of at least two adjacent path units (S102).

Description

Map data processing method, device, vehicle and readable storage medium

This application claims priority to Chinese Patent Application No. CN 202211241132.4 filed on October 11, 2022. The disclosure of the prior application is incorporated into this application by reference in its entirety.

Technical Field

The present application belongs to the field of data processing technology, and more specifically, to a method, device, vehicle and readable storage medium for processing map data.

Background technique

At present, Advanced Driver Assistance System (ADAS) has been widely used in most car models. The core of ADAS is to realize the perception and recognition of the road environment. For example, it can rely on infrared cameras, binocular cameras, monocular cameras, millimeter wave radars, laser radars, ultrasonic radars and other sensors installed on the vehicle to perceive and recognize the road environment.

The ultimate form of ADAS development is autonomous driving. However, due to the wide range of application scenarios of autonomous driving, the sensor's perception range, distance, accuracy, etc. have certain limitations in different weather and road environments. Therefore, it is far from enough to rely solely on the aforementioned sensors to achieve autonomous driving. At this time, map data is needed as a reliable basis for autonomous driving to perceive road environment information.

In the prior art, vehicles can obtain map data from third-party map providers through navigation software. For example, when a vehicle is navigating, it can generate a navigation path based on the vehicle's real-time location, waypoints, and destination information, and request map data for the navigation path from a third-party map provider.

However, in long-distance navigation scenarios, the amount of map data that vehicles request from third-party map vendors is very large. Furthermore, these map data need to be continuously updated while the vehicle is driving, which further increases the amount of data that needs to be processed. However, the vehicle's memory space is limited. How to use the vehicle's limited memory space to efficiently process large amounts of map data in long-distance navigation scenarios is an urgent problem that needs to be solved.

technical problem

The purpose of the present application is to provide a method, device, vehicle and readable storage medium for processing map data to solve the problem in the prior art that vehicles cannot store a large amount of map data in long-distance navigation scenarios due to limited memory space.

Technical Solutions

In a first aspect of the present application, a method for processing map data is provided, the method comprising:

Acquire multiple map data corresponding to the navigation path, divide the navigation path into multiple continuous path units according to the set distance, and each path unit corresponds to one map data;

A plurality of map data are updated into a pre-constructed path unit data matrix; wherein the path unit data matrix includes at least one data merging row, and the value of each row element in the data merging row is obtained by merging the map data of at least two adjacent path units.

In a possible implementation, the navigation path is a full navigation path from a navigation starting point to a navigation destination;

Accordingly, updating the plurality of map data into the pre-constructed path unit data matrix includes:

The plurality of map data are updated to a pre-constructed path unit data matrix according to a set fixed position correspondence relationship; wherein the fixed position correspondence relationship includes a fixed position of a path unit corresponding to each map data in the path unit data matrix.

In a possible implementation, the navigation path is a navigation path from the vehicle's real-time position to the navigation destination after the vehicle leaves the navigation starting point;

Determine the first data bit of this update according to the position relationship between the real-time position of the vehicle and the path unit corresponding to the first map data among the plurality of map data;

Starting from the first data bit, multiple map data are updated to the pre-constructed path unit data matrix according to the set relative position correspondence relationship; wherein the relative position correspondence relationship includes the position relationship of the path unit corresponding to each map data in the path unit data matrix relative to the first data bit. In a possible implementation, according to the position relationship between the real-time position of the vehicle and the path unit corresponding to the first map data among the multiple map data, determining the first data bit of this update includes:

Obtaining a first offset of the vehicle's real-time position relative to the navigation starting point;

Obtaining a second offset of a path unit corresponding to a first map data item among the plurality of map data items relative to the navigation starting point;

Based on the difference between the second offset and the first offset, the first data bit of this update is determined in the path unit data matrix.

In a possible implementation manner, the number of data merged for row elements with larger row numbers in the path unit data matrix is greater than or equal to the number of data merged for row elements with smaller row numbers.

In a possible implementation manner, each map data includes vehicle speed information on its corresponding path unit, and accordingly, the path unit data matrix includes a path unit vehicle speed data matrix;

Each map data includes the slope information on the corresponding path unit, and accordingly, the path unit data matrix includes the path unit slope data matrix.

In a possible implementation manner, after updating the plurality of map data into the pre-constructed path unit data matrix, the method further includes:

The fuel consumption and/or electric consumption of the current navigation route is calculated based on the route unit vehicle speed data matrix and the route unit slope data matrix.

In a second aspect of the present application, a map data processing device is provided, the processing device comprising:

A map data acquisition module is used to acquire a plurality of map data corresponding to a navigation path, and divide the navigation path into a plurality of continuous path units according to a set distance, each path unit corresponding to a piece of map data;

The data matrix update module is used to update multiple map data into a pre-constructed path unit data matrix; wherein the path unit data matrix includes at least one data merging row, and the value of each row element in the data merging row is obtained by merging the map data of at least two adjacent path units.

Accordingly, the data matrix update module includes:

A first data bit determination subunit, used to determine the first data bit of this update according to the position relationship between the real-time position of the vehicle and the path unit corresponding to the first map data among the plurality of map data;

The data updating subunit is used to update the plurality of map data starting from the first data bit to the pre-constructed path unit data matrix according to the set relative position correspondence relationship; wherein the relative position correspondence relationship includes the position relationship of the path unit corresponding to each map data in the path unit data matrix relative to the first data bit.

In a possible implementation manner, the first data bit determination subunit includes:

In a possible implementation manner, the map data processing device further includes:

The energy consumption calculation unit is used to calculate the fuel consumption and/or power consumption of the current navigation route based on the vehicle speed data matrix of the route unit and the slope data matrix of the route unit.

In a third aspect of the present application, a vehicle is provided, the vehicle includes a control terminal, the control terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above-mentioned map data processing method when executing the computer program.

In a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method for processing map data are implemented.

Beneficial Effects

The map data processing method provided in the present application can enable the path unit data matrix to store map data of a longer navigation scenario by merging data in a limited memory space.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings and embodiments can be obtained based on these drawings without creative work.

FIG1 is a schematic diagram of a flowchart of a method for processing map data provided in one embodiment of the present application;

FIG2 is a structural block diagram of a map data processing device provided in one embodiment of the present application;

FIG3 is a schematic block diagram of a control terminal of a vehicle provided in accordance with an embodiment of the present application.

Embodiments of the present invention

In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

In order to make the purpose, technical solutions and advantages of the present application clearer, a specific implementation method will be described below in conjunction with the accompanying drawings.

Please refer to Figure 1, which is a schematic flow chart of a method for processing map data provided in one embodiment of the present application. In this embodiment, the method for processing map data includes S101 and S102.

S101: Acquire a plurality of map data corresponding to a navigation path, divide the navigation path into a plurality of continuous path units according to a set distance, and each path unit corresponds to a piece of map data.

In this embodiment, when the vehicle is navigating, the control terminal of the vehicle will send the vehicle position and navigation destination to the third-party data terminal. The third-party data terminal generates a navigation path based on the vehicle position and navigation destination, and sends the map data of each path unit to the vehicle at a preset time interval. Each map data may include the average vehicle speed in the path unit corresponding to the map data and the average ground slope of the path unit. In this embodiment, the third-party data terminal may be provided by a third-party map provider.

In this implementation, the control terminal divides the current navigation path into a plurality of continuous path units, and the offset of each path unit can be determined according to the distance from the navigation starting point.

For example, the set distance in step S101 may be 128 meters, 256 meters, etc. When the set distance is 128 meters, the offset of the path unit whose distance from the vehicle navigation starting point is 0 to 128 meters is 1, and the offset of the path unit whose distance from the vehicle navigation starting point is 129 to 256 meters is 2. Similarly, the offsets of all path units can be obtained.

S102: updating a plurality of map data into a pre-constructed path unit data matrix; wherein the path unit data matrix includes at least one data merging row, and the value of each row element in the data merging row is obtained by merging the map data of at least two adjacent path units.

In long-distance navigation scenarios, the amount of map data requested by the vehicle from third-party map vendors is very large. For example, map vendors usually divide the road in front of the vehicle on the map into multiple small sections based on the set distance. Each small section can be called a path unit, and each path unit can correspond to a piece of map data. When the map vendor divides the road with a distance accuracy of 128 meters, for navigation paths of more than 500 kilometers, the vehicle will obtain map data corresponding to more than 3,900 path units; for navigation paths of more than 1,000 kilometers, the vehicle will obtain map data corresponding to up to more than 7,800 path units.

In order to enable limited storage space to store map data of a longer navigation path, in this implementation, based on actual conditions, one or more rows in the path unit data matrix can be set to store merged data, and the merged data is obtained by merging the map data of at least two adjacent path units, thereby solving the problem of limited memory space, which makes it impossible to store a large amount of map data in long-distance navigation scenarios.

The path unit data matrix obtained in step S102 can be used for path planning. That is, path planning can be performed according to the path unit data matrix in step S102. For example, when a user is driving a vehicle, the control terminal of the vehicle can plan a path according to the data in the path unit data matrix and display it to the user through a display screen. The user can obtain various information of the navigation path through the displayed path planning, including but not limited to the length information of the navigation path and the congestion information for each path unit (whether a path unit is congested can be determined by the speed of the vehicles located in each path unit).

Accordingly, the specific implementation process of S102 includes the following steps:

In this embodiment, when navigation is needed, the user inputs the navigation destination, the control terminal receives the navigation destination, automatically obtains the vehicle position as the navigation departure point, and generates a first data request, which carries the navigation departure point and the navigation destination; the control terminal sends the first data request to the third-party data terminal, and the third-party data terminal generates a full navigation path from the navigation departure point to the navigation destination based on the first data request.

The third-party data terminal can send the map data of each path unit to the vehicle in sequence at a preset time interval. The third-party data terminal can also only send the map data of the path unit with data changes. Data change means that the map data of the current path unit has changed relative to the map data of the previous path unit; in this case, the path unit for which the third-party data terminal has not sent map data can refer to the map data of its previous path unit, and the two are the same.

When receiving the map data of each path unit of the entire navigation path, the control terminal can store the map data of each path unit in the path unit data matrix according to the set fixed position relationship. Exemplarily, the fixed position relationship can be: the position of the 1st row and the 1st column in the path unit data matrix is the fixed position of the path unit with an offset of 1, the position of the 1st row and the 2nd column is the fixed position of the path unit with an offset of 2, and so on; that is, the order from left to right and from top to bottom in the path unit data matrix can be fixed in the order of the offset of the path unit from small to large. It should be noted that in the data merge row, there will be a situation where two or more path units correspond to the same element position; for example, when the value of each row element in the second row is obtained by merging the map data of two adjacent path units, the fixed position of the path unit with an offset of 562 and the path unit with an offset of 563 in the path unit data matrix can be the same position (column) in the second row.

Exemplarily, it is assumed that the path unit data matrix is a data matrix with 3 rows and 562 columns. When the map data corresponding to the entire navigation path is obtained, the map data is stored in the path unit data matrix according to the fixed position correspondence relationship, and the map data of the path unit with an offset of 1 is stored in the 1st row and 1st column of the path unit data matrix; the map data of the path unit with an offset of 2 is stored in the 1st row and 2nd column of the path unit data matrix; the map data of the path unit with an offset of 600 is stored in the 2nd row and 38th column of the path unit data matrix (the 2nd row is the case of a non-merged row); if the 2nd row is a merged row (two map data merged to correspond to one matrix position point), the map data of the path unit with an offset of 600 is stored in the 2nd row and 19th column of the path unit data matrix.

Correspondingly, the specific implementation process of S102 includes S201 and S202.

S201: Determine the first data bit of this update according to the position relationship between the real-time position of the vehicle and the path unit corresponding to the first map data among the plurality of map data.

In this embodiment, after the third-party data terminal sends a round of map data, it starts to resend the map data from the real-time position of the vehicle. If the vehicle control terminal detects that the offset of the current path unit is less than the offset of the previous path unit, it determines that a new round of map data has been received, and starts to determine the first data bit of this round of update based on the position relationship between the vehicle's real-time position and the path unit corresponding to the first map data among the multiple map data.

Specifically, in this embodiment, the first map data refers to the map data corresponding to the first path unit in the map data of the navigation path from the real-time position of the vehicle to the navigation destination after leaving the navigation departure point. The control terminal can first obtain the path unit to which the real-time position of the vehicle belongs and the path unit to which the first map data belongs, and determine the first data bit of this update based on the offset relationship between the two path units.

In a possible implementation manner, the specific implementation process of S201 includes the following steps:

In this embodiment, the control terminal determines the offset of the path unit of the real-time position of the vehicle based on the distance of the real-time position of the vehicle relative to the navigation starting point to obtain a first offset. Then, the offset of the path unit corresponding to the first map data is used as the second offset, and the first offset is subtracted from the second offset to obtain an offset difference. Finally, the offset difference is mapped to the path unit data matrix to obtain a first data bit.

For example, if the offset of the path unit of the vehicle's real-time position is 10 and the offset of the path unit of the first map data of the current navigation path is 12, the offset difference is 2, so the position of the 1st row and 2nd column in the path unit data matrix is the first data bit of this update.

If the offset of the path unit of the vehicle's real-time position is 8, and the offset of the path unit of the first map data of the current navigation path is 13, the offset difference is 5, so the position of the 1st row and 5th column in the path unit data matrix is the first data bit of this update.

S202: Starting from the first data bit, multiple map data are updated to a pre-constructed path unit data matrix according to a set relative position correspondence relationship; wherein the relative position correspondence relationship includes the position relationship of the path unit corresponding to each map data in the path unit data matrix relative to the first data bit.

Specifically, starting from the first data bit, the offset of the path unit can be ordered from small to large corresponding to the order from left to right and from top to bottom in the path unit data matrix, and the latest map data of each path unit can be used to replace the original map data at the corresponding position in the path unit data matrix to achieve the update of the map data.

For example, if the offset of the path unit of the vehicle's real-time position is 10, the position of the 1st row and 2nd column in the path unit data matrix is the first data bit of this update. If the offset of a path unit is 15, the map data of the path unit is stored in the position of the 1st row and 5th column in the path unit data matrix.

In a possible implementation, the number of data merged of row elements with larger row numbers in the path unit data matrix is greater than or equal to the number of data merged of row elements with smaller row numbers. The number of data merged refers to the number of merged map data. For example, row elements of row k are merged from K map data, and row elements of row i are merged from I map data. In this implementation, when row elements with row numbers k and i are compared, if k>i, then K≥I.

Specifically, if the path unit data matrix includes three rows of elements, then in the first row of the path unit data matrix, the value of each row element corresponds to a value of map data;

The second row of the path unit data matrix is a data merging row, and the value of each row element is the average value of the map data of the adjacent N path units;

The third row of the path unit data matrix is a data merging row, and the value of each row element is the average value of the map data of M adjacent path units; wherein M>N.

For example, M may be 4 and N may be 2.

In order to ensure the accuracy of the map data of the road section ahead that is closest to the vehicle, in this implementation, the first K rows of the path unit data matrix may not be merged; instead, data merging is performed starting from row K+1, and the number of data merged for each row element in the latter row is greater than the number of data merged for the row elements in the previous row. The accuracy of the map data in the rows that are not merged is good, and the amount of map data contained in the rows that are merged is large, thereby ensuring both the accuracy of the map data and the ability to store all the map data of a longer navigation path in a limited memory space.

In a possible implementation, each map data includes vehicle speed information on its corresponding path unit; accordingly, the path unit data matrix includes the path unit vehicle speed data matrix;

Each map data includes the slope information on the corresponding path unit; accordingly, the path unit data matrix includes the path unit slope data matrix.

In a possible implementation manner, after S102, the method provided in the present application further includes the following steps:

In this embodiment, the control terminal may pre-store the correspondence between vehicle speed information, slope information and energy consumption data, wherein the energy consumption data includes fuel consumption and electricity consumption. The control terminal determines the fuel consumption and/or electricity consumption of the current navigation path corresponding to the path unit vehicle speed data matrix and the path unit slope data matrix based on the correspondence between the vehicle body information, slope information and energy consumption data.

It should be understood that the size of the serial number of each step in the above-mentioned implementation mode does not mean the order of execution. The execution order of each process should be determined by its function and internal logic. The size of the serial number of each step should not constitute any limitation on the implementation process of the various implementation modes of this application.

Corresponding to the method for processing map data provided in the above embodiments, FIG2 is a block diagram of a map data processing device provided in an embodiment of the present application. For ease of explanation, only the parts related to the present application are shown. Referring to FIG2, in the present embodiment, the map data processing device 100 includes a map data acquisition module 110 and a data matrix update module 120.

The map data acquisition module 110 is used to acquire a plurality of map data corresponding to the navigation path, and divide the navigation path into a plurality of continuous path units according to a set distance, each path unit corresponding to a piece of map data;

The data matrix update module 120 is used to update multiple map data into a pre-constructed path unit data matrix; wherein the path unit data matrix includes at least one data merge row, and the value of each row element in the data merge row is obtained by merging the map data of at least two adjacent path units.

Accordingly, the data matrix updating module 120 is used to:

Accordingly, the data matrix updating module 120 includes a first data bit determining subunit and a data updating subunit.

The first data bit determination subunit is used to determine the first data bit of this update according to the position relationship between the real-time position of the vehicle and the path unit corresponding to the first map data among the plurality of map data;

The data updating subunit is used to update multiple map data starting from the first data bit to the pre-constructed path unit data matrix according to the set relative position correspondence; wherein the relative position correspondence includes the position relationship of the path unit corresponding to each map data in the path unit data matrix relative to the first data bit.

In a possible implementation manner, the first data bit determination subunit is configured to perform the following steps:

In a possible implementation manner, the map data processing device 100 further includes an energy consumption calculation unit.

The energy consumption calculation unit is used to calculate the fuel consumption and/or power consumption of the current navigation route based on the route unit vehicle speed data matrix and the route unit slope data matrix.

The present application also provides a vehicle. In a possible implementation, the vehicle includes a control terminal, and a schematic block diagram of the control terminal is shown in FIG3. The terminal 300 may include one or more processors 301, one or more input devices 302, one or more output devices 303, and one or more memories 304. The processors 301, input devices 302, output devices 303, and memories 304 communicate with each other via a communication bus 305. The memory 304 is used to store computer programs, and the computer programs include program instructions. The processor 301 is used to execute the program instructions stored in the memory 304. The processor 301 is configured to be able to call program instructions to execute the functions of each module in the above-mentioned device implementation, such as the functions of the modules 110 and 120 shown in FIG2.

It should be understood that in the embodiments of the present application, the processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any other conventional processor, etc.

The input device 302 may include a touch panel, a fingerprint sensor (used to collect fingerprint information of the user, including but not limited to the shape and direction information of the fingerprint), a microphone, etc. The output device 303 may include a display (LCD, etc.), a speaker, etc.

The memory 304 may include a read-only memory and a random access memory. The memory 304 can provide instructions and data to the processor 301. A portion of the memory 304 may be a non-volatile random access memory, which may store information of the device type.

In a specific implementation, the processor 301, input device 302, and output device 303 described in this embodiment can execute the steps provided by the various embodiments of the map data processing method provided in this application, and can also implement the functions of the various modules provided by the various embodiments of the map data processing device provided in this application, which will not be repeated here.

The present application also provides a computer-readable storage medium, which stores a computer program, which includes program instructions, and when the program instructions are executed by the processor, all or part of the processes in the above-mentioned various method implementations are implemented. These processes can also be completed by controlling the relevant hardware through a computer program, and the computer program can be stored in the above-mentioned computer-readable storage medium. When the computer program is executed by the processor, the steps provided by the above-mentioned various method implementations can be implemented. The above-mentioned computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction; for example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

The computer-readable storage medium may be the internal storage unit of the map data processing device and the control terminal of the vehicle provided in the aforementioned embodiment, such as the hard disk or memory of the control terminal. The computer-readable storage medium may also be an external storage device of the control terminal, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the control terminal. Furthermore, the computer-readable storage medium may also include both the internal storage unit of the control terminal and the external storage device. The computer-readable storage medium can store computer programs and other programs and data required by the control terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

Those of ordinary skill in the art will appreciate that the modules and algorithm steps provided in each embodiment of the present application can be implemented in electronic hardware, computer software, or a combination of the two; in order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but these implementations should not be considered to be beyond the scope of this application.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working processes of the modules of the device and the control terminal of the vehicle provided in the above-mentioned embodiments can refer to the corresponding processes in the aforementioned method implementation, and will not be repeated here.

In each embodiment provided in the present application, it should be understood that the provided device, control terminal and method can be implemented in other ways. For example, the device implementation described above is only schematic; the division of modules is only a logical function division, and there may be other division methods in actual implementation; for example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces or units, or it can be an electrical, mechanical or other form of connection.

The modules described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units. That is, the modules described above as separate components may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of providing various solutions in the embodiments of the present application.

In addition, the functional modules provided in the embodiments of the present application may be integrated into one processing unit, or each processing unit may exist physically separately, or two or more processing units (processors) may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

A method for processing map data, characterized in that the processing method comprises:

Acquire multiple map data corresponding to the navigation path, and divide the navigation path into multiple continuous path units according to a set distance, each path unit corresponding to one map data;

The plurality of map data are updated into a pre-constructed path unit data matrix, wherein the path unit data matrix includes at least one data merging row, and the value of each row element in the data merging row is obtained by merging the map data of at least two adjacent path units.
The method for processing map data according to claim 1, wherein the navigation path is a full navigation path from a navigation starting point to a navigation destination.

Updating the plurality of map data into a pre-constructed path unit data matrix comprises:

The plurality of map data are updated to a pre-constructed path unit data matrix according to a set fixed position correspondence relationship, wherein the fixed position correspondence relationship includes a fixed position of a path unit corresponding to each map data in the path unit data matrix.
The method for processing map data according to claim 1, wherein the navigation path is a navigation path from the vehicle's real-time position to the navigation destination after the vehicle leaves the navigation starting point,

Updating the plurality of map data into a pre-constructed path unit data matrix comprises:

Determine the first data bit of this update according to the position relationship between the real-time position of the vehicle and the path unit corresponding to the first map data among the plurality of map data;

The plurality of map data are updated starting from the first data bit to a pre-constructed path unit data matrix according to a set relative position correspondence, wherein the relative position correspondence includes a position relationship of a path unit corresponding to each map data in the path unit data matrix relative to the first data bit.
The method for processing map data according to claim 3, characterized in that it comprises:

The offset of each path unit is determined according to the distance between each path unit and the navigation starting point.
The method for processing map data according to claim 4, characterized in that before determining the first data bit of the current update based on the position relationship between the real-time position of the vehicle and the path unit corresponding to the first map data among the plurality of map data, it comprises:

Determine whether the offset of the current path unit is less than the offset of the previous path unit;

When the judgment result is yes, the first data bit of this update is determined according to the position relationship between the real-time position of the vehicle and the path unit corresponding to the first map data among the plurality of map data.
The method for processing map data according to claim 3, wherein determining the first data bit of the current update based on the position relationship between the real-time position of the vehicle and the path unit corresponding to the first map data among the plurality of map data comprises:

Obtaining a first offset of the vehicle's real-time position relative to the navigation starting point;

Obtaining a second offset of a path unit corresponding to a first map data among the plurality of map data relative to a navigation starting point;

Based on the difference between the second offset and the first offset, a first data bit of this update is determined in the path unit data matrix.
The method for processing map data according to any one of claims 1 to 6 is characterized in that the number of data merged of row elements with larger row numbers in the path unit data matrix is greater than or equal to the number of data merged of row elements with smaller row numbers.
The method for processing map data according to any one of claims 1 to 6, characterized in that each map data includes vehicle speed information on its corresponding path unit, and the path unit data matrix includes a path unit vehicle speed data matrix;

Each map data also includes the slope information on the corresponding path unit, and the path unit data matrix also includes the path unit slope data matrix.
The method for processing map data according to claim 6, characterized in that after updating the plurality of map data into the pre-constructed path unit data matrix, it further comprises:

The fuel consumption and/or electricity consumption of the current navigation route is calculated based on the route unit vehicle speed data matrix and the route unit slope data matrix.
The method for processing map data according to claim 1, characterized in that it comprises:

The offset of each path unit is determined according to the distance between each path unit and the navigation starting point.
The method for processing map data according to claim 1, wherein the map data is updated at a preset time interval.
The method for processing map data according to claim 1, characterized in that the set distance is 128 meters or 256 meters.
A map data processing device, characterized in that the processing device comprises:

A map data acquisition module, used to acquire a plurality of map data corresponding to a navigation path, and divide the navigation path into a plurality of continuous path units according to a set distance, each path unit corresponding to a piece of map data;

A data matrix update module is used to update the multiple map data into a pre-constructed path unit data matrix, wherein the path unit data matrix includes at least one data merging row, and the value of each row element in the data merging row is obtained by merging the map data of at least two adjacent path units.
A vehicle, characterized by comprising: a control terminal;

The control terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method for processing map data according to any one of claims 1 to 12 are implemented.
A computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method for processing map data as claimed in any one of claims 1 to 12.