WO2023274309A1 - 一种地图生成、使用方法及装置 - Google Patents

一种地图生成、使用方法及装置 Download PDF

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Publication number
WO2023274309A1
WO2023274309A1 PCT/CN2022/102435 CN2022102435W WO2023274309A1 WO 2023274309 A1 WO2023274309 A1 WO 2023274309A1 CN 2022102435 W CN2022102435 W CN 2022102435W WO 2023274309 A1 WO2023274309 A1 WO 2023274309A1
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WO
WIPO (PCT)
Prior art keywords
location
information
event
map
location information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/102435
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English (en)
French (fr)
Inventor
费雯凯
刘建琴
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to FIEP22832121.2T priority Critical patent/FI4350658T3/fi
Priority to EP22832121.2A priority patent/EP4350658B1/en
Publication of WO2023274309A1 publication Critical patent/WO2023274309A1/zh
Priority to US18/401,118 priority patent/US20240230364A9/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3811—Point data, e.g. Point of Interest [POI]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • G01C21/3819—Road shape data, e.g. outline of a route
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • G01C21/3878—Hierarchical structures, e.g. layering
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
    • G08G1/137—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops the indicator being in the form of a map
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids
    • G09B29/106—Map spot or coordinate position indicators; Map reading aids using electronic means

Definitions

  • the present application relates to the technical field of intelligent networked vehicles, in particular to a method and device for generating and using a map.
  • Maps play a vital role in vehicle localization, vehicle navigation, and even autonomous driving of vehicles.
  • the present application provides a method for generating a map, which can be applied to a map generating device, wherein the map generating device can be a cloud device, a roadside device, or a terminal device, where the cloud device is, for example, a map server or software in the map server.
  • the cloud device is, for example, a map server or software in the map server.
  • Modules, hardware modules or chips, roadside devices are, for example, roadside units, software modules, hardware modules or chips in roadside units
  • terminal devices are, for example, vehicles, software modules, hardware modules or chips in vehicles.
  • the method includes: generating a map, the map including: location information of a first event and location reference information of the first event, the location information is used to indicate the location where the first event occurs, and the location reference The information is used to indicate the location reference method on which the location information is based; and the map is sent.
  • the sending in this embodiment of the present invention may be performed between devices, for example, it may be performed between different cloud devices, or between different terminal devices, or between between different roadside devices. It can also be performed between the cloud device and the terminal device, between the cloud device and the road end device, or between the terminal device and the road end device. For another example, it may be performed within the device, for example, sending between components in the device, between modules, between chips, or between modules through a bus or an interface. For example, sending the map may be performed in the same cloud device, may also be performed in the same terminal device, or may be performed in the same road end device.
  • the map generating device may send the map to the map using device.
  • the map using device may be a cloud device, a roadside device or a terminal device, wherein the cloud device is, for example, a map server, a software module, a hardware module or a chip in the map server, and the roadside device is, for example, a roadside unit or a software module in the roadside unit.
  • module, hardware module or chip, and the terminal device is, for example, a vehicle, a software module, a hardware module or a chip in the vehicle.
  • the map using device and the map generating device may be deployed on the same device, or may be deployed on different devices, which is not limited in this application.
  • the location reference information is used to indicate the location reference method on which the location information is based, so that the location information of the first event can be flexibly expressed under different location reference information.
  • the location reference information can be used as a The reference mode is the basis for exchanging location information between map providers, so this embodiment improves the flexibility and compatibility of event location information representation.
  • the map further includes: the location information includes first location information and second location information, and the location reference information includes first location reference information and second location reference information, wherein the The first location reference information is used to indicate a first location reference method on which the first location information is based, and the second location reference information is used to indicate a second location reference method on which the second location information is based.
  • the second location information is different from the first location information, and the second location reference method is different from the first location reference method.
  • the map generation device can generate the first location information and the second location information for the first event, wherein the location reference methods of the first location information and the second location information are different, so that the generated first location information and The second location information can be applied in different scenarios.
  • the first location reference method is based on the road-level location reference method
  • the second location reference method is based on the lane-level location reference method. Therefore, according to this method, you can Realize that the first event is expressed based on the road-level position reference mode, and can also be expressed based on the lane-level position reference mode, thereby improving the versatility and flexibility of event position information representation.
  • the position reference manner includes at least one of a type of a reference coordinate system, a type of a reference point, and a type of a reference line.
  • the position reference information can be determined by a variety of different dimensions.
  • the position reference information can be determined by the type of the reference coordinate system
  • the position reference information can be determined by the type of the reference point
  • the position reference can be determined by the type of the reference line. information.
  • the reference line includes: a horizontal reference line and a vertical reference line.
  • the reference lines can also be divided into horizontal reference lines and vertical reference lines, so as to increase the diversity of types of reference lines.
  • the type of the reference coordinate system includes: at least one of an ENU rectangular coordinate system and a coordinate system along a reference line.
  • the location reference line information can be flexibly selected through the ENU Cartesian coordinate system and the along reference line coordinate system.
  • the type of the reference point includes at least one of the following types: the starting point of the road centerline; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane centerline ; and the starting point of the lane edge line.
  • the type of the reference line includes at least one of the following types: a center line of a road; an edge line of a road; a center line of a lane; and an edge line of a lane.
  • the map further includes:
  • the third location information of the second event and event relevance indication information where the event relevance indication information is used to indicate that the third location information is based on the location reference manner indicated by the location reference information.
  • the first event is related to the second event
  • the first event is an accident event
  • the second event is a traffic flow event.
  • the second event is related to the first event
  • the location reference information of the second event It may be determined based on the location reference information of the first event, thereby reducing the complexity of expressing the third location information of the second event. And timely update the third location information of the second event according to the change of the location information of the first event, so as to improve the timeliness of expression of the third location information of the second event.
  • the first event and the second event are events that share location reference information.
  • the event relevance indication information By indicating the event relevance indication information, it is not necessary to repeatedly indicate the same location reference information, which reduces map overhead and improves map generation and map processing. The effect of using.
  • the present application provides a method for using a map, which can be applied to a map using device, wherein the map using device can be a map server, a vehicle, or a map collection device.
  • the map collection device can be a road
  • the side unit, etc. can also be a map server, a vehicle, or a component on a map collection device, including: receiving a map; the map includes: the location information of the first event and the location reference information of the first event, and the location information It is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference method on which the location information is based; perform a map update operation or display the location information according to the map Or assisted driving decision-making.
  • the map generation device may be a cloud device, a roadside device or a terminal device, wherein the cloud device is, for example, a map server, a software module, a hardware module or a chip in the map server, and the roadside device is, for example, a roadside unit or a roadside unit.
  • a software module, a hardware module or a chip, and a terminal device is, for example, a vehicle, a software module, a hardware module or a chip in a vehicle.
  • the map using device can also be a cloud device, a roadside device or a terminal device, wherein the cloud device is, for example, a map server, a software module, a hardware module or a chip in the map server, and the roadside device is, for example, a roadside unit or a device in the roadside unit.
  • a software module, a hardware module or a chip, and the terminal device is, for example, a vehicle, a software module, a hardware module or a chip in the vehicle.
  • the map using device and the map generating device may be deployed on the same device or chip, or may be deployed on different devices or chips, which is not limited in this application.
  • the receiving in this embodiment of the present invention can be performed between devices, for example, it can be performed between different cloud devices, it can also be performed between different terminal devices, or it can be performed between between different roadside devices. It can also be performed between the cloud device and the terminal device, between the cloud device and the road end device, or between the terminal device and the road end device. For another example, it may be performed in the device, for example, receiving between components, modules, chips or modules in the device through a bus or an interface. For example, receiving the map may be performed in the same cloud device, may also be performed in the same terminal device, or may be performed in the same road end device.
  • the map using device can update the map based on the location information of the first event, display the first information based on the location information of the first event, or display the first information based on the location information of the first event.
  • the map using device can update the map based on the location information of the first event, display the first information based on the location information of the first event, or display the first information based on the location information of the first event.
  • the map further includes: the location information includes first location information and second location information, and the location reference information includes first location reference information and second location reference information, wherein the The first location reference information is used to indicate a first location reference method on which the first location information is based, and the second location reference information is used to indicate a second location reference method on which the second location information is based.
  • the second location information is different from the first location information, and the second location reference method is different from the first location reference method.
  • the position reference manner includes at least one of a type of a reference coordinate system, a type of a reference point, and a type of a reference line.
  • the reference line includes: a horizontal reference line and a vertical reference line.
  • the type of the reference coordinate system includes: at least one of an ENU rectangular coordinate system and a coordinate system along a reference line.
  • the type of the reference point includes at least one of the following types: the starting point of the road centerline; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane centerline; and the starting point of the lane edge line.
  • the type of the reference line includes at least one of the following types: a center line of a road; an edge line of a road; a center line of a lane; and an edge line of a lane.
  • the map further includes: third location information of the second event and event relevance indication information, where the event relevance indication information is used to indicate that the third location information is based on the location reference information The indicated location reference method.
  • the displaying the location information includes: changing displaying the first location information to displaying the second location information in response to a request message; the displaying the first location information The information is to display the first position information based on the first position reference mode indicated by the first position reference information, and the display of the second position information is based on the indication of the second position reference information
  • the second location reference manner displays the second location information.
  • the request message may be generated after the user operates the map information and navigation information displayed on the display interface, or may be initiated by the vehicle to the map using device before making a driving decision.
  • the second location information can be displayed based on the user's selection, the flexibility of displaying the first event can be improved, and various needs of the user for map usage can be met.
  • the displaying the location information according to the map includes:
  • the display of the first location information is changed to the display of the second location information.
  • the displaying the first location information is displaying the first location information based on the first location reference mode indicated by the first location reference information
  • the displaying the second location information is The second location information is displayed based on the second location reference manner indicated by the second location reference information.
  • the preset condition can be that when the distance is smaller than the preset threshold, the second position information is displayed, or when the distance is greater than the preset threshold, the second position information is displayed, so as to adapt to the display of different reference modes in different scenarios location information.
  • the second location information can be displayed when the first event is closer to the vehicle, so as to give the vehicle detailed information about the first event and improve user's driving experience.
  • the first event corresponds to a different driving strategy for the vehicle in a different lane.
  • the threshold for the first event and the vehicle in a different lane can be set accordingly When the distance between the vehicle and the first event is less than a corresponding threshold, the second location information is displayed, thereby improving the flexibility of using the map and improving the driving experience of the user.
  • the assisted driving decision based on the map includes: when the distance between the first event and the vehicle satisfies a preset condition, changing the assisted driving decision based on the first location information to Driving decision-making is assisted according to the second location information.
  • the preset condition can be that when the distance is less than the preset threshold, the driving decision is assisted according to the second position information, and when the distance is greater than the preset threshold, the driving decision is assisted according to the second position information, so as to adapt to different scenarios Using location information under different reference methods to assist driving decision-making is helpful to improve the effect of assisted driving decision-making.
  • the first event is on a planned driving path of the vehicle.
  • the first event when the first event is on the planned driving path of the vehicle, it is judged whether the distance between the first event and the vehicle satisfies the preset condition, and it is determined whether to change the display of the first position information to Display the second location information. Improved the display of events while the vehicle is in motion.
  • the displaying the location information includes:
  • the location information of the traffic flow event can be road-level location information, or lane-level location information, at this time, according to the traffic flow congestion degree It can be divided into morning and evening peak hours and non-morning and evening peak hours, and can also be divided according to working days, non-working days, holidays, etc., so that it can be displayed based on different location information at different times. For example, during non-morning and evening peak hours, road-level location information can be displayed to save the complexity of map display. During morning and evening peak hours, lane-level location information can be displayed to improve the driving experience of users using maps to drive vehicles.
  • the location where the first event occurs may be located in a sensitive area.
  • the first location information includes location information that is allowed to be displayed in the sensitive area.
  • the displayed first location information of the first event may be location information with low display accuracy. After leaving the sensitive area, the first location information of the first event may be updated to high-precision location information.
  • the location where the first event occurs may be located in an area with complex terrain.
  • the first event is located near a viaduct.
  • the problem of incorrect display of the first event due to inaccurate positioning of road-level location information.
  • the vehicle is under a viaduct and starts to display the map, at this time, the first event occurs in the lane on the viaduct.
  • the road-level location information is used to display , the first event may be displayed on the map, causing the user to mistake it for the first event on the ground of the viaduct, causing the user to choose another route to drive.
  • lane-level location information that is, display the lane where the first event occurred on the viaduct, or avoid displaying the first event, and then display the first event after determining that the vehicle is driving on the viaduct, so as to improve user experience. map experience.
  • the displaying the location information includes: according to the authority of the displaying device or the authority of the user using the device, from the first location information and the second location information
  • the first position information is selected from the two position information for display, and the display is based on the first position reference mode indicated by the first position reference information.
  • a user may be a driver or a passenger of a vehicle.
  • the driver of the vehicle may be the owner or non-owner. Therefore, for different users who use the vehicle, user permissions can be set accordingly.
  • User permissions can be set by the map generation device for the user, or by the map use device. What is set by the user may also be set for the user by a third party such as an operator, which is not limited here.
  • permissions can also be set for the device that displays the map. When the device is on the vehicle, the permission can be the user's permission, the vehicle permission, or the permission set separately for the device. It may be the permission set for the device, which is not limited here.
  • the method further includes:
  • Determining the accuracy of the location information according to the location reference information is higher than the accuracy based on the location where the first event is currently displayed; displaying the location of the first event based on the location reference mode indicated by the location reference information Location.
  • the first event when an event changes, for example, the first event may be expressed in a manner corresponding to using respective location reference information based on different times or different periods.
  • the vehicle can not determine the scope of the accident event, as long as the accident event is determined In this case, the traffic accident can be expressed through location information with low precision.
  • the scene changes for example, when the vehicle is driving, the first event occurs, and higher-precision position information needs to be displayed. At this time, it may be determined according to the location reference information that the accuracy of the location information is higher than the accuracy based on the location where the first event is currently displayed; The location of the first event.
  • the displayed location information at this time may be low-precision location information.
  • the map using device can obtain the location information of the first event with higher accuracy. At this time, it can be determined that the accuracy of the updated location information obtained is higher than the When displaying the accuracy on which the location of the first event is based, location information with higher accuracy is displayed to meet the requirement of event display.
  • the present application provides a map generating device, including:
  • a generating module configured to generate a map, the map including: location information of the first event and location reference information of the first event, the location information is used to indicate the location where the first event occurs, the location The reference information is used to indicate the location reference method on which the location information is based;
  • a sending module configured to send the map.
  • the map further includes: the location information includes first location information and second location information, and the location reference information includes first location reference information and second location reference information, wherein the The first location reference information is used to indicate a first location reference method on which the first location information is based, and the second location reference information is used to indicate a second location reference method on which the second location information is based.
  • the second location information is different from the first location information, and the second location reference method is different from the first location reference method.
  • the position reference manner includes at least one of a type of a reference coordinate system, a type of a reference point, and a type of a reference line.
  • the reference line includes: a horizontal reference line and a vertical reference line.
  • the type of the reference coordinate system includes: at least one of an ENU rectangular coordinate system and a coordinate system along a reference line.
  • the type of the reference point includes at least one of the following types: the starting point of the road centerline; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane centerline; and the starting point of the lane edge line.
  • the type of the reference line includes at least one of the following types: a center line of a road; an edge line of a road; a center line of a lane; and an edge line of a lane.
  • the map further includes: third location information of the second event and event relevance indication information, where the event relevance indication information is used to indicate that the third location information is based on the location reference information The indicated location reference method.
  • the present application provides a device for using a map, including:
  • a receiving module configured to receive a map; the map includes: location information of the first event and location reference information of the first event, the location information is used to indicate the location where the first event occurs, and the location The reference information is used to indicate the location reference method on which the location information is based;
  • a map update module configured to perform a map update operation according to the map
  • a display module configured to display the location information according to the map
  • an assisted driving decision-making module configured to assist driving decision-making according to the map.
  • the map further includes: the location information includes first location information and second location information, and the location reference information includes first location reference information and second location reference information, wherein the The first location reference information is used to indicate a first location reference method on which the first location information is based, and the second location reference information is used to indicate a second location reference method on which the second location information is based.
  • the second location information is different from the first location information, and the second location reference method is different from the first location reference method.
  • the position reference manner includes at least one of a type of a reference coordinate system, a type of a reference point, and a type of a reference line.
  • the type of the reference coordinate system includes: at least one of an ENU rectangular coordinate system and a coordinate system along a reference line.
  • the type of the reference point includes at least one of the following types: the starting point of the road centerline; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane centerline ; and the starting point of the lane edge line.
  • the type of the reference line includes at least one of the following types: a center line of a road; an edge line of a road; a center line of a lane; and an edge line of a lane.
  • the map further includes: third location information of the second event and event relevance indication information, where the event relevance indication information is used to indicate that the third location information is based on the location reference information Indicates the position reference mode.
  • the display module is further configured to, in response to a request message, change displaying the first location information to display the second location information; wherein, the displaying the first location information is displaying the first location information based on the first location reference mode indicated by the first location reference information, and displaying the second location information is based on the first location reference information indicated by the second location reference information Displaying the second location information in the second location reference manner.
  • the request message may be generated after the user operates the map displayed on the display interface, or may be initiated by the vehicle to the map generating device before making a driving decision.
  • the map generating device may send the position information of the first event and the position reference information of the first event to the map using device.
  • the display module is further configured to change the display of the first location information to display the second location information when the distance between the first event and the vehicle satisfies a preset condition .
  • the displaying the first location information is displaying the first location information based on the first location reference mode indicated by the first location reference information
  • the displaying the second location information is The second location information is displayed based on the second location reference manner indicated by the second location reference information.
  • the first event is on a planned driving path of the vehicle.
  • the assisted driving decision-making module is configured to change the assisted driving decision based on the first position information to based on the The second location information assists driving decision-making.
  • the first event is on a planned driving path of the vehicle.
  • the display module is further configured to select the first location information from the first location information and the second location information according to the attribute, occurrence time or location of the first event displaying, and the displaying is based on the first position reference manner indicated by the first position reference information.
  • the display module is further configured to, according to the permission of the displaying device or the permission of the user using the device, select from the first location information and the second location information The first location information is selected for display, and the display is based on the first location reference manner indicated by the first location reference information.
  • the display module is further configured to determine, according to the location reference information, that the accuracy of the location information is higher than that of the currently displayed first event. Accuracy on which the location is based: displaying the location of the first event based on the location reference manner indicated by the location reference information.
  • the present application provides a map, including location information of a first event and location reference information of the first event, the location information is used to indicate the location where the first event occurs, and the location reference The information is used to indicate the location reference method on which the location information is based.
  • the map further includes: the location information includes first location information and second location information, and the location reference information includes first location reference information and second location reference information, wherein the The first location reference information is used to indicate a first location reference method on which the first location information is based, and the second location reference information is used to indicate a second location reference method on which the second location information is based.
  • the second location information is different from the first location information, and the second location reference method is different from the first location reference method.
  • the position reference manner includes at least one of a type of a reference coordinate system, a type of a reference point, and a type of a reference line.
  • the reference line includes: a horizontal reference line and a vertical reference line.
  • the type of the reference coordinate system includes: at least one of an ENU rectangular coordinate system and a coordinate system along a reference line.
  • the type of the reference point includes at least one of the following types: the starting point of the road centerline; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane centerline; and the starting point of the lane edge line.
  • the type of the reference line includes at least one of the following types: a center line of a road; an edge line of a road; a center line of a lane; and an edge line of a lane.
  • the map further includes: third location information of the second event and event relevance indication information, where the event relevance indication information is used to indicate that the third location information is based on the location reference information The indicated location reference method.
  • the present application provides a map generation device, including a processor and a communication interface, and the communication interface is used to receive signals from other communication devices except the map generation device and transmit them to the processor or send signals from the processor For communication devices other than the map generation device; the processor is used to implement the method described in any one of the above-mentioned first aspects through a logic circuit or executing code instructions.
  • the present application provides a map using device, including a processor and a communication interface, and the communication interface is used to receive signals from other communication devices other than the map using device and transmit them to the processor or send signals from the processor For communication devices other than the map user note device; the processor is used to implement the method described in any one of the above-mentioned second aspects through logic circuits or executing code instructions.
  • the present application provides a map generation device, including a processor and a memory, the memory stores a computer program, and the processor runs the computer program to implement any possible method in the first aspect above.
  • a device for using a map includes a processor and a memory, the memory stores a computer program, and the processor runs the computer program to implement any possible method in the second aspect above.
  • the present application provides a map generation device, including a processor and a memory, the memory stores computer program instructions, and the processor executes the computer program instructions to implement the method described in any one of the above first aspects.
  • the present application provides a device for using a map, including a processor and a memory, the memory stores computer program instructions, and the processor executes the computer program instructions to implement the method described in any one of the above second aspects.
  • the present application provides a vehicle.
  • the vehicle generates a map according to the method described in any one of the above-mentioned first aspects, and the map includes: the location information of the first event and the location of the first event Reference information, the location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference method on which the location information is based; and according to any one of the above first aspects Design the method described to send the map.
  • the present application provides a vehicle, which uses a map according to the method described in any one of the above-mentioned second aspects.
  • the present application provides a system, including a map generating device and a map using device, wherein the map generating device may be a map server, a map collection device or a vehicle, or a component in a corresponding device, for example, a chip.
  • the map using device may be a vehicle, a map server, or a map collection device, or a component in a corresponding device, for example, a chip.
  • the map generating device generates the map according to any one of the above-mentioned methods in the first aspect and sends it to the map using device, and the map using device follows the method described in any one of the above-mentioned second aspects, and according to the map, Perform a map update operation, or display the location information or assist driving decision-making.
  • the present application provides a chip, the chip may include a processor and an interface, the processor is used to read instructions through the interface, so as to execute the method described in any one of the above first aspects, or execute the Any of the above second aspects contemplates the method.
  • the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is run, it implements the method described in any one of the above-mentioned first aspects , or implement the method as described in any design of the second aspect above, or store the map as described in any design of the third aspect above.
  • the present application provides a computer program product.
  • the computer program product When the computer program product is run on a processor, it can realize the method described in any one of the above-mentioned first aspects, or realize the above-mentioned second aspect. Any one of the methods described in the design.
  • Figure 1a is a schematic structural diagram of a map
  • Figure 1b exemplarily shows a schematic diagram of a possible system architecture applicable to the embodiment of the present application
  • FIG. 2 exemplarily shows a schematic flow chart of a method for generating a map provided in an embodiment of the present application
  • FIG. 3a is a schematic flowchart of a method for using a map provided by an embodiment of the present application
  • Fig. 3b-Fig. 3e is a schematic diagram of map usage provided by the embodiment of the present application.
  • FIG. 4a is a schematic diagram of a midpoint of a starting line of a lane group provided by an embodiment of the present application.
  • Figure 4b- Figure 4c is a schematic diagram of the first event represented under the location reference information provided by the embodiment of the present application;
  • Figure 5a- Figure 5b is a schematic diagram of the point E of the first event under the position reference information provided by the embodiment of the present application;
  • FIG. 5c is a schematic diagram of a point F of the first event under position reference information according to an embodiment of the present application.
  • Figure 5d- Figure 5e is a schematic diagram of the first event represented under the location reference information according to the embodiment of the present application.
  • Figures 6a-6d are schematic diagrams of a first event represented under location reference information according to an embodiment of the present application.
  • Figures 7a-7b provide a schematic diagram of a first event represented under location reference information according to an embodiment of the present application.
  • Figures 8a-8b provide a schematic diagram of a first event represented under location reference information according to an embodiment of the present application
  • FIG. 9 exemplarily shows a schematic flowchart of a method for generating a map provided in an embodiment of the present application.
  • Fig. 10a is a schematic flowchart of a method for using a map provided by an embodiment of the present application.
  • Fig. 10b-Fig. 10d is a schematic diagram of map usage provided by the embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of a map generation device provided by an embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of a map using device provided by an embodiment of the present application.
  • FIG. 13 is a schematic structural diagram of a map generation device provided by an embodiment of the present application.
  • FIG. 14 is a schematic structural diagram of a device for using a map provided by an embodiment of the present application.
  • a map refers to an electronic map in the form of electronic data, which includes a large amount of interconnected road section information and other related information (such as the level and type of road sections, etc.).
  • Road-level maps can only provide road-level navigation information to meet the navigation needs of driving routes.
  • a road-level map can provide navigation information such as how many lanes the current road has, speed limit information, turn information, and route planning.
  • Vector maps such as open source vector maps, include road-level information.
  • road-level information can provide users with navigation information to meet the navigation needs of driving routes.
  • road-level information may include: the number of lanes of the current road, speed limit information of the current road, and turn information.
  • High-precision maps include road-level information and lane-level information.
  • the lane-level information is used to indicate lane information in the road network environment, such as lane curvature, lane heading, lane central axis, lane width, lane markings, lane speed limit, lane splitting, and lane merging.
  • the condition of lane lines between lanes (dotted line, solid line, single line and double line), lane line color (white, yellow), road barrier, material of barrier, road arrow, text content and location, etc. Included in lane-level information.
  • Map elements refer to some elements in the map, including but not limited to: roads, lane lines, signs, ground signs, signal lights, drivable area marking lines, etc.
  • roads can include guardrails, curbs, etc.
  • signs include: road signs, indicative signs, height limit signs, etc.
  • ground signs include: diversion signs, entrance and exit signs, speed limit signs, time limit signs, etc.
  • map data also exists in the form of files, and different versions of files represent the freshness of high-precision map data. Therefore, it can be determined whether there is a map to be updated according to the map version identifier (for example, version number, version information, etc.).
  • map version identifier for example, version number, version information, etc.
  • map layer can be set according to different functions, and the elements contained in each layer can correspond to the functions of the layer.
  • update frequency of the map layer it can include static layer and dynamic layer.
  • the static layer mainly refers to some target objects or objects whose update frequency is low in the high-precision map and does not need to be updated frequently. It can include roads, lanes, intersections, road signs, traffic signs, traffic lights and other road ancillary facilities, etc. .
  • the information of the road-level static layer may include information such as road geometry, road curvature, road heading, road speed limit, number of lanes, longitudinal slope, and lateral slope.
  • the static layer part may be the basemap part of the map, which contains the most basic and commonly used layers of map data elements. For example: map elements such as roads, rivers, bridges, green spaces, outlines of buildings or other features.
  • Figure 1a it may include: a lane layer, a layer of interest (Place of interests, POI) layer (for setting points of interest, such as points of interest such as restaurants and gas stations), etc. It can also include: road direction layer (for navigation and route planning), layer of road traffic jam, satellite image layer and other vector layers.
  • a layer of interest Picture of interests, POI
  • road direction layer for navigation and route planning
  • layer of road traffic jam for satellite image layer and other vector layers.
  • Dynamic layers refer to layers with high update frequency in HD maps, which are used to express real-time dynamic information.
  • the dynamic information included in the dynamic layer may be information that may change during driving, such as changing traffic flow, real-time road conditions, road repairs or road closures, and other data that need to be pushed or updated in real time.
  • the information in the dynamic layer may also have characteristics that change over time, and the information in the dynamic layer may also have different position expression accuracy requirements, for example, lane-level position information or Road-level location information.
  • Dynamic events refer to information that may change over time, and dynamic events may include: lanes, construction events on roads, traffic control events, traffic accidents, severe weather or natural disasters, and so on.
  • the dynamic event information may be traffic control information, traffic accident information, road occupation construction information, and the like.
  • Dynamic events can be reported to the map generation device through Internet of Vehicles messages, such as vehicle to X (V2X) messages, so that the map generation device can update the corresponding dynamic layer in the map, and the corresponding events can be obtained in time for subsequent map use devices Information.
  • V2X vehicle to X
  • the solutions in the embodiments of the present application can be applied to the Internet of Vehicles, such as V2X, long term evolution-vehicle (LTE-V), vehicle-to-vehicle (V2V), etc.
  • V2X long term evolution-vehicle
  • V2V vehicle-to-vehicle
  • the other devices include but are not limited to: vehicle-mounted terminals, vehicle-mounted controllers, vehicle-mounted modules, vehicle-mounted modules, vehicle-mounted components, vehicle-mounted chips, vehicle-mounted units, vehicle-mounted radars, or vehicle-mounted cameras.
  • a vehicle-mounted module implements the method provided by this application.
  • the map can be used to realize traffic services by means of a map usage function.
  • the transportation service in this embodiment of the application can be various automatic driving and assisted driving services, such as route planning and providing early warning of driving risks for manual driving.
  • the transportation business above is just an example.
  • the solutions in the embodiments of the present application may also be used in other devices with map functions other than vehicles, or be set in other devices with map functions other than vehicles, or be set in components of the devices.
  • the device with the map function may be a smart terminal or a server.
  • the smart terminal may be a smart transportation device, a smart home device, a robot, and the like.
  • it includes but is not limited to smart terminals or controllers, chips, radars or cameras and other sensors in smart terminals, and other components.
  • the server involved in the embodiment of this application can be a local server or a cloud server, and the server can be deployed in various ways.
  • the server can be a separate physical machine, and for another example, the server can also be a physical A certain virtual machine (virtual machine, VM) loaded on the server, for another example, the server can also be a certain container (docker) loaded on a certain physical server, etc.
  • VM virtual machine
  • the server can also be a certain container (docker) loaded on a certain physical server, etc.
  • the following embodiments take the server as a cloud server for exemplary description, and the cloud server may also be referred to as the cloud for short.
  • FIG. 1 b is a schematic diagram of a possible system architecture applicable to the embodiment of the present application.
  • the system architecture shown in FIG. 1 b includes a collection device 110 and a map generation device 120 .
  • a map using device 130 may also be included.
  • the acquisition device 110 may be a movable acquisition device 110, such as a vehicle, or an electronic device (for example, a mobile data center (MDC) etc.), an on-board chip, and a processing device in the vehicle mounted on the vehicle. device.
  • the vehicle may communicate directly with the map generation device, or may communicate indirectly, for example, forwarding data through intermediate media such as roadside units and base stations.
  • the vehicle can be a vehicle that has agreed with the map generation device 120 in advance to actively report the environmental information during the driving process of the vehicle, for example, a vehicle that joins the traffic experience project of the map generation device 120, or a surveying and mapping vehicle that accepts the outsourcing commission of the map generation device 120 Wait.
  • the map generation device 120 can return an inquiry interface to the owner whether to allow to join the traffic experience project.
  • the current environment information will be actively reported to the map generation device 120.
  • the vehicle will also receive the location information of the target event updated by the map generation device 120 according to the current environment information reported by each vehicle, so that the vehicle can use the map that is more in line with the current situation.
  • the way of road environment or lane environment passes through the current road section to improve the driving experience of car owners.
  • the map generation device 120 can also entrust a specialized surveying and mapping company, and the entrusted surveying and mapping company can dispatch surveying and mapping vehicles according to a fixed collection cycle, for example, let the surveying and mapping vehicles drive along the city, collect and Real-time collection of environmental information on the road. It can also be collected according to road sections or time periods where traffic congestion often occurs.
  • the collection device 110 may also be a fixed collection device 110, such as a roadside unit (roadside unit, RSU) and other equipment.
  • the RSU may be a device with a communication function installed on one side or both sides of the road.
  • the roadside unit can establish a connection with the on-board unit (OBU) on the vehicle when the vehicle passes by, so as to realize the identification of the vehicle.
  • the roadside unit can also package modules such as cameras, radars or laser transmitters with collection functions, processing functions, and transceiver functions. The roadside unit can monitor the road in real time through these functional modules. When a change occurs, the changed environment information can be obtained in a timely manner.
  • the collection device 110 may also be a server, for example, the server may be a server provided in a third-party institution with a sharing function.
  • third-party organizations can usually be set up as managers of the transportation system, such as the National Transportation Management Department, urban transportation management offices or management offices at all levels, etc.
  • the managers of the transportation system have the ability to monitor the traffic lines in the transportation system in real time. Not only can they know the traffic conditions of each traffic line in time, but they can also make certain changes to the traffic mode of the traffic lines, such as changing a certain traffic line. The speed limit of the line.
  • Road environment information can also be obtained through a server installed in a third-party organization.
  • the server can be an Internet of Vehicles server.
  • the Internet of Vehicles server can provide planning and control services for Internet of Vehicles terminals by maintaining and updating high definition map (HD MAP) information, and can also maintain and update the information of the map. information to provide navigation services for Internet of Vehicles terminals.
  • the roadside unit can send a vehicle network message containing dynamic information of a high-precision map to the vehicle network terminal.
  • the collection device 110 may be a device with a collection function such as a camera function and a sensor function.
  • This acquisition function can be realized by sensor components such as a vehicle-mounted camera or a vehicle-mounted radar arranged on the acquisition device.
  • the camera device of the vehicle may be a monocular camera, a binocular camera, or the like.
  • the shooting area of the camera device may be the external environment of the vehicle.
  • the sensing device of the vehicle may include radars such as lidar, millimeter-wave radar, and ultrasonic radar for obtaining environmental information, and may also include an inertial navigation system (for example, global navigation satellite system (global navigation satellite system) system, GNSS), inertial measurement unit (Inertial measurement unit, IMU)), etc.
  • GNSS can be used to estimate the geographic location of the vehicle.
  • GNSS may include transceivers that estimate the vehicle's position relative to the Earth based on satellite positioning data.
  • a computer system in the vehicle may use GNSS in conjunction with map data to estimate the road the vehicle is traveling on.
  • the IMU can sense the vehicle's position and orientation changes based on inertial acceleration and any combination thereof.
  • the combination of sensors in the IMU may include, for example, accelerometers and gyroscopes.
  • the positioning information obtained based on GNSS is fused with information obtained based on other technologies (for example, IMU), and the fused result is used as the global pose of the vehicle at the current moment.
  • This method of fusing information obtained based on GNSS and information obtained based on other technologies (for example, sensors such as an IMU) to achieve positioning may be called combined positioning.
  • combined positioning can also match the data collected by other sensors with the data of corresponding sensors stored in the map, so as to realize the positioning position of the current lane where the vehicle is located.
  • millimeter wave radar sensors may utilize radio signals to sense objects within the vehicle's surrounding environment.
  • millimeter wave radar may be used to sense the velocity and/or heading of a target in addition to sensing the target.
  • LiDAR uses laser light to sense objects in the environment in which the vehicle is located. Sensors may be used to capture multiple images of the vehicle's surroundings.
  • each vehicle can be provided with one or more sensors, and the number of each sensor can be one or more.
  • the sensor can be installed on the top of the vehicle (for example, it can be arranged in the middle of the top of the vehicle), the front end of the vehicle, etc. The embodiment of the present application does not limit the installation position and number of sensors in each vehicle.
  • the collection device is a system composed of a camera device and a sensing device, that is, the two devices exist independently, and the two devices are collectively called a collection device; or, the collection device may be a camera device and a sensor device integrated in together; or, the collection device may be a sensing device with a camera function, etc.
  • the map generation device 120 may be a device, device or chip with image processing functions, such as physical devices such as hosts or processors, virtual devices such as virtual machines or containers, and chips or integrated circuits.
  • the map generation device 120 may be a cloud device, a roadside device or a terminal device, wherein the cloud device is, for example, a map server, a software module, a hardware module or a chip in the map server, and the roadside device is, for example, a roadside unit or a device in the roadside unit.
  • a software module, a hardware module or a chip, and the terminal device is, for example, a vehicle, a software module, a hardware module or a chip in the vehicle.
  • the map using device can also be a cloud device, a roadside device or a terminal device, wherein the cloud device is, for example, a map server, a software module, a hardware module or a chip in the map server, and the roadside device is, for example, a roadside unit or a device in the roadside unit.
  • the cloud device is, for example, a map server, a software module, a hardware module or a chip in the map server
  • the roadside device is, for example, a roadside unit or a device in the roadside unit.
  • a software module, a hardware module or a chip, and the terminal device is, for example, a vehicle, a software module, a hardware module or a chip in the vehicle.
  • the server may refer to a single server, or may refer to a server cluster composed of multiple servers.
  • the server may specifically be a cloud server, also referred to as cloud, cloud, cloud server, cloud controller, or Internet of Vehicles server.
  • a cloud server is a general term for devices or devices with data processing capabilities, such as physical devices such as hosts or processors, virtual devices such as virtual machines or containers, and chips or integrated circuits.
  • the map generation device 120 can also be a vehicle, for example, the collection device 110 and the map generation device 120 are both located in the vehicle, and the whole process of image collection and map generation is completed autonomously by the vehicle.
  • one map generation device can only be used with one type of collection device (such as a third party Server) and a map use device for information interaction, and also with a variety of collection devices (such as roadside units and crowdsourcing vehicles) and a map use device for information interaction, and can also interact with a variety of collection devices and multiple map Use devices for information exchange.
  • Information exchange between two devices may refer to the direct interaction between the two devices in a wired or wireless manner, or may refer to the indirect interaction between the two devices through one or more other devices.
  • the system architecture applicable to the embodiment of the present application may also include other devices, such as terminal devices, network devices, core network devices, etc., for which the embodiment of the present application Nor is it limited. Also, any device in the embodiment of the present application may integrate functions in one independent physical unit, or distribute functions in multiple independent physical units, which is not limited in this embodiment of the present application.
  • the map using device 130 may be a cloud device, a roadside device or a terminal device, wherein the cloud device is, for example, a map server, a software module, a hardware module or a chip in the map server, and the roadside device is, for example, a roadside unit or a roadside unit.
  • a software module, a hardware module or a chip, and the terminal device is, for example, a vehicle, a software module, a hardware module or a chip in the vehicle.
  • the map using device can also be a cloud device, a roadside device or a terminal device, wherein the cloud device is, for example, a map server, a software module, a hardware module or a chip in the map server, and the roadside device is, for example, a roadside unit or a device in the roadside unit.
  • the cloud device is, for example, a map server, a software module, a hardware module or a chip in the map server
  • the roadside device is, for example, a roadside unit or a device in the roadside unit.
  • a software module, a hardware module or a chip, and the terminal device is, for example, a vehicle, a software module, a hardware module or a chip in the vehicle.
  • the map usage device 130 may obtain a map from the map generation device 120 .
  • the user's vehicle 130 can first obtain the destination location input by the owner, and then use the locally stored map to plan the best route from the current location (or the starting location input by the owner) to the destination location, and follow the best route indicated on the map to your destination location.
  • the map generation device 120 determines that the dynamic layer events in the map have changed, it may send the update information of the corresponding updated dynamic map or the updated event information to the map use device 130 .
  • the map using device 130 may actively inquire whether there is an updated event from the map generating device 120 at a preset time, so as to obtain information about the updated event.
  • the vehicle's sensing device can be used to obtain information about the target event, or the vehicle's camera device and the vehicle's sensing device can be used in combination to collect information about the target event, thereby assisting the vehicle
  • the processing device and the positioning device in the device determine the location information of the target event.
  • the acquisition device 110 when the acquisition device 110 is a vehicle, after the vehicle starts, the acquisition device 110 can call the vehicle camera to capture the surrounding environment to obtain camera data, and call the laser radar to sense the surrounding environment to obtain the laser radar data, and combine the camera data and the laser The radar data is reported to the map generation device 120 together with the information of the target event.
  • the collection device 110 when the collection device 110 is a roadside unit, the collection device 110 can call the vehicle-mounted camera to capture the surrounding environment to obtain camera data, and call the laser radar to sense the surrounding environment to obtain the laser radar data during a set time period. The camera data and the lidar data are reported to the map generation device 120 together as the information of the target event.
  • the map generating device 120 projects the camera data onto the lidar data, uses the lidar data and the camera data to construct a point cloud map, and then marks traffic entities or traffic events such as lanes, traffic markers, traffic lights, and lane lines on the point cloud map information to update the map.
  • the map using device 130 may obtain event information based on the map updated by the map generating device 120 , for example, obtain event location information, and perform corresponding operations according to the event location information. For example, according to the location information of the event, the degree of congestion at the road level or the degree of congestion at the lane level is determined, thereby guiding the navigation of the vehicle, or selecting a lane change in advance.
  • map use can also be scenarios such as display of maps and use of maps in conjunction with other applications, which are not limited in this application.
  • One map generation device 120 can be connected to multiple collection devices 110 at the same time (for example, it is connected to three collection devices 110 at the same time as shown in FIG. .
  • One map generating device 120 can be connected to multiple map using devices 130 at the same time, and the map using device 130 can timely obtain the event information updated by the map generating device, improve the accuracy of map use, and help improve the driving experience of car owners.
  • the map using device 120 and the map generating device 110 may also be located on the same device or on the same chip, which is not limited in this application.
  • the system architecture applicable to the embodiment of the present application may also include other equipment, such as core network equipment, wireless relay equipment, and wireless backhaul equipment.
  • the examples are also not limiting.
  • the map generation device 120 in the embodiment of the present application can integrate all functions on an independent physical device, or deploy different functions on multiple independent physical devices, and this embodiment of the present application does not make any limited.
  • At least one in the embodiments of the present application means one or more, and “multiple” means two or more.
  • “And/or” describes the association relationship of associated objects, indicating that there may be three types of 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 contextual objects are an “or” relationship.
  • “At least one of the following” or similar expressions refer to any combination of these items, including any combination of single or plural items.
  • At least one of a, b, or c may mean: ⁇ a, b, c, a and b, a and c, b and c, a and b and c ⁇ .
  • At least one (one) of a, b, and c has the same meaning as "at least one (one) of a, b, or c", that is, it can also mean: ⁇ a, b, c, a and b, a and c, b and c, a and b and c ⁇ .
  • ordinal numerals such as “first” and “second” mentioned in the embodiments of this application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects degree.
  • first location information and the second location information are only for distinguishing different location information, and do not indicate the difference in priority or importance of the two location information.
  • the map using device 130 uses the map, it can obtain the map from the map generating device 120 in advance.
  • the map is usually constructed by the map generation device 120 according to the real-time collected traffic environment pictures. Considering the real-time changing characteristics of the real traffic environment in the real world, in order to improve the accuracy of map use, the map generation device 120 needs regular Update the map, especially events in dynamic layers in the map. Considering that the events in the dynamic layer are expressed according to the geographic coordinate system, the characteristics of the events in the dynamic layer may not be well reflected. In addition, because the events in the dynamic layer change frequently over time, it may also cause updates The data volume of the map is too large, the difficulty of updating the map increases, and the update and use of dynamic layers are not utilized.
  • FIG. 2 exemplarily shows a schematic flowchart corresponding to a map generation method, which is applicable to the map generation device 120 shown in FIG. 1b.
  • the method includes:
  • Step 201 Generate a map.
  • the map includes: location information of the first event and location reference information of the first event, the location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location the means of location reference on which the information is based;
  • the location reference manner may include: at least one of the type of the reference coordinate system, the type of the reference point, and the type of the reference line.
  • the type of the reference coordinate system includes: at least one of the ENU Cartesian coordinate system and the coordinate system along the reference line.
  • the type of the reference point includes at least one of the following types: a starting point of a road centerline; a starting point of a road edge line; a midpoint of a starting line of a lane group; a starting point of a lane centerline; and a starting point of a lane edge line.
  • the type of the reference line includes at least one of the following types: the center line of the road; the edge line of the road; the center line of the lane and the edge line of the lane. The details are described below.
  • the location where the first event occurs may include at least one location information of the first event.
  • the first event may be a dynamic event.
  • the first event may be any event that can affect the vehicle's way of passing, such as road conditions, traffic facilities, landforms, weather conditions, traffic activities of other traffic participants, and so on.
  • the location information of the first event may be the location information of the central location of the dynamic event.
  • the location information of the dynamic event may also be the location information of multiple points, line segments, and regions corresponding to a range composed of multiple points, line segments, and regions.
  • the location where the first event occurs obtained by the map generation device 120 may be the location information of the first event collected by the collection device 110 .
  • the collection device 110 may report the location where the first event is acquired each time to the map generation device 120, or may only report the location where the first event changes to the map generation device 120.
  • the location where the first event changes may be a location that is changed compared with the location of the first event acquired in the previous collection period, or may be a location that is changed compared with the location where the first event occurs in the map.
  • the position where the first event occurs may include the position information of the collected area, and the area may be a point area, a line area or a planar area, and the position information of the area may be presented in the form of coordinates, such as the point area
  • the location information is expressed by the latitude and longitude coordinates of the point area in the geographic coordinate system (GCS) or the three-dimensional coordinates in the projected coordinate system (PCS), while the location information of the linear area or the surface area
  • the location information of a linear area or area is represented by the latitude and longitude coordinate set under the GCS or the three-dimensional coordinate set under the PCS.
  • the location information of the collected area may also be presented in the form of the link position associated with the area on the map (or in the real world).
  • the link position generally consists of a road name, a link name and a link range.
  • the collection device 110 may be a roadside unit.
  • the roadside unit finds an accident on the fixed road section during a certain detection, the location information of the fixed road section and the image of the detected accident will generate the first The location of an event is reported to the map generation device 120 in real time.
  • the map generation device 120 may determine at least one piece of location information of the first event, for example, the location information of the fixed road section as a piece of location information of the first event. It may also be at least one position information of the first event determined after analyzing the images of the detected accident.
  • the collection device 110 may be a vehicle.
  • the vehicle detects that an accident occurs on the road section during a certain driving process, the location where the first event occurs will be generated according to the positioning information of the vehicle and the image of the detected accident. And report to the map generation device 120 in real time.
  • the map generation device 120 After the map generation device 120 obtains the location of the first event sent by the collection device 110, it can determine at least one location information of the first event, for example, according to the location information of the vehicle reported when the collection device 110 is a vehicle and the collected Image information, the image information includes the environment information of the vehicle, and the map generation device 120 can determine the location of the accident based on the image collected by the vehicle and the location of the vehicle, that is, the location information of the first event in the map coordinate system. It is also possible to directly use the positioning position of the vehicle as a piece of position information of the first event.
  • the location of the first event obtained by the map generation device 120 may also be forwarded to the map generation device 120 after the fingerprint server of the map generation device 120 obtains the location of the first event, which is not limited here. .
  • the first event may change with time, change with space, have correlation with different events, and may also have road-level position information or lane-level position information. Therefore, the first event can be represented by selecting multiple types of location reference information to meet the needs of expressing the first event on the map and obtaining the first event through the map to perform the function of using the map. For example, after obtaining the first event through the map, the guidance vehicle needs to navigate.
  • the location reference information of the first event may be used to indicate the location reference manner on which the location information is based.
  • the type of reference coordinate system selected when expressing the location information of the first event the type of reference point or the type of reference line selected when expressing the location information of the first event, and the points, line segments or Geometric and topological information such as regions.
  • the geometric topology information of the first event may be the range involved in the first event.
  • the location reference manner may include at least one of the following: type of reference coordinate system, type of reference point, type of reference line, and the like.
  • the position reference manner may be one or more types of reference coordinate systems, for example, the position reference manner may be a Cartesian coordinate system.
  • the position reference mode may be along a reference line coordinate system.
  • the position reference method can also be used in combination of the Cartesian coordinate system and the coordinate system along the reference line.
  • the location reference method may be one or more types of reference points.
  • the location reference method may be the starting point of the road centerline, the starting point of the lane centerline, the starting point of the road centerline, the starting point of the road edge line, One or more of the starting point of the lane edge line, etc.
  • the position reference manner may be one or more types of reference lines.
  • the location reference mode may be one or more of road centerline, lane centerline, road centerline, road edge, and lane edge.
  • the location reference method can also be one or more of the type of reference coordinate system and the type of reference point, for example, the type of reference coordinate system is a rectangular coordinate system, and the type of reference point is the road centerline Taking the starting point as an example, the position reference method can be the starting point in the Cartesian coordinate system and the road centerline.
  • the position reference method may also be a type of coordinate system along a reference line and one or more reference points, for example, a coordinate system along a reference line, a starting point of a road centerline, and a starting point of a lane centerline.
  • the location reference method can also be one or more of the type of reference coordinate system and the type of reference line, for example, the type of reference coordinate system is the coordinate system along the reference line, and the type of reference line is road Taking the center line as an example, the position reference method can also be along the reference line coordinate system and the road center line.
  • the position reference method may also be a type of coordinate system along a reference line and one or more reference lines, for example, a coordinate system along a reference line, a road centerline, and a lane centerline.
  • the position reference method can also be one or more of the type of reference point and the type of reference line, for example, the type of reference point is the starting point of the road centerline, and the type of reference line is the lane centerline of
  • the location reference method may be the starting point of the road centerline and the lane centerline.
  • the location reference manner may also be one or more of the types of the reference coordinate system, one or more of the types of the reference point, and one or more of the types of the reference line.
  • the position reference method can be along the reference line coordinate system, one or more types of reference lines and one or more types of reference points, for example, along the reference line coordinate system, road centerline, lane centerline, road centerline Starting point, starting point of lane centerline, etc.
  • the position reference method can be along the reference line coordinate system, one or more types of reference lines and one or more types of reference points, for example, along the reference line coordinate system, road centerline, lane centerline, road center The starting point of the line, the starting point of the lane centerline, and the Cartesian coordinate system, the starting point of the road centerline, and the starting point of the lane centerline.
  • At least one position information of the first event relative to the first position information of the position reference information may be determined, thereby determining the expression manner of the position information of the first event in the map.
  • the first event may be stored in a corresponding dynamic layer to obtain an updated map.
  • the word or pattern of "accident” may be displayed at the position corresponding to the first event, for example, on the road section corresponding to the first event, or information such as the scope of the accident may be displayed.
  • the first event may include at least one of the following items in the dynamic layer of the map: first location information, geometric topology information, location reference information, attribute information of the dynamic event, and the like.
  • the geometric topology information may represent the range involved in the location information of the first event.
  • the characteristic information of dynamic events may include: characteristic information of dynamic events changing with time, characteristic information of dynamic time changing with space, road-level position information of dynamic events, lane-level position information of dynamic events and other different precision characteristic information.
  • the feature information of a dynamic event may also be related to different events, and the relationship between different events may also affect the expression of the dynamic event on the map. For example, an accident event may be associated with a traffic flow event. At this time, after updating the accident event, the map generation device 120 may also update the traffic flow event.
  • Step 202 The map generating device sends the map to the map using device.
  • FIG. 3a exemplarily shows a schematic flowchart corresponding to a method for using a map, and the method is applicable to the map using device 130 shown in FIG. 1b.
  • the method includes:
  • Step 301 The map using device receives a map.
  • the map using device receives the map sent by the map generating device.
  • the map includes: location information of the first event and location reference information of the first event, the location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the The location reference method on which the location information is based.
  • the map generating device may send the location information of the first event indicated under the location reference information of the first event to the map using device.
  • the accuracy of the location where the first event is currently acquired by the map generating device can only represent road-level location information for the first event.
  • the map generation device may determine the location information of the first event based on the road-level location reference information. After the map generation device obtains more information about the first event, it may determine the lane-level information of the first event, for example, may determine the lane-level range where the first event is located. At this time, the map generation device may determine the location information of the first event based on the road-level location reference information, and/or the lane-level location reference information to determine the location information of the first event.
  • the map generation device determines the location information of the first event and the location reference information of the first event in response to a request message; wherein, the request message may be a user's request to the map information displayed on the display interface,
  • the navigation information and the like are generated after the operation, or may be initiated by the vehicle to the map generation device before the driving decision is made.
  • the driving decision may be decisions such as control of vehicle speed, acceleration, deceleration, emergency braking, vehicle driving direction, vehicle driving lane, avoidance, lane change, etc., which are not limited in this application.
  • the map generating device may send the position information of the first event and the position reference information of the first event to the map using device.
  • the map generation device may determine, based on the user's selection or driving decision requirements, that after the map generation device acquires the location where the first event occurs, the map generation device may, according to the user's selection or driving decision requirements ( For example, after receiving the request message sent by the map use device, determining the user's choice or driving decision needs), determine whether the location reference information corresponding to the first event is road-level location reference information or lane-level location reference information, Therefore, the location information of the first event is determined and sent to the map using device, and the corresponding map using device can display the location information of the first event.
  • the map generation device after the map generation device acquires the location where the first event occurs, it can determine that the location reference information corresponding to the first event is road-level location reference information and lane-level location reference information, and the map generation The device generates the location information of the first event under the location reference information at the road level, and the location information of the first event under the location reference information at the lane level.
  • the location information of the first event under the road-level location reference information and the location information of the first event under the lane-level location reference information are stored in the map.
  • Step 302 Perform a map update operation according to the map, or display the location information or assist driving decision-making.
  • the update information for the first event in the first layer of the map may include: an update identifier, used to indicate the update of the first event;
  • the location information of the first event is used to indicate the scope of the location to which the updated first event applies;
  • the attributes of the first event can be traffic attributes or congestion attributes for roads or lanes. It can be shown as connected or green in the first layer; when it is impassable, it can be shown as disconnected or red in the first layer.
  • the degree of congestion at locations corresponding to roads or lanes can also be distinguished by color, which is not limited here.
  • the map using device may update the first layer in the map using device according to the update information of the first event. Therefore, after the update, the corresponding road congestion situation is used to determine the roads or lanes that the vehicle can pass, so as to notify the user that the vehicle can firstly refer to the passable location information to complete the pass.
  • the map using device uses the updated map to display the first event according to the first location information of the first event indicated under the location reference information of the first event. Furthermore, the map usage device can guide the navigation of the vehicle based on the first event.
  • the accuracy of the location information determined by the map using device according to the location reference information is higher than the accuracy based on the location where the first event is currently displayed; based on the location indicated by the location reference information
  • the reference mode shows the location of the first event.
  • the map using device can also guide the navigation of the vehicle according to the updated first event, so as to improve the effect of the vehicle navigation.
  • the map using device changes displaying the first location information to displaying the second location information in response to the request message.
  • the request message may be generated after the user operates the map information displayed on the display interface, or may be initiated by the vehicle to the map generating device before making a driving decision.
  • the map use device generates an acquisition request message of the first event in response to the request message, and sends the first event acquisition request message to the map generation device.
  • the map using device receives a response message to the first event from the map generating device.
  • the response message of the first event includes: location information of the first event and location reference information of the first event; the location reference information is determined by the server according to at least one piece of location information of the first event of.
  • the map using device may be based on the user's selection or the needs of driving decisions. After the map using device obtains the location information of the first event, the map using device may determine the first event according to the user's selection. Whether the corresponding location reference information is road-level location reference information or lane-level location reference information, thus, the location information of the first event represented by the location reference information is determined, and the location information of the first event is displayed.
  • the first event may be expressed based on different position reference methods, for example, the position information includes first position information and second position information, and the position reference information includes first position reference information and second location reference information, wherein the first location reference information is used to indicate the first location reference method on which the first location information is based, and the second location reference information is used to indicate the second location information Based on a second location reference method, the second location information is different from the first location information, and the second location reference method is different from the first location reference method.
  • the first location reference method is road-level location information
  • the second location information is lane-level location information.
  • the vehicle or the user may only care about the road-level congestion.
  • taking the first location information of the first event as road-level location information as an example, as shown in Figure 3b there is a first event on route 1.
  • the first event can be displayed The first location information of .
  • the map using device obtains the congestion ahead of the road through the map generating device, and when choosing to pass through the congested road, the user may need to obtain the location information of the first event at the lane level , so as to better avoid congested locations and improve the experience of vehicle traffic.
  • the map using device may determine whether the location reference information corresponding to the first event is road-level location reference information or lane-level location reference information based on the user's selection. For example, when it is determined that the location of the first event is represented by the road-level location reference information, the location information of the first event under the road-level location reference information may be called to the map.
  • the request message may be triggered by the user.
  • the user may click on the position corresponding to the congested road section.
  • the map using device may change from displaying the first position information of the first event (for example, FIG. 3b ) to displaying the first event. Second location information of an event.
  • the display of the first location information is changed to the display of the second location information, wherein the first event
  • the distance to the vehicle is determined according to the position of the vehicle and the position information of the first event, and the first event is on the path planning of the vehicle; the displaying the first position information is based on The first position reference mode indicated by the first position reference information displays the first position information, and the display of the second position information is based on the information indicated by the second position reference information.
  • the second position reference mode displays the second position information.
  • Whether the distance between the first event and the vehicle satisfies the preset condition may be determined according to whether the distance is smaller than a preset threshold or larger than the threshold.
  • whether the distance is greater than the threshold is an example of whether the preset condition is met, and different thresholds may be set for each lane. For example, as shown in Figure 3d, when the vehicle is in the first lane, the vehicle needs to change lanes to the third lane earlier to ensure smooth communication, while when the vehicle is in the second lane, it can be slower than the first lane. For a late lane change, the third lane may be the latest to display the second position information compared to the first lane and the second lane.
  • the second position information when the vehicle is in the first lane, the second position information can be displayed when the distance between the vehicle and the position point A on the first lane is greater than or equal to the first threshold according to the first event .
  • the second position information may be displayed when the distance between the position point B on the second lane of the first event and the vehicle is greater than or equal to a second threshold.
  • the second position information may be displayed when the distance between the position point C on the third lane of the first event and the vehicle is greater than or equal to a third threshold.
  • the driving decision is made according to the second location information.
  • the distance between the first event and the vehicle is determined according to the position of the vehicle and the position information of the first event, and the first event is on the path planning of the vehicle; the displayed The first location information is to display the first location information based on the first location reference method indicated by the first location reference information, and the display of the second location information is based on the second location
  • the second location information is displayed with reference to the second location reference manner indicated by the reference information.
  • whether the distance between the first event and the vehicle satisfies the preset condition may be determined according to whether the distance is smaller than a preset threshold or greater than the threshold.
  • whether the distance is greater than the threshold is an example of whether the preset condition is met, and different thresholds may be set for each lane. For example, as shown in FIG. 3d, when the vehicle is in the first lane, the vehicle can be controlled to change according to the distance between the position point A on the first lane of the first event and the vehicle is greater than or equal to the first threshold. road. When the vehicle is in the second lane, the vehicle may be controlled to change lanes when the distance between the position point B on the second lane of the first event and the vehicle is greater than or equal to a second threshold.
  • the vehicle When the vehicle is in the third lane, the vehicle may be controlled to slow down when the distance between the position point C on the third lane of the first event and the vehicle is greater than or equal to a third threshold. Thereby, the driving experience of the user is improved, and the traffic efficiency of the vehicle is improved.
  • the first location information is selected from the first location information and the second location information for display, and the display is based on the first location The first location reference mode indicated by the reference information.
  • the attribute of the event may include: an accident event, a traffic flow event, a weather type, and the like.
  • Road-level events or lane-level events may also be included.
  • the event attributes may be determined based on the frequency of time changes. For example, according to the speed of events changing over time, the determined event attributes are fast-updating events and slow-updating events.
  • the location information corresponding to the event may also be determined correspondingly, and the location information is expressed corresponding to a kind of location reference information. For example, weather events can be displayed based on road-level location information.
  • the first location information is selected from the first location information and the second location information for display, and the display is based on the first The first location reference mode indicated by the location reference information.
  • the location information of the traffic flow event can be road-level location information, or lane-level location information, at this time, according to the traffic flow congestion degree It is divided into morning and evening peak hours and non-morning and evening peak hours, and can also be divided according to working days, non-working days, holidays and other times.
  • the display may be performed based on different location information at different times. For example, during non-morning and evening peak hours, road-level location information can be displayed to save the complexity of map display. During morning and evening peak hours, lane-level location information can be displayed to improve the driving experience of users using maps to drive vehicles.
  • the user may also be prompted whether to check the lane-level location information, and the display will be performed after the user confirms to check the lane-level location information.
  • the road-level location information is displayed by default, and the user is not prompted whether to check the lane-level location information.
  • the first location information is selected from the first location information and the second location information for display, and the display is based on the first The first location reference mode indicated by the location reference information.
  • the location where the first event occurs may be located in a sensitive area, for example, according to the display requirements of the sensitive area, it is determined to display the first location information of the first event.
  • the first location information includes location information that is allowed to be displayed in the sensitive area.
  • the displayed first location information of the first event may be location information with low display accuracy. After leaving the sensitive area, the first location information of the first event may be updated to high-precision location information.
  • the location where the first event occurs may be located in an area with complex terrain.
  • the first event is located near a viaduct.
  • the first event display error problem caused by inaccurate road-level location information positioning. For example, when the vehicle is under a viaduct and starts to display the map, the first event occurs in the lane on the viaduct. If road-level location information is used to display the first event, the first event may be displayed on the map, causing the user to mistake it for the viaduct. The first event on the ground that causes the user to choose a different route to travel.
  • lane-level location information that is, display the lane where the first event occurred on the viaduct, or avoid displaying the first event, and then display the first event after determining that the vehicle is driving on the viaduct, so as to improve user experience. map experience.
  • the first location information is selected from the first location information and the second location information for display according to the authority of the displaying device or the authority of the user using the device , and the display is based on the first position reference manner indicated by the first position reference information.
  • a user may be a driver or a passenger of a vehicle.
  • the driver of the vehicle may be the owner or non-owner. Therefore, for different users who use the vehicle, user permissions can be set accordingly.
  • User permissions can be set by the map generation device for the user, or by the map use device. What is set by the user may also be set for the user by a third party such as an operator, which is not limited here.
  • permissions can also be set for the device that displays the map.
  • the permission can be the user's permission, the vehicle permission, or the permission set separately for the device. It may be the permission set for the device, which is not limited here.
  • the device for using the map may determine and display the position information of the first event that can be displayed after authenticating the user and obtaining the user's authority.
  • the map using device may determine and display the position information of the first event that can be displayed after verifying the vehicle and obtaining the vehicle authority.
  • the verification method is not limited in this application.
  • the method further includes: determining according to the location reference information that the accuracy of the location information is higher than the accuracy based on the location where the first event is currently displayed ; Displaying the location of the first event based on the location reference manner indicated by the location reference information.
  • Mode 1 to Mode 2 and Scenario 2 to Scenario 5 are used as examples below to illustrate that the position reference information of the first event and the position information indicated in the reference mode of the first event based on the position reference information.
  • the position reference information including: the type of the coordinate system, the type of the reference point and the type of the reference line as an example, the position information of the event (for example, the first position information of the first event or the third position information of the second event) will be described below.
  • Optional location reference information the position information of the event (for example, the first position information of the first event or the third position information of the second event) will be described below.
  • the location reference information expressed by the event may include location reference information, geometric topology information, and the like.
  • the position reference method may include: the type of the reference coordinate system, the type of the reference point, the type of the reference line, etc.
  • Geometric topology information may include at least one piece of geometric location information.
  • the data structure corresponding to the location reference information used for event expression may include field names, field types, data types, and the like. Take the data format of the proto buffer as an example.
  • the reference coordinate system type can be the Cartesian coordinate system in mode 1.
  • the 1 carried in the field RefCoordType can be used to indicate that the reference coordinate system type can be Cartesian coordinate system.
  • the type of the reference coordinate system can be the coordinate system along the reference line in mode 2.
  • the 2 carried in the field RefCoordType can be used to indicate that the type of the reference coordinate system can be the coordinate system along the reference line.
  • the type of reference point and the type of reference line (for example, the type of horizontal reference line, the type of vertical reference line) can be indicated in an exhaustive manner as shown in Table 1, and can also include more types. See the descriptions of Table 2 and Table 3 below.
  • the field type may include a required (Required) field, an optional (Optional) field, a repeated (Repeated) field, and the like.
  • the repeated field indicates that the field is used to represent the type as an array or list. For example, when describing the geometric topology information of an event, multiple geometric positions can be used at the same time.
  • the repeated field can also be empty, which is not limited here.
  • the lane group may be a lane group composed of a plurality of lanes in the same traveling direction of the vehicle, or may be a lane group composed of a plurality of lanes with the same driving sign.
  • lane group 1 is a lane group of straight lanes composed of lanes 1 to 3
  • lane group 2 is a lane group of all lanes in the same direction composed of lanes 1 to 5.
  • the midpoint of the starting line of the lane group There are two ways to define the midpoint of the starting line of the lane group: In the first way, the intersection point of the lane centerline of the middlemost lane in the lane group and the starting line of the lane group is determined as the midpoint of the starting line of the lane group, Then the midpoint of the starting line of lane group 1 is point A in Figure 4a, and the midpoint of the starting line of lane group 2 is point B in Figure 4a; or, in the second way, determine the two edge lines of the lane group The midpoint of the line connecting the two intersections with the starting line of the lane group is used as the midpoint of the starting line of the lane group, then the midpoint of the starting line of lane group 1 is the midpoint of the line connecting point C and point D in Figure 4a , the midpoint of the starting line of lane group 2 is the midpoint of the line connecting point C and point E in Figure 4a.
  • the midpoints of the starting lines of the lane group determined by the above two methods may overlap, as shown in Fig. In 4a, point A is the midpoint of the line connecting point C and point D, and point B is the midpoint of the line connecting point C and point E.
  • the location reference information may further include at least one of the following: road-level location reference information or lane-level location reference information.
  • the event attribute may include: an accident event, a traffic flow event, a weather type, and the like. Road-level events or lane-level events may also be included.
  • the event attributes may be determined based on the frequency of time changes. For example, according to the speed of events changing over time, the determined event attributes are fast-updating events and slow-updating events. Based on the event attributes that change at different times, the location information corresponding to the event may also be set accordingly.
  • location reference information can be set according to the needs of event expression, and at the same time, an appropriate expression manner of geometric topology information can be selected, for example, multiple geometric locations can be selected to represent the geometric topology information of the event.
  • the expression manner of the geometric position may refer to the expression manner of the reference point and the reference line, which is not limited here. Wherein, the type of the reference point and the type of the reference line can be expanded, including but not limited to specific examples in the table.
  • a reference point refers to a node used to describe road or event information, and may also refer to a position used to describe a lane attribute change.
  • the reference point can be the starting point of the road centerline, the starting point of the lane centerline, etc.; it can also be the reference point determined according to the expression of the event or the map.
  • reference points can be set at the start of a lane, at the end of a lane, at an intersection or at a lane change.
  • the types of reference points may include, but are not limited to, any one or more of the following: start and end points of a lane, lane change points, or start and end points of a right-turn lane.
  • the starting and ending points of the lane include the starting point of the lane and the ending point of the lane.
  • the starting and ending points of the lanes include the starting and ending points of several lane lines on a road.
  • the start point of a lane is the point on the start line of the lane
  • the end point of the lane is the point on the stop line of the lane.
  • the start line of the lane and the stop line of the opposite lane are on a straight line in practical applications.
  • the lane change point can be a bifurcation point generated by adding a turning lane when some roads are approaching the intersection, or it can be a confluence point generated by entering a new road through the intersection and reducing one lane, or it can be the exit of the expressway/viaduct A fork in lanes, or a junction of approach lanes on a motorway/viaduct.
  • the lane change point may include, but is not limited to, any one or more of the following: bifurcation points generated by changing lanes from fewer to more, merging points generated by changing lanes from more to fewer, and driving lanes of expressways (and/or viaducts).
  • the starting and ending points of the right-turn special lane include the starting intersection point and the ending intersection point of the lane line (or the extension line of the lane line) of the right-turn special lane and the two connected lane lines.
  • the meaning of the reference point can be extended to the lane information change point under any working conditions, and the examples of the types of the reference points are only exemplary, and the types of the reference points can also include other types, or can also be other types , this application is not limited.
  • the position of the reference point may refer to the point coordinate value of the reference point in the Cartesian coordinate system, that is, the geographic coordinates of the reference point.
  • the position of each reference point may be collected by manual labeling.
  • the position can be determined in this way for the start-stop point of the right-turn lane and the start-stop point of the lane.
  • Data collected by a sensor and data collected by GNSS may also be used to determine the position of the reference point, which is not limited here.
  • the type of reference point may include one or more of the following: the identification ID of the reference point (node), the grid mesh_ID of the reference point mapped to the map, the type ID of the reference point mapped to the map (for example, road ID, lane ID, etc. ) or the type of reference point.
  • the type of reference point is used to describe the connection between the reference point and the map.
  • the type of the reference point (or the type of the dynamic layer corresponding to the event involved in the reference point) can be expressed in Table 2.
  • the identifier (node_ID) of the reference point is used to indicate the globally unique ID of the reference point, and is used to distinguish different reference points. ID can also be recorded as id. node_ID is an automatically generated ID.
  • the grid ID (mesh_ID) is used to indicate the grid ID that the reference point is mapped to the map, to distinguish different grids, and to establish a mapping relationship between the reference point and the grid of the map.
  • the mesh_ID comes from the attribute of the road line in the map. Among them, the grid is an attribute in the map, which is used to quickly determine the position in the map. There can be multiple types of IDs.
  • the type ID is a road ID (road_ID), which is used to indicate the road ID that the reference point maps to the map, to distinguish different roads, and to link the reference point with the map. road to establish a mapping relationship.
  • road_ID road ID
  • the type ID is a lane ID (lane_ID), which is used to indicate that the reference point is mapped to the lane ID of the map, to distinguish different lanes, and to establish a mapping relationship between the reference point and the lane of the map.
  • road_ID comes from the attribute of the road line in the map.
  • the lane ID or lane line ID (lane_ID) is used to indicate the serial number of the lane where the reference point is located, and is used to distinguish different lane lines.
  • lane_ID is used to indicate the serial number of the lane where the reference point is located, and is used to distinguish different lane lines.
  • two-way roads include forward and reverse lanes. You can use the serial number [-n...-1] to indicate the nth lane in reverse - the first lane in reverse, [0] to indicate the center lane line, and the serial number [1...n] to indicate the first lane in the forward direction - forward to the nth lane.
  • the serial number [0...n] can be used to indicate the 0th lane forward - the nth lane forward.
  • the types of reference points include reference point type 1 (node_type) and reference point type 2 (node_type_2).
  • Type 1 of reference points includes lane change points, lane start and stop points, and right turn lane start and stop points. Different types are indicated by different serial numbers, index numbers or IDs. For example, 0 can be used to indicate the lane change point, 1 can be used to indicate the starting and ending point of the lane, and 2 can be used to indicate the starting and ending point of the right turn lane.
  • Type 2 of reference points is a further refinement of type 1 of reference points.
  • Type 1 of the reference point may be further indicated by a different serial number, index number or ID. For example, use -1 to indicate that the lane change point subtype is from more lanes to fewer lanes.
  • Use 1 to indicate that the lane change point subtype is from less lanes to more lanes.
  • Use -1 to indicate that the lane start-stop subtype is the lane start.
  • Use 1 to indicate that the subtype of the start-stop point of the lane is the end point of the lane.
  • Use -1 to indicate that the subtype of the start-stop point of the right-turn lane is the start point of the right-turn lane, and use 1 to indicate that the subtype of the start-stop point of the right-turn lane is the end point of the right-turn lane.
  • the type of the reference point may also include at least one of the following types: the starting point of the road centerline; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane centerline; starting point.
  • the starting point of the road centerline may also include at least one of the following types: the starting point of the road centerline; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane centerline; starting point.
  • lane_ID, node_type and node_type_2 are obtained when determining the position of the reference point.
  • the type of each attribute of the reference point is int, and int is a function for rounding down a value to the nearest integer.
  • the ID of the reference point is packaged, and the attribute of the reference point and the mapping relationship or association information between the reference point and the map layer are stored in the map.
  • the map can generate a reference point layer corresponding to the information of the reference point.
  • the event obtains the type ID corresponding to the event from the reference point layer in the map according to the type of the reference point.
  • the reference line may be a road centerline, a road edge line, a lane centerline, or other types of reference lines.
  • the way the reference line is stored in the map may include one or more of the following types: the identification ID of the reference line (line), the grid meshID of the reference line mapped to the map, and the type ID of the map mapped to the reference line (for example, road ID, lane ID, etc.) or type of reference line.
  • the attributes of the reference line are used to describe the connection between the reference line and the map.
  • the type of the reference line (or the type of the dynamic layer corresponding to the event involved in the reference line) can be expressed in Table 3.
  • the reference line identifier (node_ID) is used to indicate the globally unique ID of the reference line, and is used to distinguish different reference lines. ID can also be recorded as id. node_ID is an automatically generated ID.
  • the grid ID (mesh_ID) is used to indicate the grid ID of the reference line mapped to the map, to distinguish different grids, and to establish a mapping relationship between the reference line and the grid of the map.
  • the mesh_ID comes from the attribute of the road line in the map. Among them, the grid is an attribute in the map, which is used to quickly determine the position in the map. There can be multiple types of IDs.
  • the type ID is a road ID (road_ID), which is used to indicate the road ID that the reference line maps to the map, to distinguish different roads, and to map the reference line to the map. road to establish a mapping relationship.
  • road_ID road ID
  • the type ID is the lane ID (lane_ID), which is used to indicate that the reference line is mapped to the lane ID of the map, to distinguish different lanes, and to establish a mapping relationship between the reference line and the lane of the map.
  • road_ID is used to identify the road line in the map.
  • the type of the reference line can be determined according to road_type, for example, road_type can include a road center line, a road left edge line, a road right edge line, a vehicle stop line, and the like.
  • road_type can include a road center line, a road left edge line, a road right edge line, a vehicle stop line, and the like.
  • it may also be a corresponding reference line after determining a corresponding ratio based on the width of the road, for example, it may be a reference line of a preset ratio of the event relative to the road width.
  • a reference line could be a road line such as a shoulder near an event.
  • Different types are indicated by different serial numbers, index numbers or IDs.
  • the lane ID or lane line ID is used to indicate the serial number of the lane where the reference line is located, and is used to distinguish different lane lines.
  • lane_ID is used to indicate the serial number of the lane where the reference line is located, and is used to distinguish different lane lines.
  • two-way roads include forward and reverse lanes. You can use the serial number [-n...-1] to indicate the nth lane in reverse - the first lane in reverse, [0] to indicate the center lane line, and the serial number [1...n] to indicate the first lane in the forward direction - forward to the nth lane.
  • the serial number [0...n] can be used to indicate the 0th lane forward - the nth lane forward.
  • the types of reference lines include reference line type 1 (line_type) and reference line type 2 (line_type_2).
  • the type 1 of the reference line includes at least one of the center line of the lane, the left edge line of the lane, the right edge line of the lane, the center line of the road, the edge line of the road, the center line of the lane, and the edge line of the lane.
  • the location information of the event relative to the reference lane is determined.
  • it could be a reference line based on the position of the event relative to the lane.
  • a reference line could be the lane to the left of the incident, the lane to the right of the incident, or a shoulder near the incident, etc.
  • the reference line can also be determined according to the total number of lanes in the road and the lane where the event is located. Different types are indicated by different serial numbers, index numbers or IDs. For example, 0 can be used to indicate the left edge of the lane, 1 can be used to indicate the right edge of the lane, and 2 can be used to indicate the center line of the lane. Type 2 of reference lines is another way of classifying the types of reference lines.
  • a horizontal reference line and a vertical reference line may use a different serial number, index number or ID to further indicate the type of the reference line.
  • use -1 to indicate that the type of the reference line is a horizontal reference line, that is, a reference line parallel to the lane line.
  • Use -2 to indicate that the type of reference line is a longitudinal reference line, that is, a reference line perpendicular to the lane line.
  • the vertical reference line may be determined according to the position of the reference point and the horizontal reference line. That is, the vertical reference line is perpendicular to the horizontal reference line, and the vertical reference line includes a reference point.
  • road_ID, road_type, line_ID, line_type and line_type_2 are obtained when the position of the reference line is determined.
  • the data type of each type of the reference line is int, and int is a function for rounding down a value to the nearest integer.
  • the ID of the reference line is packaged, and the type of the reference line and the mapping relationship or association information between the reference line and the map layer are stored in the map.
  • the map can generate a reference line layer correspondingly according to the information of the reference line (for example, the position information of the reference line and the type of the reference line).
  • the event is generated from the The type ID corresponding to the event is obtained in the reference line layer, and the coordinates of the reference line are obtained according to the type ID.
  • the type of reference line is a point under a road element, such as a road centerline, then get the ID of the road where the event is located, and get the coordinates of the centerline under the road ID; if the type of reference line is a point under a lane element Points, such as the lane centerline, then get the ID of the lane where the event is located, and get the coordinates of the centerline under the lane ID.
  • the relative location may be used to represent the location information of the event. That is, the position information of the event is represented by the relative position of the event relative to the reference point and/or the reference line.
  • a possible implementation manner for each position information in the at least one position information: according to the position information of the first event, determine the position reference information corresponding to the position information; according to the position reference information corresponding to the position information, determine Location information corresponding to the location information.
  • the location information of the event may be represented by at least one point, for example, a central point where the event is located.
  • location information of the event is a specific range
  • at least one point describing the event and/or at least one line segment describing the event may be determined according to the geometric topology information described by the event.
  • mode 1 and mode 2 may also be used in combination, which is not limited in this application.
  • Mode 1 the position information of the event in the Cartesian coordinate system.
  • the location information of the event relative to the coordinates of the reference point may be determined according to the location information of the reference point, for example, the coordinates (x, y) of the reference point in a Cartesian coordinate system.
  • Cartesian coordinate system may be a geographic coordinate system, for example, an ENU northeast sky coordinate system, a Global Positioning System (GNSS) coordinate system, and the like.
  • GNSS Global Positioning System
  • the map can generate a reference point layer correspondingly according to the information of the reference point.
  • the position reference method of the event can include the type of the reference point.
  • the type ID corresponding to the event may be obtained from the reference point layer in the map. According to the type ID, there may be multiple ways to obtain the type ID of the map.
  • the type of the reference point is a point under the road element, such as the starting point of the road centerline, then get the ID of the road where the event is located, and get the geographical coordinates of the starting point of the centerline under the road ID;
  • the type of the reference point is the lane element
  • the ID of the lane where the event is located is obtained, and the coordinates of the starting point of the centerline under the lane ID are obtained.
  • the location information of the event can be calculated according to the coordinates of the reference point.
  • other types of reference points may also be selected as the location reference information, which will not be repeated here.
  • the position information of the point of the event relative to the coordinates of the reference point can be determined according to the coordinates of the reference point A.
  • the central point where the accident occurred can be used as a point in the first event.
  • the location information ( ⁇ x, ⁇ y) of the event can be determined based on the location information of the central point where the accident occurred.
  • the reference point A may be any type of reference point, which is not limited here.
  • the location reference manner of the event may include multiple types of reference points.
  • multiple types of reference points can be selected as the reference position mode of the event.
  • ⁇ x of the event can be determined according to the starting point of the road centerline
  • ⁇ y of the event can be determined according to the starting point of the road edge line.
  • other methods may also be selected for determination, which are not limited here.
  • the position information d1 and the end position of the starting position of the event relative to the coordinates of the reference point can be determined according to the coordinates of the reference point A.
  • the position information d2 of the coordinates of the position relative to the reference point A thus indicates the area formed by the start position and the end position of the event.
  • a possible area is a road-level area.
  • the starting position corresponding to the target event can be the starting point of the vehicle congestion
  • the end position corresponding to the target event can be the end of the vehicle congestion point.
  • a road-level congestion area can be determined.
  • the level of congestion area may be the area corresponding to the target event.
  • Another possible area is a lane-level area.
  • the starting position corresponding to the target event may be the starting point of the vehicle-congested lane
  • the end position corresponding to the target event may be the end point of the vehicle-congested lane.
  • a lane-level congestion area can be determined.
  • the level of congestion area may be the area corresponding to the target event.
  • the position reference method can also include multiple types of reference points, for example, select the starting point of the road centerline and the starting point of the road edge line as the reference point, so that when the event is one of the passing events
  • the location information of the area is represented as an example.
  • the starting point of the road centerline can be used as the reference point of the event starting point to determine the location information d1 of the starting position of the event relative to the starting point of the road centerline.
  • the starting point of the road edge line can be used as the end of the event.
  • the reference point of the event determines the position information d2 of the end position of the event relative to the starting point of the road edge line, thereby indicating the area composed of the start position and end position of the event.
  • the coordinate system along the reference line established by the reference point and/or the reference line represents the position information of the event.
  • the coordinate system along the reference line established by the reference line represents the position information of the event.
  • the position reference method includes a plurality of types of reference lines.
  • the geographical coordinates of the reference line can be obtained according to the type of the reference line (road, lane group, lane) corresponding to the event and the type ID (eg, road ID, lane group ID, lane ID) corresponding to the reference line.
  • the type ID eg, road ID, lane group ID, lane ID
  • a possible implementation is to establish a coordinate system along the reference line through multiple types of reference lines.
  • the coordinate system along the reference line is based on a reference point and a reference line to express the position of a certain point in the map.
  • the origin is the projection point from the reference point to the reference line
  • the coordinate axis is from the origin , a straight line, curve or polyline extending along the reference line.
  • the position coordinates of a certain location point in the coordinate system along the reference line are (dx, dy), where dy is the distance from the location point to the projection point of the location point on the coordinate axis (can be positive or negative value), dx is the path length from the origin along the coordinate axis to the projection point (can be positive or negative).
  • a certain point map element is selected as the reference point, or an intersection point of two linear map elements is selected as the reference point; a certain linear map element is selected as the reference point.
  • the type of reference line is a road edge line
  • the type of reference point is a starting point on a road centerline (reference point A in the figure).
  • the coordinate axis x is the reference line, that is, the road edge line
  • the origin is the reference point A
  • the coordinate axis y is the vertical line from the reference point to the reference line.
  • the first event is located on the left side of the centerline of the road, and the center point of the first event can be expressed as (dx, dy) in the coordinate system along the reference line, where dx is the center point E of the first event on the road
  • dx is the center point E of the first event on the road
  • dy is the relative distance between point E relative to the road center point A and the vertical foot HEA of the road centerline, that is, the distance between E and HEA.
  • HEA is the vertical projection point of E to the centerline of the road. It should be noted that the positive and negative signs of dx or dy can be set as required.
  • the positive and negative signs of dx or dy can be determined according to the direction of road travel.
  • dx is positive when the point E of the first event is in front of the relative reference point along the road traveling direction
  • dx is negative when the point E of the first event is behind the relative reference point along the road traveling direction
  • the point E of the first event is along the road
  • dy is positive
  • dy is negative
  • dy is negative
  • the type of the reference line is the road edge line L
  • the type of the reference point A is the starting point A on the road centerline.
  • the reference coordinates of the point E of the first event can be expressed as (dx _e , dy _e ), that is, the position information of the point E of the first event can be expressed as (dx _e , dy _e ), where dy _e is E relative to the road edge
  • the relative distance of line L that is the distance between E and HE.
  • HE is the vertical projection point from the event point E to the reference line L.
  • dx _e is the relative distance between E and the vertical line composed of the road center point A and the vertical foot HA of the road edge line L, that is, the distance between HE and HA.
  • HA is the vertical projection point from reference point A to reference line L.
  • dx_e can be positive or negative
  • dx _e can also be the distance from HAL to HE along the reference line L as dx _e .
  • the type of the reference line may include a vertical reference line and a horizontal reference line.
  • the longitudinal reference line is used to determine the longitudinal distance between events relative to the longitudinal reference line.
  • the horizontal reference line is used to determine the lateral distance between events relative to the horizontal reference line.
  • the longitudinal reference line is the road edge line L1
  • the transverse reference line is the lane center line L2 as an example.
  • the reference coordinates of point F in the event can be expressed as (dx_f, dy_f), that is, the position information of point E of the first event can be expressed as (dx_f, dy_f), where dy_f is point F relative to the transverse reference line (lane centerline L2) is the relative distance between F and HF.
  • HF is the vertical projection point from the event point F to the lateral reference line (lane centerline L2).
  • dx_f is the relative distance between F relative to the road center point A and the vertical line formed by the vertical foot HA of the longitudinal reference line (road edge line L1), that is, the distance between HF1 and HA.
  • HA is the vertical projection point from reference point A to reference line L.
  • the positive and negative signs of dx_f or dy_f can be set as required.
  • the sign of dx_f or dy_f can be determined according to the direction of the road.
  • dx_f is positive in front of the relative reference point in the direction of travel along the road, and negative in the rear
  • dy_f is negative on the left side of the reference line along the travel direction of the road, and positive on the right side of the reference line.
  • it can also be determined in other ways, which are not limited here.
  • the location reference method may include: a type of reference point and a type of reference line.
  • the coordinates of the reference point can be obtained from the map according to the type of the reference line (road, lane group, lane) corresponding to the event and the type ID (eg, road ID, lane group ID, lane ID) corresponding to the reference point. Therefore, the coordinates of the reference line determined by the reference point may be determined based on the coordinates of the reference point.
  • the coordinate axis y along the reference line coordinate system can be determined by the reference point (the starting point of the lane centerline).
  • the coordinate axis y along the reference line coordinate system is a perpendicular line passing through the origin of the lane centerline.
  • the coordinates of the perpendicular to the lane centerline passing through the starting point of the lane centerline can be determined, that is, along the coordinate axis y of the reference line coordinate system.
  • the location information of the event may be determined according to the longitudinal distance dx and the lateral distance dy along the reference line coordinate system, and the origin of the reference line coordinate system may be the reference point.
  • the reference coordinates of point C in the event can be expressed as (dx_c, dy_c), where the longitudinal distance of point C along the reference line is dx_c, and the lateral distance of event C along the reference line is the vertical distance from the event to the reference line.
  • Line distance dy_c, since event C is on the reference line, dy_c is 0.
  • the reference coordinates of point B in the event can be expressed as (dx_b, dy_b), where the lateral distance of point A along the reference line is the perpendicular distance dy_b from event B to the reference line.
  • the lateral distance dx_b of point B of the event along the reference line can be determined.
  • the coordinate system along the reference line established by at least one type of reference point and at least one type of reference line represents the position information of the event.
  • the reference point can be the origin of the coordinate system along the reference line, and the reference point and the reference line can jointly determine the coordinate axis along the coordinate system of the reference line. Therefore, the position information of the event can be based on the coordinates of the coordinate system along the reference line
  • the axes determine the longitudinal distance dx of the event and the lateral distance dy of the event.
  • the type of the reference line can be a vertical reference line or a horizontal reference line, or it is not necessary to distinguish between a vertical reference line and a horizontal reference line.
  • the reference line is a longitudinal reference line
  • the longitudinal distance dx of the event may be determined according to the reference line.
  • the lateral distance dy of the event is determined.
  • the reference line is a horizontal reference line
  • the horizontal distance dy of the event may be determined according to the reference line.
  • the longitudinal distance dx of the event is determined.
  • the origin of the coordinate system along the reference line can be the reference point, and the coordinate axes of the coordinate system along the reference line can be based on the center line of the lane and the center line of the lane.
  • the starting point of the line is determined.
  • the reference point considering that the point E of the first event is located in the first lane, the reference point may be the starting point A on the first lane line, and the reference line may be the centerline L of the first lane.
  • the x-axis along the coordinate axis of the reference line coordinate system may be the centerline L of the first lane.
  • the coordinate axis y-axis of the coordinate system along the reference line may be a vertical line passing through the starting point A on the first lane line and the centerline L of the first lane.
  • the reference coordinates of the point E of the first event can be expressed as (dx _e , dy _e ), where dy _e is the relative distance of E to the centerline L of the first lane, that is, the distance between E and HE.
  • HE is the vertical projection point from the event point E to the centerline L of the first lane.
  • dx_e is the relative distance between the starting point A of E relative to the centerline of the first lane and the centerline L of the first lane, that is, dx_e is the distance between HE and HA.
  • dx_e can be positive or negative
  • dx_e It can also be the distance from HA to HE along the centerline L of the first lane.
  • HA may be a vertical projection point of the reference point on the reference line.
  • the event determines the location information by the type of the road-level or lane-level reference point and/or the type of the road-level or lane-level reference line.
  • the boundary location information of the first event may be determined according to the at least one location information; according to the boundary location information of the first event, Determine location reference information corresponding to the boundary location information; determine first location information corresponding to the boundary location information according to the location reference information corresponding to the boundary location information.
  • the boundary location information of the first event may include location information of at least one point, and in other embodiments, the boundary location information of the first event may include location information of at least one line segment.
  • the first position information corresponding to the boundary position information of the first event will be described below by taking the position information of at least one point as an example.
  • the event determines the location information by the type of the road-level reference point and/or the type of the road-level reference line.
  • the type of the reference point and/or the type of the reference line corresponding to the position information of the point in the event is a type of the road-level reference point and/or a type of the road-level reference line.
  • the road-level reference point and/or a type of the road-level reference line refer to Modes 1 and 2, and implementations of road-level reference point types and/or road-level reference lines in Scenarios 2-1 and 2-2, which will not be repeated here.
  • the position information of multiple points included in the boundary position information of the first event may be on multiple different lanes of the same road, at this time, according to the accuracy of the event expression, it can be determined that the multiple points of the event are in the position expression
  • the adopted reference line and/or reference point At this time, the location information of multiple points in the event may use the same reference point and/or reference line.
  • the range where the first event is located is a triangle, and when describing the position of the first event, it can be represented by three vertices corresponding to the range of the first event. That is, it includes 3 points, E1, E2 and E3. Among them, E1 is located in the first lane, and E2 and E3 are located in the second lane.
  • the respective reference points of E1, E2 and E3 can be the road center point on the starting line of the lane A, the reference point corresponding to each of E1, E2 and E3 may be the road edge line L1.
  • the position information of E1 can be expressed as (dx_e1, dy_e1), where dy_e1 is the relative distance of E1 to the road edge line L1, that is, the distance between E1 and HE1. dx1 is the relative distance between E1 and the vertical line formed by the road center point A and the vertical foot HA of the road edge line L1, that is, the distance between HE1 and HA.
  • the position information of E2 can be expressed as (dx_e 2, dy_e 2), where dy_e 2 is the relative distance of E2 to the road edge line L1, that is, the distance between E2 and HE2. dx_e 2 is the relative distance between E2 and the vertical line formed by the road center point A and the vertical foot HA of the road edge line L1, that is, the distance between HE2 and HA.
  • the location information of E3 can be expressed as (dx_e 3, dy_e 3), where dy_e 3 is the relative distance of E3 to the road edge line L1, that is, the distance between E3 and HE3. dx_e 3 is the relative distance between E3 and the vertical line formed by the road center point A and the vertical foot HA of the road edge line L1, that is, the distance between HE3 and HA.
  • the event determines the location information by the type of the lane-level reference point and/or the type of the lane-level reference line.
  • the location information of multiple points in the event may use the reference points and/or reference lines corresponding to the respective lanes.
  • the reference point corresponding to E1 can be the start line of the lane
  • the reference line corresponding to the center points A1 and E1 of the first lane on may be the edge line L-1 of the first lane.
  • the reference point corresponding to E2 and E3 may be the center point A2 of the second lane on the starting line of the lane, and the reference line corresponding to E2 and E3 may be the edge line L-2 of the second lane.
  • the position information of E1 can be expressed as (dx_e1, dy_e1), where dy_e1 is the relative distance of E1 to the edge line L-1 of the first lane, that is, the distance between E1 and HE1. dx_e1 is the relative distance between E1 and the vertical line formed by the center point A1 of the first lane and the vertical foot HA1 of the edge line L-1 of the first lane, that is, the distance between HE1 and HA1.
  • the position information of E2 can be expressed as (dx_e2, dy_e2), where dy_e2 is the relative distance of E2 to the edge line L-2 of the second lane, that is, the distance between E2 and HE2. dx2 is the relative distance between E2 and the vertical line formed by the center point A2 of the second lane and the vertical foot HA2 of the edge line L-2 of the second lane, that is, the distance between HE2 and HA2.
  • the position information of E3 can be expressed as (dx_e3, dy_e3), where dy_e3 is the relative distance of E3 to the edge line L-2 of the second lane, that is, the distance between E3 and HE3. dx_e3 is the relative distance between E3 and the vertical line formed by the center point A2 of the second lane and the foot HA2 of the edge line L-2 of the second lane, that is, the distance between HE3 and HA2.
  • the event determines the location information by the type of the lane-level reference point and/or the type of the road-level reference line.
  • the location information of multiple points in the event can use reference points corresponding to the respective lanes and/or road-level reference lines.
  • the reference point corresponding to E1 can be the starting line of the lane Center point A1 on the first lane.
  • the reference point corresponding to E2 and E3 may be the center point A2 of the second lane on the starting line of the lane, the reference line corresponding to E1 may be the road edge line L1, and the reference line corresponding to E2 and E3 may be the road edge line L2.
  • the position information of E1 can be expressed as (dx_e1, dy_e1), where dy_e1 is the relative distance of E1 to the road edge line L1, that is, the distance between E1 and HE1.
  • dx_e 1 is the relative distance between E1 and the vertical line formed by the center point A1 of the first lane and the vertical foot HA1 of the road edge line L, that is, the distance between HE1 and HA1.
  • the location information of E2 can be expressed as (dx_e2, dy_e2), where dy_e2 is the relative distance of E2 to the road edge line L2, that is, the distance between E2 and HE2. dx2 is the relative distance between E2 and the vertical line formed by the center point A2 of the second lane and the vertical foot HA2 of the road edge line L2, that is, the distance between HE2 and HA2.
  • the location information of E3 can be expressed as (dx_e 3, dy_e 3), where dy_e3 is the relative distance of E3 to the road edge line L2, that is, the distance between E3 and HE3. dx_e3 is the relative distance between E3 and the vertical line formed by the center point A2 of the second lane and the vertical foot HA2 of the road edge line L2, that is, the distance between HE3 and HA2.
  • the event determines the location information by the type of the road-level reference point and/or the type of the lane-level reference line.
  • the location information of multiple points in the event may use reference points and/or reference lines corresponding to respective lanes.
  • the corresponding reference points of E1, E2, and E3 can be Road edge point A0 on the starting line of the lane.
  • the reference line corresponding to E1 may be the edge line L-1 of the first lane.
  • the reference line corresponding to E2 and E3 may be the second lane edge line L-2.
  • the position information of E1 can be expressed as (dx_e1, dy_e1), where dy_e1 is the relative distance of E1 to the edge line L-1 of the first lane, that is, the distance between E1 and HE1. dx1 is the relative distance between E1 and the vertical line formed by the center point A1 of the first lane and the vertical foot HA1 of the edge line L-1 of the first lane, that is, the distance between HE1 and HA1.
  • the position information of E2 can be expressed as (dx_e2, dy_e2), where dy_e2 is the relative distance of E2 to the edge line L-2 of the second lane, that is, the distance between E2 and HE2. dx2 is the relative distance between E2 and the vertical line formed by the road edge point HE2 and the vertical foot HA2 of the second lane edge line L-2, that is, the distance between HE2 and HA2.
  • the position information of E3 can be expressed as (dx_e3, dy_e3), where dy_e3 is the relative distance of E3 to the edge line L-2 of the second lane, that is, the distance between E3 and HE3. dx_e3 is the relative distance between E3 and the vertical line formed by the road edge point HE3 and the vertical foot HA2 of the second lane edge line L-2, that is, the distance between HE3 and HA2.
  • the reference point is a lane-level reference point or road-level reference point
  • the reference line is a lane-level reference line or road-level reference lines.
  • the reference points or reference lines selected in the location information of the event are all at the lane level, or the reference points or reference lines selected in the location information of the event are all at the road level.
  • the data of the location reference information of the event can be simplified, that is, the type ID corresponding to the reference point and the reference line can be shared.
  • the coordinates of the reference point can be obtained by the road ID corresponding to the reference point, and the coordinates of the reference line can be obtained by referring to the corresponding road ID.
  • the reference point and the reference line can be based on the same road ID to obtain the coordinates of the reference point and the reference line.
  • the method of obtaining the coordinates of the reference point and the reference line can be simplified, and it can also be simplified Overhead of data for location reference information in events. That is, in the data structure of the location reference information of the event, the type ID corresponding to the reference point and the reference line can be shared. It should be noted that the type ID in this application may also be an element ID, which is not limited in this application.
  • the data structure of the event point E can be shown in Table 4.
  • the type ID of the reference line may be the same as the type ID of the reference line.
  • the location information of the point of the event may not include the field of the type ID of the reference line.
  • both the type ID of the reference line and the type ID of the reference line are the type IDs of the road edge line.
  • the type IDs of the reference lines are all the type IDs of the centerline of the first lane.
  • the position information of the event point may include the field of the original ID of the reference line, that is, the type ID and horizontal reference line of the vertical reference line in Table 4
  • the field of the type ID of the reference line may be one field.
  • the reference point is on the reference line.
  • the starting point of the road centerline is the reference point
  • the road centerline is the reference line.
  • a field can be used to represent the type ID in the data structure of the event point, for example , use the type ID field of the reference line, the type ID of the reference line selects the reference line corresponding to the type ID of the reference line by default.
  • the type of road-level reference line and/or the type of road-level reference point can be shared.
  • the type ID of the reference line is both the type ID of the road edge line.
  • the lane-level reference points or lane-level reference lines may not be shared, or may be partially shared.
  • the type ID of the reference line is the type ID of the starting point of the road centerline.
  • the sharing situation between the reference lines or the sharing situation between the reference points can be described through corresponding fields.
  • a field can be added to the location information of each point to indicate the point of the shared reference point or reference line, or a field can also be added to the reference point or reference line to indicate the point of the shared event, or Fields are added to events to indicate shared event points and shared reference points or lines.
  • Other methods may also be used to indicate the sharing method of the reference point and the reference line, which is not limited here.
  • point E and point F of the event may share a reference point and a reference line. At this time, the data structures of point E and point F of the event may be shown in Table 5.
  • the boundary location information of the first event may include location information of at least one line segment.
  • the first position information corresponding to the boundary position information of the first event is described below by taking the position information of at least one line segment as an example.
  • the parameter information corresponding to the line segment of the event includes a reference point, and in a scenario where the reference line is optional, the data structure of the line segment of the event may be shown in Table 6.
  • the line segment of the event is expressed based on the start line and the end line, and can also be based on the line segment formed by the start point of the event and the end point of the event to represent the line segment of the event.
  • the event's The data structure of the line segment may be shown in Table 7.
  • the first event can be divided into multiple sub-areas, each sub-area can correspond to a sub-event, and each sub-event can use its own position reference information to express.
  • the first event may be divided into multiple sub-areas, and each sub-area may be expressed in the form of its own location reference information.
  • the scope of the accident event involves three lanes, including the first lane and the second lane.
  • the accident event includes 4 points to describe the location information of the accident event.
  • the accident event includes: point A1, point B, point C and point D. Among them, point A1 is located in the first lane, and points B, C and D are located in the second lane.
  • traffic flow events can be divided into five sub-areas, including sub-area 1, sub-area 2, sub-area 3, sub-area 4, and sub-area 5.
  • sub-area 1 sub-area 2, sub-area 3, sub-area 4, and sub-area 5.
  • sub-event 2 sub-event 2, sub-event 3, sub-event 4 and sub-event 5 respectively.
  • the lane corresponding to sub-area 1 is the first lane
  • the starting point position of sub-area 1 is the starting point position of the road section corresponding to the traffic flow event
  • the end point position of sub-area 1 is the position in the first lane according to the accident event (for example , point A1) determined.
  • the lane corresponding to sub-area 2 is the first lane
  • the end point position of sub-area 2 is the end point position of the road section corresponding to the traffic flow event
  • the starting point position of sub-area 2 is the position in the first lane according to the accident event (for example, point A1) .
  • the lane corresponding to sub-area 3 is the second lane
  • the starting point position of sub-area 3 is the starting point position of the road section corresponding to the traffic flow event
  • the end point position of sub-area 3 is the position in the second lane according to the accident event (for example, point B and point C) determined.
  • the lane corresponding to sub-area 4 is the second lane
  • the end point position of sub-area 2 is the end point position of the road section corresponding to the traffic flow event
  • the starting point position of sub-area 4 is the position in the second lane according to the accident event (for example, point C and point D) determined.
  • the lane corresponding to sub-area 5 is the third lane.
  • the starting point of sub-area 5 can be the starting point of the road section corresponding to the traffic flow event, and the end of sub-area 5
  • the point position is the end point position of the road section corresponding to the traffic flow event.
  • the lane-level reference points and/or reference lines corresponding to each sub-area may be used respectively.
  • the coordinates along the reference line may be selected, the reference point is the starting point of the centerline of each lane, and the reference line may be the centerline of each lane.
  • the location information corresponding to each point in the accident event may also use reference points and/or reference lines at each lane level. That is, accident events and traffic flow events share a reference point and/or reference line.
  • reference point 1 may be the starting point of the road section corresponding to the traffic flow event
  • reference point 2 may be the end point of the road section corresponding to the traffic flow event
  • the reference line may include: the center line of the first lane, Centerline of lane 2, centerline of lane 3.
  • the location information of the sub-area 1 can be expressed as (ID of the first lane, ID of the reference point 1, dx1_1, dx1_2).
  • dx1_1 represents the position information of the starting point position of sub-area 1 relative to reference point 1 (here is 0)
  • dx1_2 represents the position information of the end point position of sub-region 1 relative to reference point 1, and the position can be based on accident events in The position of lane 1 (for example, point A1) is determined.
  • the location information of the sub-area 2 can be expressed as (ID of the first lane, ID of the reference point 2, dx2_1, dx2_2).
  • dx2_1 represents the position information of the starting point position of the sub-area 2 relative to the reference point 2, which is determined according to the position of the accident event in the first lane (for example, point A1) relative to the reference point 2.
  • dx2_2 indicates the position information of the end point position of the sub-area 2 relative to the reference point 2 (0 here).
  • the location information of the sub-area 3 can be expressed as (the ID of the second lane, the ID of the reference point 1, dx3_1, dx3_2).
  • dx3_1 indicates that the starting point position of sub-area 3 is the position information relative to reference point 1 (here is 0), and dx3_2 indicates the position information of the end point position of sub-area 3 relative to reference point 1, which is based on the accident event in The position of the second lane (for example, point B and point C) is determined relative to the position information of the reference point 1.
  • the location information of the sub-area 4 can be expressed as (the ID of the second lane, the ID of the reference point 2, dx4_1, dx4_2).
  • dx4_1 represents the position information of the starting point of the sub-region 4 relative to the reference point 2, which is determined according to the position information of the accident event in the second lane (for example, point C and point D) relative to the reference point 2.
  • dx4_2 indicates the position information of the end point position of the sub-region 4 relative to the reference point 2 (0 here).
  • the location information of the sub-area 5 can be expressed as (the ID of the third lane, the ID of the reference point 1, the ID of the reference point 2, dx5_1, dx5_2).
  • dx5_1 represents the position information of the starting point position of the sub-region 5 relative to the reference point 1 (0 here)
  • dx5_2 represents the position information of the end point position of the sub-region 5 relative to the reference point 2 (0 here).
  • the first event when an event changes, for example, the first event may be expressed in the form of corresponding location reference information based on different times or different periods.
  • the location information of the event can be represented by the point of the event.
  • the location reference information selected by the location information of the event may be a type of a road-level reference point and/or a type of a reference line, or a type of a lane-level reference point and/or a type of reference line.
  • the reference point is the starting point of the road centerline
  • the reference line can be the road centerline
  • the location information of the accident event at time stage 1 can be expressed as (road ID, reference point ID, dx1_1, dy1_1).
  • dx1_1 represents the position information of point 1 of the accident event relative to the starting line of the road where the reference point is located in time stage 1
  • dy1_1 represents the position information of point 1 of the accident event relative to the center line of the road in time stage 1. It should be noted that when the reference point can be determined according to the road ID, the reference point ID may not be carried.
  • the range of traffic accidents is obtained, which can form a quadrilateral area.
  • the four vertices (A, B, C, and D) of the quadrilateral area can be used to determine the location of the accident event. location information.
  • coordinates along the reference line can be selected, the reference point is the starting point of the centerline of the respective lane, and the reference line can be the centerline of the respective lane.
  • the position information of point A of the accident event in time phase 2 can be expressed as (1st lane ID, ID of reference point 1, dx2_A, dy2_A).
  • dx2_A represents the position information of point A of the accident event relative to the starting line of the first lane where reference point 1 is located in time phase 2
  • dy2_A represents the position information of point B of the accident event relative to the center line of the first lane in time phase 2 information.
  • the representation of points B, C, and D can refer to the representation of point A, which will not be repeated here. It should be noted that when the reference point 1 can be determined according to the ID of the first lane, the ID of the reference point 1 may not be carried.
  • the vehicle when the accuracy of the location information of the accident event is not high, for example, when the vehicle is navigating, when the congested road is regarded as an impassable road, the vehicle can not determine the location of the accident event.
  • the range of the event only needs to determine the road where the accident event is located. At this time, it can be represented by a point in the range of the traffic accident, for example, the center point of the traffic accident.
  • the location information of point 2 in the time stage 2 of the accident can be expressed as (road ID, ID of reference point 2, dx2_2, dx2_2).
  • dx2_2 represents the position information of point 2 of the accident event relative to the starting line of the road where reference point 2 is located in time stage 2
  • dy2_2 represents the position information of point 2 of the accident event relative to the center line of the road in time stage 2. It should be noted that when the reference point 2 can be determined according to the second road ID, the ID of the reference point 2 may not be carried.
  • the location reference information of each event can be determined according to specific needs, and the location information of the event can be determined according to the location reference information.
  • the present application provides a method for generating a map, which can be executed based on the map generating device 120 shown in Figure 1b, including:
  • Step 901 Generate a map.
  • the map includes: third location information of the second event and event relevance indication information, where the event relevance indication information is used to indicate that the third location information is based on the location reference manner indicated by the location reference information.
  • the first event is not related to the second event, and the first event and the second event share the same position reference manner.
  • the location reference mode shared by the first event and the second event may also be indicated through the event relevance indication information.
  • the event correlation indication information may be carried by adding a corresponding field in the data structure, or may be combined with other fields in the data structure to carry the event correlation indication information, which is not limited here.
  • the map generating apparatus may determine the second event based on information about the second event.
  • the information of the second event may be sent by the collecting device to the map generating device, so that the map generating device determines the second event according to the information of the second event reported by the collecting device.
  • the manner in which the collection device collects the information of the second event and sends it to the map generation device may refer to the manner in which the collection device collects the location reference information indicated by the location reference information of the first event in step 201 and sends it to the map generation device. No longer.
  • the second event is related to the first event, that is, the second event may be determined according to the position reference manner indicated by the position reference information of the first event.
  • the following uses scenarios 6-1 and 6-2 as examples.
  • Scenario 6-1 taking into account the needs of map use, can represent road-level or lane-level location information for different events. Take the first location information of the first event as road-level location information as an example. For example, when the vehicle has not started driving, but uses a map to view road conditions and filter navigation routes, the vehicle or user may only care about road-level location information. congestion situation.
  • the map using device obtains the congestion ahead of the road through the map generating device, and when choosing to pass through the congested road, the user may need to obtain the location information of the lane-level event, thereby , to better avoid congested locations and improve the experience of vehicle traffic.
  • the map generation device may determine the location reference information corresponding to different events as road-level
  • the location reference information is also lane-level location reference information, so that the location information of different events is determined and sent to the map using device, and the corresponding map using device can display the location information of different events.
  • the map generation device may determine that the location reference information corresponding to different events is road-level location reference information and lane-level location reference information after obtaining information about different events, and the map generation device generates road-level location reference information.
  • the location information of different events under the road-level location reference information and the location information of different events under the lane-level location reference information are stored in the map.
  • the map using device may determine whether the location reference information corresponding to different events is road-level location reference information or lane-level location reference information based on the user's selection. For example, when it is determined that the location information of the first event or the second event is represented by the location reference information of the road level, the location information of the first event or the second event under the location reference information of the road level may be called to the map.
  • the information accuracy of the first event or the second event currently obtained by the map generation device can only represent the road-level location information for the first event or the second event.
  • the map generation device may determine the location information of the first event or the second event based on the road-level location reference information. After the map generation device obtains more information about the first event or the second event, it can determine the lane-level information of the first event or the second event, for example, can determine the range of the lane level where the first event or the second event is located . At this time, the map generation device may determine the location information of the first event or the second event based on the road-level location reference information, and/or determine the location information of the first event or the second event based on the lane-level location reference information.
  • Scenario 6-2 when there is an association relationship between events, for example, taking the second event as a traffic flow event in the target road section as an example, considering that there are first events such as accidents or road maintenance in the target road section,
  • the expression of the location information of the traffic flow events may depend on the expression of the location information of the accident event.
  • the traffic flow event when an accident event is expressed as a single-point position expression, the traffic flow event may be expressed in a road-level expression.
  • the traffic flow event when the accident event is expressed as a multi-point location expression, the traffic flow event may be expressed in the manner of expressing multiple traffic flow sub-areas at the lane level.
  • More detailed traffic flow can be represented through a more precise scope of accident event expression, so that the traffic flow event and accident event location information can display more accurate congestion information.
  • the map generating device or the map using device may also select the expression of the corresponding location information. For example, when an accident event is expressed as a multi-point location expression, the traffic flow event may be expressed at the road level, or at the lane level for multiple traffic flow sub-areas.
  • Step 902 Send the map to the map using device.
  • the map includes: third location information of the second event and event relevance indication information, where the event relevance indication information is used to indicate that the third location information is based on the location reference manner indicated by the location reference information.
  • the second event is a traffic flow event in the target road segment
  • the first event is an accident event in the target road segment.
  • the expression methods of the location information of traffic flow events and accident events can be different or the same.
  • the expressions of the location information of the traffic flow event and the accident event are road-level expressions.
  • the location reference information selected by the traffic flow event and the accident event can be shared, and the location information of the accident event can refer to Time stage 1 in scenario 5 will not be repeated here.
  • the location information of the traffic flow event can be expressed as (road ID, reference point ID, dx_1, dx_2).
  • the reference point may be a reference point corresponding to the road ID, for example, the reference point may be a central point on a parking line.
  • dx_1 represents the position information of the starting point of the traffic flow event relative to the reference point
  • dx_2 represents the position information of the end point of the traffic flow event relative to the reference point.
  • the expressions of the location information of the traffic flow event and the accident event are road-level expressions.
  • the location reference information selected by the traffic flow event and the accident event can also be set separately.
  • the accident event can choose coordinates along the reference line, the reference point is the starting point of the road centerline, and the reference line can be the road centerline.
  • the location information of the accident event can be expressed as (road ID, reference point ID, dx1_1, dy1_1).
  • dx1_1 represents the position information of point 1 of the accident event relative to the starting line of the road where the reference point is located
  • dy1_1 represents the position information of point 1 of the accident event relative to the center line of the road.
  • the traffic flow event can choose coordinates along the reference line, and the reference point is the start point of the target road segment and the end point of the target road segment.
  • the location information of the traffic flow event can be expressed as (road ID, ID of reference point 1, ID of reference point 2, dx_1, dx_1).
  • reference point 1 can be the starting point of the target road segment
  • reference point 2 can be the end point of the target road segment
  • dx_1 indicates the position information of the starting point of the traffic flow event relative to reference point 1
  • dx_2 indicates the end point of the event relative to reference point 2 location information.
  • An event is a traffic flow event affecting the current road segment
  • the expression method of the location information of the traffic flow event may be dependent on the expression method of the location information of the first event.
  • the traffic flow event may be expressed in a road-level expression.
  • the traffic flow event when the accident event is expressed as a multi-point location expression, the traffic flow event may be expressed in the manner of expressing multiple traffic flow sub-areas at the lane level.
  • the second event may include N sub-events, and the N sub-events of the second event may be based on the location reference of the first event.
  • the first location information indicated under the information is determined.
  • a possible implementation manner for each sub-event in the N sub-events of the second event: according to the relationship between the first event and the sub-event, determine that the first event is related to the sub-event The first location information of the first event; according to the first location information related to the sub-event in the first event, determine the third location information indicated by the sub-event under the location reference information.
  • More detailed traffic flow can be represented through a more precise scope of accident event expression, so that the traffic flow event and accident event location information can display more accurate congestion information.
  • the map generating device or the map using device may also select the expression of the corresponding location information. For example, when an accident event is expressed as a multi-point location expression, the traffic flow event may be expressed at the road level, or at the lane level for multiple traffic flow sub-areas.
  • the scope of the accident event involves 3 lanes, including the first lane and the second lane.
  • the accident event includes 4 points to describe the location information of the accident event.
  • accident events include: point A, point B, point C and point D. Among them, point A is located in the first lane, and points B, C and D are located in the second lane.
  • the expression method of the location information of the accident event can refer to the expression method in time stage 2 in scene 5, or refer to the expression method in scene 6-1 or scene 6-2, and will not be repeated here.
  • the expression of the location information of the second event may be determined based on the location information of the accident event, and may be the expression of the road-level location information.
  • the location information of the traffic flow may be determined based on The location information of the center point of the accident event is determined.
  • the expression of the location information of the traffic flow can be determined based on the location information of the accident event, or the expression method of the lane-level location information.
  • the location information of the traffic flow can be determined based on the four points of the accident event The location information of the location information is determined.
  • the specific method can refer to the expression method of the first event in scene 4, which will not be repeated here.
  • the present application provides a method for using a map, which can be executed based on the map using device 130 shown in Figure 1b, including:
  • Step 1001 The map using device receives a map.
  • the map using device receives the map sent by the map generating device.
  • the map includes: third location information of the second event and event relevance indication information, where the event relevance indication information is used to indicate that the third location information is based on the location reference manner indicated by the location reference information.
  • the map using device may obtain an acquisition request message for sending the second event to the map generating device.
  • the map using device receives the response message of the second event from the map generating device.
  • the acquisition request message of the first event may be the same message or different messages, which are not limited here.
  • the response message of the second event includes: third location information of the second event indicated under the location reference information of the first event.
  • the response message of the second event includes: third location information indicated by each sub-event in the N sub-events of the second event under the location reference information, where N is A positive integer greater than 1.
  • scenario 6-1 and scenario 6-2 which will not be repeated here.
  • Step 1002 The map using device performs a map update operation according to the map, or displays the location information or assists in driving decision-making.
  • the map using device may update the map according to the third location information of the second event indicated under the location reference information of the second event.
  • the map using device uses the updated map to execute corresponding map functions.
  • the map using device may combine the first location information of the first event indicated under the location reference information of the first event to display the first event and guide the navigation of the vehicle.
  • the first location information of the first event may be displayed at this time. It may also be that when the distance between the vehicle and the first event is greater than or equal to the first threshold, the first location information of the first event is displayed, and the traffic jam ahead is prompted.
  • the map using device uses the updated map to display the second event according to the third location information of the second event indicated under the location reference information of the second event, and guide the vehicle to navigate according to the second event.
  • the map using device may display the first event while displaying the second event in combination with the first location information of the first event indicated under the location reference information of the first event, and according to the first event and the second event , to guide the vehicle's navigation.
  • the first event may be a traffic accident event
  • the second event may be a traffic flow event
  • Event 5 corresponds to sub-area 5 of the fifth degree of congestion.
  • the first degree of congestion is close to the third degree of congestion
  • the second degree of congestion and the fourth degree of congestion are the highest
  • the fifth degree of congestion is the lowest.
  • the map using device can display the congestion degree corresponding to each sub-event by color in the corresponding area, and update the navigation information according to each sub-event. For example, when the vehicle is in the first lane, at the first preset distance from sub-event 1, it may prompt that there is congestion ahead in the first lane, and suggest that the vehicle change lanes to the third lane. When the vehicle is in the second lane, at the second preset distance from sub-event 3, it can prompt the congestion ahead of the second lane, and suggest that the vehicle change lanes to the third lane.
  • the first preset distance and the second preset distance may be determined based on the congestion degree of the sub-event, or may be determined based on the difficulty of lane changing of the vehicle, which is not limited here.
  • the vehicle When the vehicle is in the third lane, it can remind the vehicle that there is congestion in the first lane and the second lane, and suggest that the vehicle slow down or switch to other roads, etc., which helps to improve the driving safety of the vehicle and reduce road congestion.
  • the map using device may also display the first location information of the first event and the third location information of the second event indicated under the location reference information of the first event, and display the The first event and the second event, and according to the first event and the second event, guide the navigation of the vehicle. For example, when the vehicle is in the first lane, when the distance from the vehicle to the sub-area 1 of the second event is less than or equal to the third preset distance, it can prompt that there is congestion ahead of the first lane, and suggest that the vehicle change lanes to the third lane.
  • the vehicle When the vehicle is in the second lane, when the distance from the vehicle to the sub-area 3 of the second event is less than or equal to the fourth preset distance, it can prompt the congestion ahead of the second lane, and suggest that the vehicle change lanes to the third lane.
  • the vehicle When the vehicle is in the third lane, when the distance from the vehicle to the sub-area 5 of the second event is less than or equal to the fifth preset distance, the traffic jam ahead will be prompted to remind the vehicle to avoid vehicles that may change lanes.
  • the third preset distance, the fourth preset distance and the fifth preset distance can be determined based on the area and position of the sub-regions of the second event, or can be determined according to the area of the corresponding lane occupied by the first event, for example, When the range involved in the first event is larger, larger third preset distances, fourth preset distances, and fifth preset distances may be set.
  • the third preset distance, the fourth preset distance and the fifth preset distance can also be determined using the type of the first event or the type of the second event, for example, when the first event is an accident, compared to the first event is In the event of rainwater accumulation, a longer distance can be set to prevent vehicles from changing lanes in advance at a position farther away from the accident. It can also be determined based on the difficulty of changing lanes of the vehicle, which is not limited here.
  • scenario 7 when an event changes, or the expression manner of the location information of other events associated with the event is different from the expression manner of the event. At this time, the conversion between the reference modes can be performed based on the different reference modes among the position information of the event.
  • the following uses scenarios 7-1 to 7-2 as examples for illustration.
  • Scenario 7-1 the conversion of the reference mode of the location information of the event between Cartesian coordinates and coordinates along the reference line.
  • the position information of the rectangular coordinates of the reference line and the reference point can be obtained in the static map, and in the coordinate 1 along the reference line
  • the position information of the indicated event that is, the position information of the event position relative to the reference line and the reference point determines the position information of the event position relative to the Cartesian coordinates.
  • the reference mode of the location information of the event is the transformation from coordinate 1 along the reference line to coordinate 2 along the reference line.
  • the reference mode of the location information determined by the event at time 1 corresponds to coordinate 1 along the reference line.
  • the reference mode of the event at time 2 corresponds to coordinate 2 along the reference line.
  • Cartesian coordinates can be used as a transfer, that is, the position information of the event at coordinate 1 along the reference line is first converted into an event The position information of the position information of the event in the Cartesian coordinates, and then the position information of the event position information in the Cartesian coordinates is converted into the position information of the event position information of the coordinate 2 along the reference line.
  • the conversion of the position information of the event from coordinate 1 along the reference line to coordinate 2 along the reference line is completed.
  • the location of the event selects the way to express the location reference information, which can achieve compatibility and versatility in the four dimensions of event, space, time, and precision, and supports data structure compatibility and compatibility in the above various application modes.
  • Versatility compatible with a variety of reference location methods for dynamic events, compatible with a variety of different geometric expression methods, dynamically select and combine location reference information, for example, location references such as the type of reference coordinate system, the type of reference line, the type of reference point, etc.
  • the location information expressed under the information can achieve compatibility with different precisions, and can also switch between high-precision requirements and low-precision requirements.
  • any of the above-mentioned information may change its name, but no matter how its name changes, as long as its meaning is the same as that of the above-mentioned information in this application , then all fall within the protection scope of the present application.
  • each network element includes a corresponding hardware structure and/or software module for performing each function.
  • the present invention can be realized in the form of hardware or a combination of hardware and computer software in combination with the units and algorithm steps of each example described in the embodiments disclosed herein. Whether a certain function is executed by hardware or computer software drives hardware 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 such implementation should not be regarded as exceeding the scope of the present invention.
  • FIG. 11 exemplarily shows a schematic structural diagram of a map generating device provided in the embodiment of the present application.
  • the device can be a map server, a collection device, a vehicle, or a chip or a circuit.
  • a chip or a circuit that may be provided in a map server, a collection device, or a vehicle for example, may be a map server, a collection device, or a vehicle as described in any one of the present application.
  • the map generation device 1101 may include a processor 1102, a memory 1104, and a transceiver 1103, and may further include a bus system, wherein the processor 1102, the memory 1104, and the transceiver 1103 may be connected through the bus system.
  • the above processor 1102 may be a chip.
  • the processor 1102 may be a field programmable gate array (field programmable gate array, FPGA), may be an application specific integrated circuit (ASIC), may also be a system chip (system on chip, SoC), or It can be a central processing unit (central processor unit, CPU), or a network processor (network processor, NP), or a digital signal processing circuit (digital signal processor, DSP), or a microcontroller (micro controller) unit, MCU), it can also be a programmable controller (programmable logic device, PLD) or other integrated chips.
  • FPGA field programmable gate array
  • ASIC application specific integrated circuit
  • SoC system on chip
  • CPU central processing unit
  • NP network processor
  • DSP digital signal processing circuit
  • microcontroller micro controller
  • MCU microcontroller
  • PLD programmable logic device
  • each step of the above-mentioned method may be completed by an integrated logic circuit of hardware in the processor 1102 or instructions in the form of software.
  • the steps of the methods disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor 1102 .
  • the software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register.
  • the storage medium is located in the memory 1104, and the processor 1102 reads the information in the memory 1104, and completes the steps of the above method in combination with its hardware.
  • the processor 1102 in the embodiment of the present application may be an integrated circuit chip, which has a signal processing capability.
  • each step of the above-mentioned method embodiment may be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software.
  • the above-mentioned processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components .
  • DSP digital signal processor
  • ASIC application-specific integrated circuit
  • FPGA field-programmable gate array
  • Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register.
  • 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.
  • the memory 1104 in the embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories.
  • the non-volatile memory can be read-only memory (read-only memory, ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically programmable Erases programmable read-only memory (electrically EPROM, EEPROM) or flash memory.
  • Volatile memory can be random access memory (RAM), which acts as external cache memory.
  • RAM random access memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • SDRAM double data rate synchronous dynamic random access memory
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM direct memory bus random access memory
  • direct rambus RAM direct rambus RAM
  • the map generation device may include a processor 1102 , a transceiver 1103 and a memory 1104 .
  • the memory 1104 is used to store instructions
  • the processor 1102 is used to execute the instructions stored in the memory 1104, so as to realize any one or any number of related solutions of the drawing device in the corresponding methods shown in the above application, or execute The method executed by the map generation device in the above embodiments.
  • the transceiver 1103 may transmit a map.
  • the processor 1102 may generate a map, where the map includes: location information of the first event and location reference information of the first event, the location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference on which the location information is based Way.
  • FIG. 12 exemplarily shows a schematic structural diagram of a map using device provided in the embodiment of the present application.
  • the device can be a map server, a collection device, a vehicle, or a chip or a circuit.
  • a chip or a circuit that may be provided in a map server, a collection device, or a vehicle for example, may be a map server, a collection device, or a vehicle as described in any one of the present application.
  • the map using device 1201 may include a processor 1202, a memory 1204, and a transceiver 1203, and may further include a bus system, wherein the processor 1202, the memory 1204, and the transceiver 1203 may be connected through the bus system.
  • the above processor 1202 may be a chip.
  • the processor 1202 may be a field programmable gate array (field programmable gate array, FPGA), may be an application specific integrated circuit (ASIC), may also be a system chip (system on chip, SoC), or It can be a central processing unit (central processor unit, CPU), or a network processor (network processor, NP), or a digital signal processing circuit (digital signal processor, DSP), or a microcontroller (micro controller) unit, MCU), it can also be a programmable controller (programmable logic device, PLD) or other integrated chips.
  • FPGA field programmable gate array
  • ASIC application specific integrated circuit
  • SoC system on chip
  • CPU central processing unit
  • NP network processor
  • DSP digital signal processing circuit
  • microcontroller micro controller
  • MCU microcontroller
  • PLD programmable logic device
  • each step of the above method may be implemented by an integrated logic circuit of hardware in the processor 1202 or instructions in the form of software.
  • the steps of the methods disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor 1202 .
  • the software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register.
  • the storage medium is located in the memory 1204, and the processor 1202 reads the information in the memory 1204, and completes the steps of the above method in combination with its hardware.
  • the processor 1202 in the embodiment of the present application may be an integrated circuit chip, which has a signal processing capability.
  • each step of the above-mentioned method embodiment may be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software.
  • the above-mentioned processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components .
  • DSP digital signal processor
  • ASIC application-specific integrated circuit
  • FPGA field-programmable gate array
  • Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register.
  • 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.
  • the memory 1204 in this embodiment of the present application may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories.
  • the non-volatile memory can be read-only memory (read-only memory, ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically programmable Erases programmable read-only memory (electrically EPROM, EEPROM) or flash memory.
  • Volatile memory can be random access memory (RAM), which acts as external cache memory.
  • RAM random access memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • SDRAM double data rate synchronous dynamic random access memory
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM direct memory bus random access memory
  • direct rambus RAM direct rambus RAM
  • the map using device may include a processor 1202 , a transceiver 1203 and a memory 1204 .
  • the memory 1204 is used to store instructions
  • the processor 1202 is used to execute the instructions stored in the memory 1204, so as to realize any one or more related solutions of the drawing equipment in the corresponding methods shown in the above application, or execute The method executed by the map generation device in the above embodiments.
  • the transceiver 1203 may receive a map.
  • the map includes: location information of the first event and location reference information of the first event, the location information is used to indicate the location where the first event occurs, and the location reference information is used to indicate the location reference method on which the location information is based.
  • the processor 1202 may perform a map update operation according to the map, or display the location information, or assist driving decision-making.
  • FIG. 13 exemplarily shows a schematic structural diagram of another map generation device provided by the embodiment of the present application.
  • the drawing device as described in any one of the present application may also be a chip or a circuit, such as a chip or a circuit that may be provided in the drawing device.
  • the map generation device can implement the steps performed by the mapping device in any one or any number of corresponding methods shown in the above application, or execute the steps performed by the mapping device in any of the embodiments shown in the first to third embodiments above. method of execution.
  • the map generating device 1301 may include a generating module 1302 and a sending module 1303 .
  • the generation module 1302 can generate a map, the map includes: location information of the first event and location reference information of the first event, the location information is used to indicate the location where the first event occurs, and the location The reference information is used to indicate the location reference method on which the location information is based;
  • the sending module 1303 can send the map.
  • the map further includes: the location information includes first location information and second location information, and the location reference information includes first location reference information and second location reference information, wherein the The first location reference information is used to indicate a first location reference method on which the first location information is based, and the second location reference information is used to indicate a second location reference method on which the second location information is based.
  • the second location information is different from the first location information, and the second location reference method is different from the first location reference method.
  • the position reference manner includes at least one of a type of a reference coordinate system, a type of a reference point, and a type of a reference line.
  • the reference line includes: a horizontal reference line and a vertical reference line.
  • the type of the reference coordinate system includes: at least one of an ENU rectangular coordinate system and a coordinate system along a reference line.
  • the type of the reference point includes at least one of the following types: the starting point of the road centerline; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane centerline; and the starting point of the lane edge line.
  • the type of the reference line includes at least one of the following types: a center line of a road; an edge line of a road; a center line of a lane; and an edge line of a lane.
  • the map further includes: third location information of the second event and event relevance indication information, where the event relevance indication information is used to indicate that the third location information is based on the location reference information The indicated location reference method.
  • Fig. 14 exemplarily shows a schematic structural view of another map using device provided by the embodiment of the present application.
  • the map using device 1401 may be a mapping device, for example
  • the drawing device as described in any one of the present application may also be a chip or a circuit, such as a chip or a circuit that may be provided in the drawing device.
  • the map using device can implement the steps performed by the mapping equipment in any one or any number of corresponding methods shown in the above application, or execute the steps performed by the mapping equipment in any of the embodiments shown in the first to third embodiments above. method of execution.
  • the map using device 1401 may include a receiving module 1402 , a map updating module 1403 , a display module 1404 and an assisted driving decision-making module 1405 .
  • the receiving module 1402 is configured to receive a map; the map includes: location information of the first event and location reference information of the first event, the location information is used to indicate the location where the first event occurs, the The location reference information is used to indicate the location reference method on which the location information is based;
  • a map update module 1403, configured to perform a map update operation according to the map
  • a display module 1404 configured to display the location information according to the map
  • assisted driving decision-making module 1405 is configured to assisted driving decision-making according to the map.
  • the map further includes: the location information includes first location information and second location information, and the location reference information includes first location reference information and second location reference information, wherein the The first location reference information is used to indicate a first location reference method on which the first location information is based, and the second location reference information is used to indicate a second location reference method on which the second location information is based.
  • the second location information is different from the first location information, and the second location reference method is different from the first location reference method.
  • the position reference manner includes at least one of a type of a reference coordinate system, a type of a reference point, and a type of a reference line.
  • the type of the reference coordinate system includes: at least one of an ENU rectangular coordinate system and a coordinate system along a reference line.
  • the type of the reference point includes at least one of the following types: the starting point of the road centerline; the starting point of the road edge line; the midpoint of the starting line of the lane group; the starting point of the lane centerline ; and the starting point of the lane edge line.
  • the type of the reference line includes at least one of the following types: a center line of a road; an edge line of a road; a center line of a lane; and an edge line of a lane.
  • the map further includes: third location information of the second event and event relevance indication information, where the event relevance indication information is used to indicate that the third location information is based on the location reference information Indicates the position reference mode.
  • the display module 1404 is further configured to, in response to a request message, change displaying the first location information to display the second location information; wherein, the displaying the first location information displaying the first position information based on the first position reference mode indicated by the first position reference information, the displaying the second position information is based on the indication of the second position reference information
  • the second location reference manner displays the second location information.
  • the request message may be generated after the user operates the map displayed on the display interface, or may be initiated by the vehicle to the map generating device before making a driving decision.
  • the map generating device may send the position information of the first event and the position reference information of the first event to the map using device.
  • the display module 1404 is further configured to change the display of the first location information to display the second location when the distance between the first event and the vehicle satisfies a preset condition information.
  • the displaying the first location information is displaying the first location information based on the first location reference mode indicated by the first location reference information
  • the displaying the second location information is The second location information is displayed based on the second location reference manner indicated by the second location reference information.
  • the first event is on a planned driving path of the vehicle.
  • the assisted driving decision module 1405 is configured to change the assisted driving decision based on the first position information to based on the specified distance when the distance between the first event and the vehicle satisfies a preset condition.
  • the second location information is used to assist driving decision-making.
  • the first event is on a planned driving path of the vehicle.
  • the display module 1404 is further configured to select a first location from the first location information and the second location information according to the attribute, occurrence time, or location of the first event Information is displayed, and the display is based on the first position reference manner indicated by the first position reference information.
  • the display module 1404 is further configured to, according to the authority of the displaying device or the authority of the user using the device, obtain the first location information and the second location information Select the first location information to display, and the display is based on the first location reference manner indicated by the first location reference information.
  • the display module 1404 is further configured to determine, according to the location reference information, that the accuracy of the location information is higher than that of the current display of the first event The accuracy on which the location of the location is based; displaying the location of the first event based on the location reference manner indicated by the location reference information.
  • the present application also provides a map, including location information of a first event and location reference information of the first event, the location information is used to indicate the location where the first event occurs, and the location reference information is used for Indicates the location reference method on which the location information is based.
  • map may be any possible implementation of the map provided in the embodiments of the present application.
  • the present application also provides a computer program product, the computer program product comprising: computer program code, when the computer program code is run on a computer, the computer is made to execute the method of any one of the embodiments shown in the present application.
  • the present application also provides a computer program product, the computer program product comprising: computer program code, when the computer program code is run on a computer, the computer is made to execute the map of any one of the embodiments shown in the present application.
  • the present application also provides a computer-readable storage medium, and the computer-readable medium stores the map of any one of the embodiments shown in the present application.
  • the present application also provides a vehicle, which uses the map according to any possible method in the methods for using the map in the above embodiments.
  • the present application also provides a system, which includes the aforementioned map generation device and map use device, wherein the map generation device may be a map server, a map collection device or a vehicle, or a component in a corresponding device, such as a chip.
  • the map using device may be a vehicle, a map server, or a map collection device, or a component in a corresponding device, for example, a chip.
  • the map generation device generates a map according to the map generation method described in any one of the above embodiments and then sends it to the map use device.
  • the map use device uses the map use method according to any one of the above embodiments and performs Map update operation, or display the location information or assist driving decision-making.
  • the present application provides a chip, which may include a processor and an interface, and the processor is used to read instructions through the interface, so as to execute any possible map generation method according to any one of the above embodiments, or execute any possible map generation method according to any one of the above embodiments. How to use the map.
  • the above-mentioned embodiments may be fully or partially implemented 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. When the computer instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part.
  • the computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices.
  • 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 from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).
  • the computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media.
  • the available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a high-density digital video disc (digital video disc, DVD)), or a semiconductor medium (for example, a solid state drive (solid state drive, SSD)) etc.
  • a magnetic medium for example, a floppy disk, a hard disk, a magnetic tape
  • an optical medium for example, a high-density digital video disc (digital video disc, DVD)
  • a semiconductor medium for example, a solid state drive (solid state drive, SSD)

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Abstract

一种地图生成、使用方法及装置，由地图生成装置（120）生成地图，地图包括第一事件的位置信息和第一事件的位置参考信息，位置信息用于指示第一事件发生的位置，位置参考信息用于指示位置信息所基于的位置参考方式，位置信息包括不同的第一位置信息和第二位置信息；地图生成装置（120）向地图使用装置（130）发送地图。通过发送第一事件的位置信息和第一事件的位置参考信息，用指示第一事件的位置信息的不同表达，提高地图表达事件的灵活性和兼容性。

Description

一种地图生成、使用方法及装置
相关申请的交叉引用
本申请要求在2021年07月02日提交中国专利局、申请号为202110751000.5、申请名称为“一种地图生成、使用方法及装置”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
本申请涉及智能网联车技术领域，尤其涉及一种地图生成、使用方法及装置。
背景技术
地图在车辆定位、车辆导航甚至车辆的自动驾驶中起到至关重要的作用。
由于对于高精地图的准确性和实时性的要求越来越高，需要经常的进行数据采集，以及根据采集到的数据及时的对高精地图进行更新。在不同的场景下，对于地图中事件的位置表达有不同的需求，并且目前不同的图商对于事件的表达方式是不同的，现有的事件表达方式难以满足灵活性和兼容性方面的需求。
发明内容
第一方面，本申请提供一种地图生成方法，可以应用于地图生成装置，其中，地图生成装置可以是云端设备、路端设备或者终端设备，其中云端设备例如为地图服务器、地图服务器内的软件模块、硬件模块或芯片，路端设备例如为路侧单元、路侧单元内的软件模块、硬件模块或芯片，终端设备例如为车辆、车辆内的软件模块、硬件模块或芯片。该方法包括：生成地图，所述地图包括：第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式；发送所述地图。
需要说明的是，本发明实施例中的发送可以是在设备之间进行的，例如，可以是在不同云端设备之间进行的，也可以是在不同终端设备之间进行的，也可以是在不同路端设备之间进行的。还可以是云端设备和终端设备之间进行的，还可以是云端设备和路端设备之间进行的，还可以是终端设备和路端设备之间进行的。再比如，可以是在设备内进行的，例如，通过总线或接口在设备内的部件之间、模组之间、芯片之间或模块之间发送。例如，发送地图可以是同一云端设备内进行的，也可以是同一终端设备内进行的，也可以是同一路端设备内进行的。
其中，地图生成装置可以向地图使用装置发送所述地图。地图使用装置可以是云端设备、路端设备或者终端设备，其中云端设备例如为地图服务器、地图服务器内的软件模块、硬件模块或芯片，路端设备例如为路侧单元、路侧单元内的软件模块、硬件模块或芯片，终端设备例如为车辆、车辆内的软件模块、硬件模块或芯片。地图使用装置和地图生成装置可以是部署在同一设备上，也可以是部署在不同设备上，本申请不做限定。
通过上述方法，使用位置参考信息，指示位置信息所基于的位置参考方式，使得第一 事件的位置信息可以灵活的在不同位置参考信息下进行表示，另一方面，位置参考信息可以作为使用不同位置参考方式的图商之间交换位置信息的基础，因此本实施例提高了事件的位置信息表示的灵活性和兼容性。
一种可能的实现方式，所述地图还包括：所述位置信息包括第一位置信息和第二位置信息，所述位置参考信息包括第一位置参考信息和第二位置参考信息，其中，所述第一位置参考信息用于指示所述第一位置信息所基于的第一位置参考方式，所述第二位置参考信息用于指示所述第二位置信息所基于的第二位置参考方式，所述第二位置信息不同于所述第一位置信息，所述第二位置参考方式不同于所述第一位置参考方式。
通过上述方法，地图生成装置可以为第一事件生成第一位置信息和第二位置信息，其中，第一位置信息与第二位置信息的位置参考方式不同，从而，相应生成的第一位置信息和第二位置信息，可以适用于不同的场景下，例如，第一位置参考方式是基于道路级的位置参考方式，第二位置参考方式是基于车道级的位置参考方式，因此，根据该方法，可以实现第一事件基于道路级的位置参考方式进行表达，还可以基于车道级的位置参考方式进行表达，提高事件的位置信息表示的通用性和灵活性。
一种可能的实现方式，所述位置参考方式包括参考坐标系的类型、参考点的类型和参考线的类型中的至少一项。
通过上述方法，位置参考信息可以通过多种不同的维度确定位置参考方式，例如，通过参考坐标系的类型确定位置参考信息，通过参考点的类型确定位置参考信息，通过参考线的类型确定位置参考信息。当然，还可以是在确定参考坐标系的类型的前提下，确定参考点的类型和参考线的类型，从而，确定位置参考信息，实现在多个维度下灵活的定义位置参考信息，实现对事件的位置信息表示的灵活性。
一种可能的实现方式，所述参考线包括：横向参考线和纵向参考线。
通过上述方法，还可以将参考线划分为横向参考线和纵向参考线，提高参考线的类型的多样性。
一种可能的实现方式，所述参考坐标系的类型包括：ENU直角坐标系和沿参考线坐标系中的至少一项。
通过上述方法，可以通过ENU直角坐标系和沿参考线坐标系，灵活的选择位置参考线信息。
一种可能的实现方式，所述参考点的类型包括以下多种类型中的至少一项：道路中心线的起点；道路边缘线的起点；车道组起始线的中点；车道中心线的起点；和车道边缘线的起点。
一种可能的实现方式，所述参考线的类型包括以下多种类型中的至少一项：道路的中心线；道路的边缘线；车道的中心线；和车道的边缘线。
一种可能的实现方式，所述地图还包括：
第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的位置参考方式。
通过上述方法，在第一事件和第二事件相关时，例如，第一事件为事故事件，第二事件为交通流事件，此时第二事件和第一事件相关，第二事件的位置参考信息可以是基于第一事件的位置参考信息确定的，从而，降低第二事件的第三位置信息的表达的复杂度。并及时的根据第一事件的位置信息的变化，更新第二事件的第三位置信息，提高第二事件的 第三位置信息的表达的及时性。
再一种可能的场景，第一事件和第二事件为共用位置参考信息的事件，通过指示事件关联性指示信息，可以无需重复指示相同的位置参考信息，降低地图的开销，提高地图生成和地图使用的效果。
第二方面，本申请提供一种地图使用方法，可以应用于地图使用装置，其中，地图使用装置可以是地图服务器，也可以是车辆，还可以是地图采集设备，例如，地图采集设备可以是路侧单元等，还可以是地图服务器、车辆、地图采集设备上的部件，包括：接收地图；所述地图包括：第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式；根据所述地图，进行地图更新操作，或者对所述位置信息进行显示或者辅助驾驶决策。
其中，地图生成装置可以是云端设备、路端设备或者终端设备，其中云端设备例如为地图服务器、地图服务器内的软件模块、硬件模块或芯片，路端设备例如为路侧单元、路侧单元内的软件模块、硬件模块或芯片，终端设备例如为车辆、车辆内的软件模块、硬件模块或芯片。地图使用装置也可以是云端设备、路端设备或者终端设备，其中云端设备例如为地图服务器、地图服务器内的软件模块、硬件模块或芯片，路端设备例如为路侧单元、路侧单元内的软件模块、硬件模块或芯片，终端设备例如为车辆、车辆内的软件模块、硬件模块或芯片。地图使用装置和地图生成装置可以是部署在同一设备或芯片上，也可以是部署在不同设备或芯片上，本申请不做限定。
需要说明的是，本发明实施例中的接收可以是在设备之间进行的，例如，可以是在不同云端设备之间进行的，也可以是在不同终端设备之间进行的，也可以是在不同路端设备之间进行的。还可以是云端设备和终端设备之间进行的，还可以是云端设备和路端设备之间进行的，还可以是终端设备和路端设备之间进行的。再比如，可以是在设备内进行的，例如，通过总线或接口在设备内的部件之间、模组之间、芯片之间或模块之间接收。例如，接收地图可以是同一云端设备内进行的，也可以是同一终端设备内进行的，也可以是同一路端设备内进行的。
通过上述方法，地图使用装置，在获得地图后，可以基于第一事件的位置信息进行地图更新操作，还可以基于第一事件的位置信息，显示第一信息，还可以基于第一事件的位置信息，辅助驾驶决策，从而灵活的使用第一事件的位置信息在相应的位置参考信息下进行表示，以适应地图使用的多种需要，提高用户使用地图的效果，提升驾驶体验。
一种可能的实现方式，所述地图还包括：所述位置信息包括第一位置信息和第二位置信息，所述位置参考信息包括第一位置参考信息和第二位置参考信息，其中，所述第一位置参考信息用于指示所述第一位置信息所基于的第一位置参考方式，所述第二位置参考信息用于指示所述第二位置信息所基于的第二位置参考方式，所述第二位置信息不同于所述第一位置信息，所述第二位置参考方式不同于所述第一位置参考方式。
一种可能的实现方式，所述位置参考方式包括参考坐标系的类型、参考点的类型和参考线的类型中的至少一项。
一种可能的实现方式，所述参考线包括：横向参考线和纵向参考线。
一种可能的实现方式，所述参考坐标系的类型包括：ENU直角坐标系和沿参考线坐标系中的至少一项。
一种可能的实现方式，所述参考点的类型包括以下多种类型的至少一项：道路中心线的起点；道路边缘线的起点；车道组起始线的中点；车道中心线的起点；和车道边缘线的起点。
一种可能的实现方式，所述参考线的类型包括以下多种类型的至少一项：道路的中心线；道路的边缘线；车道的中心线；和车道的边缘线。
一种可能的实现方式，所述地图还包括：第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的位置参考方式。
一种可能的实现方式，所述对所述位置信息进行显示，包括：响应于请求消息，将显示所述第一位置信息改变为显示所述第二位置信息；所述显示所述第一位置信息为基于所述第一位置参考信息所指示的所述第一位置参考方式对所述第一位置信息进行显示，所述显示所述第二位置信息为基于所述第二位置参考信息所指示的所述第二位置参考方式对所述第二位置信息进行显示。
其中，请求消息可以是用户对显示界面上显示的地图信息、导航信息等进行操作后生成的，也可以是车辆在进行驾驶决策之前，向地图使用装置发起的。
通过上述方法，可以基于用户的选择，显示所述第二位置信息，提高第一事件显示的灵活性，满足用户的地图使用的多种需求。
一种可能的实现方式，所述根据所述地图对所述位置信息进行显示，包括：
在所述第一事件与车辆之间的距离满足预设条件时，将显示所述第一位置信息改变为显示所述第二位置信息。其中，所述显示所述第一位置信息为基于所述第一位置参考信息所指示的所述第一位置参考方式对所述第一位置信息进行显示，所述显示所述第二位置信息为基于所述第二位置参考信息所指示的所述第二位置参考方式对所述第二位置信息进行显示。
通过上述方法，预设条件可以是距离小于预设阈值时，显示第二位置信息，还可以是距离大于预设阈值时，显示第二位置信息，从而，适应不同场景下显示不同参考方式下的位置信息。
举例来说，以第二位置信息相比第一位置信息的信息量更多，则可以在第一事件与车辆距离较近，显示第二位置信息，以给予车辆第一事件的详细信息，提高用户的驾驶体验。再比如，车辆在不同的车道，第一事件对应车辆位于不同的车道可以选择的行驶策略不同，例如，第一事件为车辆所在的车道，可以相应设置第一事件与车辆在不同车道下的阈值，在车辆与第一事件的距离小于对应的阈值时，显示第二位置信息，从而，提升地图使用的灵活度，提升用户的驾驶体验。
一种可能的实现方式，所述根据所述地图辅助驾驶决策，包括：在所述第一事件与车辆之间的距离满足预设条件时，将根据所述第一位置信息辅助驾驶决策改变为根据所述第二位置信息辅助驾驶决策。
通过上述方法，预设条件可以是距离小于预设阈值时，根据第二位置信息辅助驾驶决策，还可以是距离大于预设阈值时，根据第二位置信息辅助驾驶决策，从而，适应不同场景下使用不同参考方式下的位置信息辅助驾驶决策，有助于提升辅助驾驶决策的效果。
一种可能的实现方式，所述第一事件在所述车辆被规划的行驶路径上。
通过上述方法，在第一事件在所述车辆被规划的行驶路径上时，进行第一事件与车辆 之间的距离是否满足预设条件的判断，确定是否将显示所述第一位置信息改变为显示所述第二位置信息。提升车辆行驶过程中的事件的显示效果。
一种可能的实现方式，所述对所述位置信息进行显示，包括：
根据所述第一事件的属性、发生的时间或者位置，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指示的所述第一位置参考方式。
一种可能的场景，以第一事件为交通流事件为例，交通流事件的位置信息可以是道路级的位置信息，也可以是车道级的位置信息，此时，可以根据交通流的拥堵程度划分为早晚高峰时段和非早晚高峰时段，还可以根据工作日和非工作日，节假日等时间进行划分，从而，考虑在不同时间下，可以基于不同的位置信息进行显示。例如，在非早晚高峰时段，可以通过显示道路级的位置信息进行显示，以节省地图显示的复杂度。在早晚高峰时段，可以通显示车道级的位置信息，以提高用户使用地图驾驶车辆的驾驶体验。
另一种可能的场景，第一事件发生的位置可能位于敏感区域，此时，根据敏感区域显示的要求，确定显示第一事件的第一位置信息。例如，第一位置信息中包括敏感区域允许显示的位置信息。在一些实施例中，可以显示的第一事件的第一位置信息可以是显示精度较低的位置信息。在离开敏感区域后，可以更新第一事件的第一位置信息为高精度的位置信息。
再一种可能的场景，第一事件发生的位置可能位于地形复杂的区域，例如，第一事件位于高架桥附近，此时，可以优先显示车道级的位置信息，提高用户使用地图的用户体验，避免由于道路级的位置信息定位不准确导致的第一事件显示错误的问题，例如，车辆位于高架桥下启动地图显示，此时，第一事件发生在高架桥上的车道，如果采用道路级的位置信息显示，可能会在地图上显示第一事件，导致被用户误认为是高架桥的地面发生的第一事件，导致用户选择其他路径行驶。此时，可以选择显示车道级的位置信息，即显示第一事件发生在高架桥上的车道，或者，避免显示第一事件，在确定车辆行驶在高架桥上后，再显示第一事件，提高用户使用地图使用体验。
一种可能的实现方式，所述对所述位置信息进行显示，包括：根据所述进行显示的设备的权限，或者使用所述设备的用户的权限，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指示的所述第一位置参考方式。
例如，用户可以是车辆的驾驶员或乘客。其中，该车辆的驾驶员可以是车主，也可以是非车主，因此，针对使用车辆的不同用户，可以相应设置用户权限，用户权限可以是地图生成装置为用户设置的，也可以是地图使用装置为用户设置的，还可以是运营商等第三方为用户设置的，在此不做限定。再比如，还可以为显示地图的设备设置权限，在该设备位于车辆上时，该权限可以是用户的权限，也可以是车辆的权限，也可以是针对该设备单独设置的权限，该权限还可以是为该设备设置的权限，在此不做限定。
通过获得所述进行显示的设备的权限，或者使用所述设备的用户的权限，为不同的设备或用户提供个性化的显示第一事件的方式，提供事件的位置信息的显示的通用性和灵活性。
一种可能的实现方式，在所述进行地图更新操作之后，所述方法还包括：
根据所述位置参考信息确定所述位置信息的精度高于当前显示所述第一事件的位置 所基于的精度；基于所述位置参考信息所指示的所述位置参考方式显示所述第一事件的位置。
一种可能的场景，在事件发生变化时，例如，第一事件可以基于不同时刻或不同时期，对应采用各自的位置参考信息的方式进行表达。
在对事故事件的位置信息的精度要求不高时，例如，在车辆进行导航时，将发生拥堵的道路作为不可通行的道路时，车辆可以不确定事故事件发生的事件的范围，只要确定事故事件所在的道路即可，此时，可以通过精度较低的位置信息表达该交通事故。在场景发生变化时，例如，车辆在行驶过程中，发生第一事件，需要显示更高精度的位置信息。此时，可以根据所述位置参考信息确定所述位置信息的精度高于当前显示所述第一事件的位置所基于的精度；基于所述位置参考信息所指示的所述位置参考方式显示所述第一事件的位置。
另一种可能的场景，在事故事件的发生初期，无法获得更高精度的位置信息，此时显示的位置信息可以是低精度的位置信息。在事故事件发展过程中，可以过得更多的位置信息后，地图使用装置可以获得更高精度的第一事件的位置信息，此时，可以在确定获得的更新的位置信息的精度高于当前显示所述第一事件的位置所基于的精度时，显示精度更高的位置信息，以满足事件显示的需要。
第三方面，本申请提供一种地图生成装置，包括：
生成模块，用于生成地图，所述地图包括：第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式；
发送模块，用于发送所述地图。
一种可能的实现方式，所述地图还包括：所述位置信息包括第一位置信息和第二位置信息，所述位置参考信息包括第一位置参考信息和第二位置参考信息，其中，所述第一位置参考信息用于指示所述第一位置信息所基于的第一位置参考方式，所述第二位置参考信息用于指示所述第二位置信息所基于的第二位置参考方式，所述第二位置信息不同于所述第一位置信息，所述第二位置参考方式不同于所述第一位置参考方式。
一种可能的实现方式，所述位置参考方式包括参考坐标系的类型、参考点的类型和参考线的类型中的至少一项。
一种可能的实现方式，所述参考线包括：横向参考线和纵向参考线。
一种可能的实现方式，所述参考坐标系的类型包括：ENU直角坐标系和沿参考线坐标系中的至少一项。
一种可能的实现方式，所述参考点的类型包括以下多种类型的至少一项：道路中心线的起点；道路边缘线的起点；车道组起始线的中点；车道中心线的起点；和车道边缘线的起点。
一种可能的实现方式，所述参考线的类型包括以下多种类型的至少一项：道路的中心线；道路的边缘线；车道的中心线；和车道的边缘线。
一种可能的实现方式，所述地图还包括：第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的位置参考方式。
第四方面，本申请提供一种地图使用装置，包括：
接收模块，用于接收地图；所述地图包括：第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式；
地图更新模块，用于根据所述地图，进行地图更新操作；
或者，显示模块，用于根据所述地图对所述位置信息进行显示；
或者辅助驾驶决策模块，用于根据所述地图，辅助驾驶决策。
一种可能的实现方式，所述地图还包括：所述位置信息包括第一位置信息和第二位置信息，所述位置参考信息包括第一位置参考信息和第二位置参考信息，其中，所述第一位置参考信息用于指示所述第一位置信息所基于的第一位置参考方式，所述第二位置参考信息用于指示所述第二位置信息所基于的第二位置参考方式，所述第二位置信息不同于所述第一位置信息，所述第二位置参考方式不同于所述第一位置参考方式。
一种可能的实现方式，所述位置参考方式包括参考坐标系的类型、参考点的类型和参考线的类型中的至少一项。
一种可能的实现方式，所述参考坐标系的类型包括：ENU直角坐标系和沿参考线坐标系中的至少一项。
一种可能的实现方式，所述参考点的类型包括以下多种类型中的至少一项：道路中心线的起点；道路边缘线的起点；车道组起始线的中点；车道中心线的起点；和车道边缘线的起点。
一种可能的实现方式，所述参考线的类型包括以下多种类型的至少一项：道路的中心线；道路的边缘线；车道的中心线；和车道的边缘线。
一种可能的实现方式，所述地图还包括：第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的所述位置参考方式。
一种可能的实现方式，所述显示模块，还用于响应于请求消息，将显示所述第一位置信息改变为显示所述第二位置信息；其中，所述显示所述第一位置信息为基于所述第一位置参考信息所指示的所述第一位置参考方式对所述第一位置信息进行显示，所述显示所述第二位置信息为基于所述第二位置参考信息所指示的所述第二位置参考方式对所述第二位置信息进行显示。
在一些实施例中，请求消息可以是用户对显示界面上显示的地图进行操作后生成的，也可以是车辆在进行驾驶决策之前，向地图生成装置发起的。相应的，在地图生成装置确定第一事件的位置信息和所述第一事件的位置参考信息后，可以向地图使用装置发送第一事件的位置信息和所述第一事件的位置参考信息。
一种可能的实现方式，所述显示模块，还用于在所述第一事件与车辆之间的距离满足预设条件时，将显示所述第一位置信息改变为显示所述第二位置信息。
其中，所述显示所述第一位置信息为基于所述第一位置参考信息所指示的所述第一位置参考方式对所述第一位置信息进行显示，所述显示所述第二位置信息为基于所述第二位置参考信息所指示的所述第二位置参考方式对所述第二位置信息进行显示。
一种可能的实现方式，所述第一事件在所述车辆被规划的行驶路径上。
一种可能的实现方式，所述辅助驾驶决策模块，用于在所述第一事件与车辆之间的距离满足预设条件时，将根据所述第一位置信息辅助驾驶决策改变为根据所述第二位置信息 辅助驾驶决策。
一种可能的实现方式，所述第一事件在所述车辆被规划的行驶路径上。
一种可能的实现方式，所述显示模块，还用于根据所述第一事件的属性、发生的时间或者位置，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指示的所述第一位置参考方式。
一种可能的实现方式，所述显示模块，还用于根据所述进行显示的设备的权限，或者使用所述设备的用户的权限，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指示的所述第一位置参考方式。
一种可能的实现方式，在所述地图更新模块进行地图更新操作之后，所述显示模块，还用于根据所述位置参考信息确定所述位置信息的精度高于当前显示所述第一事件的位置所基于的精度；基于所述位置参考信息所指示的所述位置参考方式显示所述第一事件的位置。
第五方面，本申请提供一种地图，包括第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式。
一种可能的实现方式，所述地图还包括：所述位置信息包括第一位置信息和第二位置信息，所述位置参考信息包括第一位置参考信息和第二位置参考信息，其中，所述第一位置参考信息用于指示所述第一位置信息所基于的第一位置参考方式，所述第二位置参考信息用于指示所述第二位置信息所基于的第二位置参考方式，所述第二位置信息不同于所述第一位置信息，所述第二位置参考方式不同于所述第一位置参考方式。
一种可能的实现方式，所述位置参考方式包括参考坐标系的类型、参考点的类型和参考线的类型中的至少一项。
一种可能的实现方式，所述参考线包括：横向参考线和纵向参考线。
一种可能的实现方式，所述参考坐标系的类型包括：ENU直角坐标系和沿参考线坐标系中的至少一项。
一种可能的实现方式，所述参考点的类型包括以下多种类型的至少一项：道路中心线的起点；道路边缘线的起点；车道组起始线的中点；车道中心线的起点；和车道边缘线的起点。
一种可能的实现方式，所述参考线的类型包括以下多种类型的至少一项：道路的中心线；道路的边缘线；车道的中心线；和车道的边缘线。
一种可能的实现方式，所述地图还包括：第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的位置参考方式。
第六方面，本申请提供一种地图生成装置，包括处理器和通信接口，通信接口用于接收来自除地图生成装置以外的其它通信装置的信号并传输至处理器或将来自处理器的信号发送给除地图生成装置以外的其它通信装置；处理器通过逻辑电路或执行代码指令用于实现如上述第一方面中任一项设计所述的方法。
第七方面，本申请提供一种地图使用装置，包括处理器和通信接口，通信接口用于接收来自除地图使用装置以外的其它通信装置的信号并传输至处理器或将来自处理器的信号发送给除地图使用注装置以外的其它通信装置；处理器通过逻辑电路或执行代码指令用 于实现如上述第二方面中任一项设计所述的方法。
第八方面，本申请提供一种地图生成装置，包括处理器和存储器，所述存储器存储计算机程序，所述处理器运行所述计算机程序以实现如上述第一方面任一可能的方法。
第九方面，一种地图使用装置，包括处理器和存储器，所述存储器存储计算机程序，所述处理器运行所述计算机程序以实现如上述第二方面任一可能的方法。
第十方面，本申请提供一种地图生成装置，包括处理器和存储器，存储器存储计算机程序指令，处理器运行计算机程序指令以实现如上述第一方面中任一项设计所述的方法。
第十一方面，本申请提供一种地图使用装置，包括处理器和存储器，存储器存储计算机程序指令，处理器运行计算机程序指令以实现如上述第二方面中任一项设计所述的方法。
第十二方面，本申请提供一种车辆，车辆按照如上述第一方面中任一项设计所述的方法生成地图，所述地图包括：第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式；并按照如上述第一方面中任一项设计所述的方法发送地图。
第十三方面，本申请提供一种车辆，车辆按照如上述第二方面中任一项设计所述的方法使用地图。
第十四方面，本申请提供一种系统，包括地图生成装置和地图使用装置，其中，地图生成装置可以是地图服务器、地图采集设备或车辆，或相应的设备中的部件，例如，芯片。地图使用装置可以是车辆、地图服务器、或地图采集设备，或相应的设备中的部件，例如，芯片。地图生成装置按照如上述第一方面中任一项所述的方法生成地图后发送给地图使用装置，地图使用装置按照如上述第二方面中任一项设计所述的方法，根据所述地图，进行地图更新操作，或者对所述位置信息进行显示或者辅助驾驶决策。
第十五方面，本申请提供一种芯片，该芯片可以包括处理器和接口，处理器用于通过接口读取指令，以执行如上述第一方面中任一项设计所述的方法、或执行如上述第二方面中任一项设计所述的方法。
第十六方面，本申请提供一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，当计算机程序被运行时，实现如上述第一方面中的任一项设计所述的方法、或实现如上述第二方面中的任一项设计所述的方法、或存储如上述第三方面中任一项设计所述的地图。
第十七方面，本申请提供一种计算机程序产品，当所述计算机程序产品在处理器上运行时，实现如上述第一方面中任一项设计所述的方法、或实现如上述第二方面中任一项设计所述的方法。
上述第三方面至第十七方面中各项设计的有益效果，具体请参照上述第一方面或第二方面中相应设计可以达到的技术效果，这里不再重复赘述。
本申请实施例中诸如“A、B和C中的至少一项”的描述，应理解为既可以A、B或C单独使用，也可以是A、B和C中的部分或者全部以任何组合的形式使用。
附图说明
图1a为一种地图的结构示意图；
图1b示例性示出本申请实施例适用的一种可能的系统架构示意图；
图2示例性示出本申请实施例提供的一种地图生成方法的流程示意图；
图3a为本申请实施例提供一种地图使用方法的流程示意图；
图3b-图3e为本申请实施例提供一种地图使用的示意图；
图4a为本申请实施例提供一种车道组起始线的中点的示意图；
图4b-图4c为本申请实施例提供一种第一事件在位置参考信息下表示的示意图；
图5a-图5b为本申请实施例提供一种第一事件的点E在位置参考信息下表示的示意图；
图5c为本申请实施例提供一种第一事件的点F在位置参考信息下表示的示意图；
图5d-图5e为本申请实施例提供一种第一事件在位置参考信息下表示的示意图；
图6a-图6d为本申请实施例提供一种第一事件在位置参考信息下表示的示意图；
图7a-图7b为本申请实施例提供一种第一事件在位置参考信息下表示的示意图；
图8a-图8b为本申请实施例提供一种第一事件在位置参考信息下表示的示意图；
图9示例性示出本申请实施例提供的一种地图生成方法的流程示意图；
图10a为本申请实施例提供一种地图使用方法的流程示意图；
图10b-图10d为本申请实施例提供一种地图使用的示意图；
图11为本申请实施例提供一种地图生成装置的结构示意图；
图12为本申请实施例提供一种地图使用装置的结构示意图；
图13为本申请实施例提供一种地图生成装置的结构示意图；
图14为本申请实施例提供一种地图使用装置的结构示意图。
具体实施方式
以下对本申请实施例中涉及的部分用语进行解释说明，以便于理解。
1)地图
地图，其是指以电子数据形式存在的电子地图，地图中包括大量相互连通的路段信息，以及其它相关的信息(如路段的级别、类型等)。
道路级地图只能提供道路级的导航信息，满足开车路线的导航需求。例如，道路级地图可以提供当前道路有几条车道、限速信息、转弯信息、路线规划等导航信息。
矢量地图，比如开源矢量地图，包括道路级的信息。其中，道路级的信息可以为用户提供导航信息，满足开车路线的导航需求。例如，道路级的信息可以包括：当前道路的车道数量、当前道路的限速信息、转弯信息。
高精度地图包括道路级的信息和车道级的信息。其中，车道级信息用于指示路网环境中的车道的信息，例如，车道曲率、车道航向、车道中轴线、车道宽度、车道标线、车道限速、车道分割以及车道合并等信息。另外，车道之间的车道线情况(虚线、实线、单线和双线)、车道线颜色(白色、黄色)、道路隔离带、隔离带材质、道路箭头、文字内容和所在位置等也都可以包括在车道级信息中。
2)地图元素
地图元素是指地图中的一些元素，包括不限于：道路、车道线、标牌、地面标识、信号灯、可行驶区域标识线等。其中，道路可以包括护栏、路沿等；标牌包括：路标牌、指示性牌、限高牌等各种类型，地面标识包括：分流标识、出入口标识、限速标识、限时标识等。
3)图层
地图数据的管理和存储也是以文件形式存在的，不同版本的文件也就代表着高精度地 图数据的新鲜度。因此，可以根据地图的版本标识(例如，版本号、版本信息等)确定是否存在待更新的地图。
考虑到地图内容的多样性，可以根据不同功能设置不同的图层，每个图层内包含的元素可以对应该图层的功能。根据地图图层的更新频率分类，可以包括静态图层和动态图层。
其中，静态图层，主要指的是高精地图中更新频率较低，无需经常更新的一些目标物体或对象，可以包括道路、车道、路口、路面标识以及交通标牌、交通灯等道路附属设施等。再例如，道路级的静态图层的信息可以包括道路几何、道路曲率、道路航向、道路限速、车道数、纵向坡度以及横向坡度等信息。在一些实施例中，如图1a所示，静态图层部分可以是地图的底图部分，该部分包含了最基本、最常用的地图数据元素的图层。例如：道路，河流，桥梁，绿地，建筑物或者其他地物的轮廓等地图元素。在底图的基础上，可以叠加各种图层，以满足应用的需要。例如，如图1a所示，可以包括：车道图层，感兴趣(Place of interests，POI)图层(用于设置感兴趣点，例如，饭馆、加油站等感兴趣点)等。还可以包括：道路走向图层(用于导航和线路规划)，道路堵车状况的图层，卫星图图层等矢量图层。
动态图层指高精地图中更新频率较高的图层，用于表达实时的动态信息。在一些实施例中，动态图层包括的动态信息可以是在车辆驾驶过程中可能发生变化的信息，如变化的交通流，实时路况，修路或者封路等需要实时推送或者更新的数据。动态图层中的动态信息的种类多样，动态图层中的信息还可能具有随时间变化的特征，动态图层中的信息还可能具有不同的位置表达精度要求，例如，车道级的位置信息或道路级的位置信息。
4)事件
在本申请中，事件可以分为静态事件和动态事件，其中，静态事件可以是不经常发生变化的事件，例如，静态图层中的实体等。动态事件是指随着时间可能发生变化的信息，动态事件可以包括：车道、道路存在的施工事件、交通管制事件、交通事故事件、恶劣天气或自然灾害等等。相应的，动态事件的信息，可以是交通管制信息、交通事故信息、占路施工信息等。动态事件可以通过车联网消息，如，车-万物(vehicle to X，V2X)消息上报给地图生成装置，使得地图生成装置更新地图中相应的动态图层，为后续地图使用装置可以及时获得相应事件的信息。
需要说明的是，本申请实施例中的方案可以应用于车联网，如V2X、车间通信长期演进技术(long term evolution-vehicle，LTE-V)、车辆-车辆(vehicle to vehicle，V2V)等。例如可以应用于具有地图生成或地图使用功能的车辆，或者车辆中具有地图生成或地图使用功能的其它装置。该其它装置包括但不限于：车载终端、车载控制器、车载模块、车载模组、车载部件、车载芯片、车载单元、车载雷达或车载摄像头等其他传感器，车辆可通过该车载终端、车载控制器、车载模块、车载模组、车载部件、车载芯片、车载单元、车载雷达或车载摄像头，实施本申请提供的方法。例如，该地图可以用于地图使用功能的装置实现交通业务。本申请实施例交通业务可以是各种自动驾驶、辅助驾驶的业务，例如：路径规划、为人工驾驶提供行驶风险预警。以上交通业务仅是举例。
当然，本申请实施例中的方案还可以用于除了车辆之外的其它具有地图功能的设备，或设置在除了车辆之外的其它具有地图功能的设备中，或设置于该设备的部件中。其中，具有地图功能的设备可以是智能终端或服务器等。其中，该智能终端可以为智能运输设备、智能家居设备、机器人等。例如包括但不限于智能终端或智能终端内的控制器、芯片、雷 达或摄像头等其它传感器、以及其它部件等。本申请实施例中涉及的服务器可以为本地服务器、也可以为云端服务器，服务器可通过多种方式进行部署，例如，服务器可以为单独的一台物理机，又如，服务器还可以为某台物理服务器上加载的某个虚拟机(virtual machine，VM)，再如，服务器还可以为某台物理服务器上加载的某个容器(docker)等等。如下实施例以服务器为云端服务器进行示例性说明，云端服务器也可以简称为云端。
图1b为本申请实施例适用的一种可能的系统架构示意图，如图1b所示的系统架构包括采集装置110和地图生成装置120。可选的，还可以包括地图使用装置130。
其中，采集装置110可以是可移动的采集装置110，例如车辆，也可以是装载于车辆上的电子装置(例如，移动数据中心(mobile data center，MDC)等)、车载芯片以及车辆中的处理器。在采集装置110为车辆时，该车辆可以与地图生成装置直接通信，也可以间接通信，例如，通过路侧单元、基站等中间媒介转发数据。
车辆可以是提前与地图生成装置120约定好在车辆行驶过程中主动上报环境信息的车辆，例如，加入地图生成装置120的通行体验项目的车辆，又如接受地图生成装置120的外包委托的测绘车辆等。针对于每一个在地图生成装置120上成功注册的车辆，地图生成装置120都可以向车主返回一个是否允许加入通行体验项目的询问界面，若车主选择加入该通行体验项目，则车辆在后续行车的过程中会主动将当前的环境信息上报给地图生成装置120，当然车辆也会接收到地图生成装置120根据各个车辆上报的当前环境信息更新后的目标事件的位置信息，以便车辆能使用更符合当前道路环境或车道环境的方式通过当前路段，提高车主的通行体验。再比如，地图生成装置120还可以委托专门的测绘公司，而接受委托的测绘公司可以按照固定的采集周期派遣测绘车辆，例如，让测绘车辆沿着城市中行驶，进行采集并在行驶的过程中实时采集道路上的环境信息。还可以根据交通经常出现拥堵的路段或时间段进行采集。
采集装置110也可以为固定的采集装置110，例如路侧单元(road side unit，RSU)等设备。其中，RSU可以是安装在道路一侧或两侧的具有通信功能的装置。通常情况下，路侧单元能在车辆经过时与车辆上的车载单元(on board unit，OBU)建立连接，实现对车辆的身份识别。在本申请实施例中，路侧单元中还可以封装诸如摄像头、雷达或激光发射器等采集功能、处理功能以及收发功能的模块，路侧单元能通过这些功能模块实时监测所在道路，在道路环境发生变化时及时获知变化后的环境信息。
采集装置110还可以是服务器，例如，该服务器可以是具有共享功能的第三方机构中设置的服务器。在车联网领域中，第三方机构通常可以设置为交通运输体系的管理者，如国家交通运输管理部、各级城市交通运输管理处或管理所等。交通运输体系的管理者具有实时监管交通运输体系中各条交通线路的能力，不仅能及时获知各条交通线路的通行情况，还能对交通线路的通行方式作出一定的改变，如更改某条交通线路的限速。通过第三方机构中设置的服务器也可以获得道路的环境信息。
再比如，该服务器可以是车联网服务器，车联网服务器可以通过维护和更新高精地图(high definition map，HD MAP)的信息，为车联网终端提供规划和控制服务，还可以维护和更新地图的信息，为车联网终端提供导航服务。例如：可通过路侧单元向车联网终端发送包含高精地图的动态信息的车联网消息。
以采集装置110位于车辆为例，采集装置110可以为具有摄像功能、传感功能等具有采集功能的装置。该采集功能可以由设置在采集装置上的车载摄像头或车载雷达等传感器 部件实现。车辆的摄像装置可以是单目摄像头、双目摄像头等。摄像装置的拍摄区域可以为车辆的外部环境。车辆的传感装置可以包括用于获取环境信息的激光雷达、毫米波雷达、超声波雷达等雷达，以及还可以包括用于获取车辆位姿的惯性导航系统(例如，全球导航卫星系统(global navigation satellite system，GNSS)，惯性测量单元(Inertial measurement unit，IMU))等。GNSS可以用于估计车辆的地理位置。为此，GNSS可以包括收发器，基于卫星定位数据估计车辆相对于地球的位置。在示例中，车辆中的计算机系统可以结合地图数据使用GNSS来估计车辆行驶的道路。IMU可以基于惯性加速度及其任意组合来感测车辆的位置和朝向变化。在一些示例中，IMU中传感器的组合可包括例如加速度计和陀螺仪。将基于GNSS得到的定位信息和基于其它技术(例如，IMU)得到的信息融合，将融合后的结果作为车辆的当前时刻的全局位姿。这种将基于GNSS得到的信息和基于其它技术(例如，IMU等传感器)得到的信息进行融合以实现定位的方式可以称为组合定位。当然，组合定位还可以通过其他传感器采集到的数据与地图中存储的相应的传感器的数据进行匹配，可以实现对车辆当前所在的车道级的定位位置。例如，毫米波雷达传感器可利用无线电信号来感测车辆的周边环境内的目标。在一些实施例中，除了感测目标以外，毫米波雷达还可用于感测目标的速度和/或前进方向。激光雷达可利用激光来感测车辆所位于的环境中的目标。传感器可用于捕捉车辆的周边环境的多个图像。另外，每辆车可以设置一种或多种传感器，每种传感器的数量可以为一个或多个。传感器可以安装在车辆的顶部(例如可以设置在车辆顶部的中间位置)、车辆前端等等位置，本申请实施例对每个车辆中传感器安装位置和数量并不做限定。
示例性的，采集装置为摄像装置以及传感装置组合构成的系统，即两个装置独立存在，将两个装置整体称为采集装置；或者，采集装置可以是将摄像装置，传感装置集成在一起的装置；或者，采集装置可以是具有摄像功能的传感装置等。
地图生成装置120可以是具有图像处理功能的装置、器件或芯片，诸如可以包括主机或处理器等实体设备，也可以包括虚拟机或容器等虚拟设备，还可以包括芯片或集成电路。
地图生成装置120可以是云端设备、路端设备或者终端设备，其中云端设备例如为地图服务器、地图服务器内的软件模块、硬件模块或芯片，路端设备例如为路侧单元、路侧单元内的软件模块、硬件模块或芯片，终端设备例如为车辆、车辆内的软件模块、硬件模块或芯片。地图使用装置也可以是云端设备、路端设备或者终端设备，其中云端设备例如为地图服务器、地图服务器内的软件模块、硬件模块或芯片，路端设备例如为路侧单元、路侧单元内的软件模块、硬件模块或芯片，终端设备例如为车辆、车辆内的软件模块、硬件模块或芯片。
以地图生成装置120为服务器为例，服务器可以是指单个服务器，也可以是指由多个服务器构成的服务器集群。在车联网领域中，该服务器具体可以是云服务器，也称为云、云端、云端服务器、云端控制器或车联网服务器等。云服务器是对具有数据处理能力的设备或器件的统称，诸如可以包括主机或处理器等实体设备，也可以包括虚拟机或容器等虚拟设备，还可以包括芯片或集成电路。
地图生成装置120也可以是车辆，例如采集装置110和地图生成装置120都位于车辆内，由车辆自主完成图像采集及地图生成的全过程。
应理解，本申请实施例对系统架构中采集装置的种类和数量、地图生成装置的数量以地图使用装置的数量均不作限定，例如1个地图生成装置可以只与1种采集装置(如第三 方服务器)和1台地图使用装置进行信息交互，也可以与多种采集装置(如路侧单元和众包车辆)和1台地图使用装置进行信息交互，还可以与多种采集在和多台地图使用装置进行信息交互。两个装置之间的信息交互可以是指这两个装置通过有线方式或无线方式直接交互，也可以是指这两个装置通过一个或多个其它设备间接交互。且，本申请实施例所适用的系统架构中除了包括采集装置、地图生成装置和地图使用装置以外，还可以包括其它设备，如终端设备、网络设备、核心网设备等，对此本申请实施例也不作限定。以及，本申请实施例中的任一设备可以将功能集成在一个独立的物理单元上，也可以将功能分布在多个独立的物理单元上，对此本申请实施例也不作限定。
地图使用装置130可以是云端设备、路端设备或者终端设备，其中云端设备例如为地图服务器、地图服务器内的软件模块、硬件模块或芯片，路端设备例如为路侧单元、路侧单元内的软件模块、硬件模块或芯片，终端设备例如为车辆、车辆内的软件模块、硬件模块或芯片。地图使用装置也可以是云端设备、路端设备或者终端设备，其中云端设备例如为地图服务器、地图服务器内的软件模块、硬件模块或芯片，路端设备例如为路侧单元、路侧单元内的软件模块、硬件模块或芯片，终端设备例如为车辆、车辆内的软件模块、硬件模块或芯片。
以地图使用为导航为例，在地图使用装置130具有地图导航功能时，地图使用装置130可以从地图生成装置120中获取地图。在实施地图导航功能时，用户车辆130可以先获取车主输入的目的地位置，然后利用本地存储的地图规划出从当前位置(或车主输入的起始位置)至目的地位置的最佳路线，并按照地图中指出的最佳路线行驶至目的地位置。同时，在地图生成装置120确定地图中的动态图层事件发生变化时，可以向地图使用装置130发送相应的更新后的动态地图的更新信息，也可以发送更新的事件的信息。或者，也可以是地图使用装置130在预设时间向地图生成装置120主动查询是否存在更新的事件，以获得更新的事件的信息。
以采集装置110为车辆为例，车辆的传感装置可以用于获取目标事件的信息，或者，车辆的摄像装置与车辆的传感装置可以结合使用，对目标事件的信息进行采集，从而辅助车辆中的处理装置以及定位装置等确定目标事件的位置信息。
一种可能的方案，在采集装置110为车辆时，可以在车辆启动后，采集装置110调用车载摄像头拍摄周围环境获得摄像头数据，以及调用激光雷达感知周围环境获得激光雷达数据，将摄像头数据和激光雷达数据作为目标事件的信息一起上报给地图生成装置120。另一种可能的方案，在采集装置110为路侧单元时，可以在设定时间段，采集装置110调用车载摄像头拍摄周围环境获得摄像头数据，以及调用激光雷达感知周围环境获得激光雷达数据，将摄像头数据和激光雷达数据作为目标事件的信息一起上报给地图生成装置120。
地图生成装置120将摄像头数据投影到激光雷达数据上，利用激光雷达数据和摄像头数据构建点云地图，进而在点云地图上标注出车道、交通标志物、红绿灯以及车道线等交通实体或交通事件的信息，以更新地图。
相应的，地图使用装置130可以根据地图生成装置120更新后的地图，获得事件的信息，例如，获得事件的位置信息，并根据事件的位置信息，执行相应的操作。例如，根据事件的位置信息，确定道路级的拥堵程度，或车道级的拥堵程度，从而，指导车辆的导航，或提前选择变道。
当然，上述对地图使用是以地图导航为例进行说明的，地图使用还可以是对地图的显 示、联合其他应用的地图使用等场景，本申请不做限定。
应理解，本申请实施例对系统架构中采集装置110的数量和地图生成装置120的数量均不作限定。一个地图生成装置120可以同时与多台采集装置110连接(例如图1a所示意的同时与3台采集装置110连接)，以便地图生成装置120利用多台采集装置110并行采集的不同数据，制作地图。一个地图生成装置120可以同时与多台地图使用装置130连接，地图使用装置130可以及时的获得地图生成装置更新的事件的信息，提高地图使用的准确性，利于提高车主的行车体验。再比如，地图使用装置120和地图生成装置110还可以位于同一设备或同一芯片上，本申请不做限定。
此外，本申请实施例所适用的系统架构中除了包括采集装置110和地图生成装置120以外，还可以包括其它设备，如核心网设备、无线中继设备和无线回传设备等，对此本申请实施例也不作限定。以及，本申请实施例中的地图生成装置120可以将所有的功能集成在一个独立的物理设备上，也可以将不同功能分别部署在多个独立的物理设备上，对此本申请实施例也不作限定。
本申请实施例中的“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，a和b和c}。“a、b和c中的至少一项(个)”，具有与“a、b或c中的至少一项(个)”相同的含义，即也可以表示：{a，b，c，a和b，a和c，b和c，a和b和c}。
以及，除非有特别说明，本申请实施例提及“第一”、“第二”等序数词是用于对多个对象进行区分，不用于限定多个对象的顺序、时序、优先级或者重要程度。例如，第一位置信息和第二位置信息，只是为了区分不同的位置信息，而并不是表示这两个位置信息的优先级或者重要程度等的不同。
基于图1b所示意的系统架构，当地图使用装置130在使用地图的过程中，可以预先从地图生成装置120中获取地图。该地图通常由地图生成装置120根据真实采集到的交通环境图片构建得到，考虑到现实世界中的真实交通环境存在实时变化的特性，为提高地图使用的准确性，地图生成装置120需要经常性的更新地图，尤其是地图中的动态图层中的事件。考虑到动态图层中的事件按照地理坐标系进行表示的方式，可能无法很好的体现动态图层中事件的特性，另外，由于动态图层中的事件随时间变化比较频繁，也可能导致更新地图的数据量过大，更新地图的难度增加，不利用动态图层的更新和使用。
基于上述问题，图2示例性示出一种地图生成方法对应的流程示意图，该方法适用于如图1b所示的地图生成装置120。如图2所示，则该方法包括：
步骤201：生成地图。
所述地图包括：第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式；
其中，位置参考方式可以包括：参考坐标系的类型、参考点的类型和参考线的类型中的至少一项。所述参考坐标系的类型包括：ENU直角坐标系和沿参考线坐标系中的至少一 项。所述参考点的类型包括以下多种类型的至少一项：道路中心线的起点；道路边缘线的起点；车道组起始线的中点；车道中心线的起点；和车道边缘线的起点。所述参考线的类型包括以下多种类型的至少一项：道路的中心线；道路的边缘线；车道的中心线和车道的边缘线。具体在下文中介绍。
其中，第一事件发生的位置可以包括第一事件的至少一个位置信息。
在一些实施例中，第一事件可以为动态事件。例如，第一事件可以是能影响到车辆的通行方式的任意事件，诸如道路状况、交通设施、地物地貌、气象条件、其它交通参与者的交通活动等等。例如，第一事件的位置信息可以是动态事件的中心位置的位置信息。动态事件的位置信息也可以是有多个点、线段、区域组成的范围对应的多个点、线段、区域的位置信息。
地图生成装置120获得的第一事件发生的位置可以是采集装置110采集到的第一事件的位置信息。
其中，采集装置110在上报时，采集装置110可以将每次获取到的第一事件发生的位置都上报给地图生成装置120，也可以只将第一事件发生变化的位置上报给地图生成装置120。其中，第一事件发生变化的位置可以是相比于上一采集周期获取到的第一事件的位置存在变化的位置，也可以相比于地图中的第一事件发生的位置发生变化的位置。其中，第一事件发生的位置中可以包含所采集区域的位置信息，该区域可以为点状区域、线状区域或面状区域，该区域的位置信息可以以坐标形式呈现，如点状区域的位置信息由点状区域在地理坐标系(geodetic coordinate system，GCS)下的经纬度坐标或投影坐标系(projected coordinate system，PCS)下的三维坐标来表示，而线状区域的位置信息或面状区域的位置信息则由线状区域或面状区域在GCS下的经纬度坐标集合或PCS下的三维坐标集合来表示。或者，所采集区域的位置信息也可以以该区域在地图(或现实世界)中所关联的路段位置形式呈现，路段位置一般由道路名称、路段名称及路段范围构成。
以第一事件为事故为例，采集装置110可以是路侧单元，路侧单元在某次探测中发现该固定路段上出现事故，则该固定路段的位置信息和探测到的事故的图像生成第一事件发生的位置，并实时上报给地图生成装置120。地图生成装置120在获得路侧单发送的第一事件发生的位置后，可以确定出第一事件的至少一个位置信息，例如，将该固定路段的位置信息作为第一事件的一个位置信息。还可以是对探测到的事故的图像进行解析后，确定出的第一事件的至少一个位置信息。
再比如，采集装置110可以是车辆，例如，车辆在某次行驶过程中探测到该行驶的路段上出现事故，则根据车辆的定位信息和探测到的事故的图像生成第一事件发生的位置，并实时上报给地图生成装置120。
地图生成装置120在获得采集装置110发送的第一事件发生的位置后，可以确定出第一事件的至少一个位置信息，例如，根据采集装置110为车辆时上报的车辆的定位信息和采集到的图像信息，该图像信息包括车辆所处的环境信息，地图生成装置120可以基于车辆采集到的图像及车辆的定位位置，确定发生事故的位置，即第一事件在地图坐标系中的位置信息。也可以是直接将车辆的定位位置作为第一事件的一个位置信息。
需要说明的是，地图生成装置120获得的第一事件发生的位置也可以是除地图生成装置120指纹的服务器获得第一事件发生的位置后，转发给地图生成装置120的，在此不做限定。
考虑到第一事件可能是随时间变化的、随空间变化的、与不同事件之间存在关联性、还可能是具有道路级的位置信息或车道级的位置信息。因此，第一事件可以选择多种位置参考信息进行表示，以满足第一事件在地图中表达的需要及通过地图获得第一事件执行地图使用的功能的需要。例如，通过地图获得第一事件后，指导车辆导航的需要。
其中，第一事件的位置参考信息可以用于指示所述位置信息所基于的位置参考方式。例如，第一事件的位置信息在表达时选择的参考坐标系的类型、第一事件的位置信息在表达时选择的参考点的类型或参考线的类型，及第一事件包括的点、线段或区域等几何拓扑信息。第一事件的几何拓扑信息可以是第一事件涉及的范围。
位置参考方式可以包括以下至少一项：参考坐标系的类型、参考点的类型、参考线的类型等。
在一些实施例中，位置参考方式可以是参考坐标系的类型中的一种或多种，例如，位置参考方式可以是直角坐标系。再比如，位置参考方式可以是沿参考线坐标系。位置参考方式还可以是直角坐标系和沿参考线坐标系组合使用的。
在一些实施例中，位置参考方式可以是参考点的类型中的一种或多种，例如，位置参考方式可以是道路中心线起点、车道中心线起点、道路中心线起点、道路边缘线起点、车道边缘线起点等中的一种或多种。
在一些实施例中，位置参考方式可以是参考线的类型中的一种或多种。例如，位置参考方式可以是道路中心线、车道中心线、道路中心线、道路边缘线、车道边缘线中的一种或多种。
在一些实施例中，位置参考方式还可以是参考坐标系的类型和参考点的类型的一种或多种，例如，以参考坐标系的类型为直角坐标系，参考点的类型为道路中心线起点为例，位置参考方式可以是在直角坐标系和道路中心线起点。再比如，位置参考方式还可以是沿参考线坐标系和一个或多个参考点的类型，例如，沿参考线坐标系、道路中心线起点和车道中心线起点。
在一些实施例中，位置参考方式还可以是参考坐标系的类型和参考线的类型的一种或多种，例如，以参考坐标系的类型为沿参考线坐标系，参考线的类型为道路中心线为例，位置参考方式还可以是沿参考线坐标系和道路中心线。再比如，位置参考方式还可以是沿参考线坐标系和一个或多个参考线的类型，例如，沿参考线坐标系、道路中心线和车道中心线。
在一些实施例中，位置参考方式还可以是参考点的类型和参考线的类型的一种或多种，例如，以参考点的类型为道路中心线起点，参考线的类型为车道中心线为例，位置参考方式可以是道路中心线起点和车道中心线。
在一些实施例中，位置参考方式还可以是参考坐标系的类型中的一种或多种、参考点的类型中的一种或多种和参考线的类型中的一种或多种。
例如，位置参考方式可以是沿参考线坐标系、一个或多个参考线的类型和一个或多个参考点的类型，例如，沿参考线坐标系、道路中心线、车道中心线、路中心线起点、车道中心线起点等。
再比如，位置参考方式可以是沿参考线坐标系、一个或多个参考线的类型和一个或多个参考点的类型，例如，沿参考线坐标系、道路中心线、车道中心线、道路中心线起点、车道中心线起点，及直角坐标系、道路中心线起点、车道中心线起点。
在确定第一事件的位置参考信息后，可以确定第一事件的至少一个位置信息相对位置参考信息的第一位置信息，从而，确定出第一事件的位置信息在地图中的表达方式。
相应的，在确定第一事件在位置参考信息下表示的第一位置信息后，可以在相应的动态图层中存储第一事件，得到更新后的地图。更新后的地图中可以在第一事件对应的位置，例如，第一事件对应的路段上显示“事故”的字样或图样，或者显示事故的范围等信息。
例如，第一事件在地图的动态图层中，可以包括以下至少一项：第一位置信息，几何拓扑信息、位置参考信息、动态事件的属性信息等。
其中，几何拓扑信息可以表示第一事件的位置信息涉及的范围。动态事件的特征信息可以包括：动态事件随时间变化的特征信息，动态时间随空间变化的特征信息，动态事件的道路级的位置信息、动态事件的车道级的位置信息等不同的精度特征信息。动态事件的特征信息还可以是与不同事件之间存在关联性，不同事件之间的关联性，也可能会影响动态事件在地图中的表达。例如，事故事件可能与交通流事件关联，此时，更新事故事件后，地图生成装置120还可以更新交通流事件。
步骤202：地图生成装置向地图使用装置发送地图。
可选的，图3a示例性示出一种地图使用方法对应的流程示意图，该方法适用于如图1b所示的地图使用装置130。如图3a所示，则该方法包括：
步骤301：地图使用装置接收地图。
具体的，地图使用装置接收地图生成装置发送的地图。
其中，所述地图包括：第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式。
一种可能的实现方式，地图生成装置在确定地图中的第一事件更新后，可以向地图使用装置发送在第一事件的位置参考信息下表示的第一事件的位置信息。
例如，在一种可能的场景下，地图生成装置当前获取到的第一事件发生的位置的精度，只能对第一事件进行道路级的位置信息的表示。此时，地图生成装置可以基于道路级的位置参考信息确定第一事件的位置信息。在地图生成装置获得第一事件的更多信息后，可以确定第一事件的车道级的信息，例如，可以确定第一事件所在的车道级的范围。此时，地图生成装置可以基于道路级的位置参考信息确定第一事件的位置信息，和/或车道级的位置参考信息确定第一事件的位置信息。
另一种可能的实现方式，地图生成装置响应于请求消息，确定第一事件的位置信息和所述第一事件的位置参考信息；其中，请求消息可以是用户对显示界面上显示的地图信息、导航信息等进行操作后生成的，也可以是车辆在进行驾驶决策之前，向地图生成装置发起的。
驾驶决策可以是，对车辆速度的控制、加速、减速、是否紧急刹车、车辆行驶方向、车辆行驶车道、避让、变道等决策，本申请不做限定。
相应的，在地图生成装置确定第一事件的位置信息和所述第一事件的位置参考信息后，可以向地图使用装置发送第一事件的位置信息和所述第一事件的位置参考信息。
一种可能的实现方式，地图生成装置可以基于用户的选择或驾驶决策的需要，确定在地图生成装置获取到第一事件发生的位置后，地图生成装置可以根据用户的选择或驾驶决策的需要(例如，可以通过在接收到地图使用装置发送的请求消息，确定用户的选择或驾 驶决策的需要)，确定第一事件对应的位置参考信息为道路级的位置参考信息还是车道级的位置参考信息，从而，确定第一事件的位置信息，并发送给地图使用装置，相应的地图使用装置可以显示第一事件的位置信息。
另一种可能的实现方式，地图生成装置可以在获取到第一事件发生的位置后，自身确定第一事件对应的位置参考信息为道路级的位置参考信息和车道级的位置参考信息，地图生成装置生成道路级的位置参考信息下的第一事件的位置信息，和车道级的位置参考信息下的第一事件的位置信息。并在地图中存储道路级的位置参考信息下的第一事件的位置信息，和车道级的位置参考信息下的第一事件的位置信息。
步骤302：根据所述地图，进行地图更新操作，或者对所述位置信息进行显示或者辅助驾驶决策。
在一种可选地实施方式中，地图的第一图层(如道路图层或车道图层)中针对于第一事件的更新信息可以包括：更新标识，用于指示第一事件的更新；第一事件的位置信息，用于指示更新的第一事件所适用的位置的范围；第一事件的属性，可以是针对道路或车道的通行属性或拥堵属性，在可通行时，在第一图层中可以以显示为连通或绿色的方式来表示；在不可通行时，在第一图层中可以以显示为断开或红色的方式来表示。可选的，还可以通过颜色区分道路或车道对应的位置的拥堵程度，在此不做限定。
地图使用装置可以根据第一事件的更新信息，更新地图使用装置中的第一图层。从而，在更新后，使用对应的道路拥堵情况，确定车辆可通行的道路或车道，以通知用户车辆优先参照可通行的位置信息完成通行。
另一种可能的实现方式，地图使用装置使用更新后的地图，根据在第一事件的位置参考信息下表示的第一事件的第一位置信息，显示第一事件。进而，地图使用装置可以根据第一事件，指导车辆的导航。
在一些实施例中，地图使用装置根据所述位置参考信息确定所述位置信息的精度高于当前显示所述第一事件的位置所基于的精度；基于所述位置参考信息所指示的所述位置参考方式显示所述第一事件的位置。相应的，地图使用装置还可以根据更新后的第一事件，指导车辆的导航，提高车辆导航的效果。
在一些实施例中，地图使用装置响应于请求消息，将显示所述第一位置信息改变为显示所述第二位置信息。
其中，请求消息可以是用户对显示界面上显示的地图信息进行操作后生成的，也可以是车辆在进行驾驶决策之前，向地图生成装置发起的。
一种可能的实现方式，地图使用装置响应于请求消息，生成所述第一事件的获取请求消息，并向地图生成装置发送第一事件的获取请求消息。相应的，地图使用装置接收来自地图生成装置的第一事件的响应消息。其中，所述第一事件的响应消息包括：第一事件的位置信息和所述第一事件的位置参考信息；所述位置参考信息为所述服务器根据所述第一事件的至少一个位置信息确定的。
另一种可能的实现方式，地图使用装置可以基于用户的选择或驾驶决策的需要，在地图使用装置获取到第一事件发生的位置信息后，地图使用装置可以根据用户的选择，确定第一事件对应的位置参考信息为道路级的位置参考信息还是车道级的位置参考信息，从而，确定该位置参考信息表达的第一事件的位置信息，并显示该第一事件的位置信息。
考虑到地图使用的需要，可以是对第一事件基于不同的位置参考方式表示的，例如，所述位置信息包括第一位置信息和第二位置信息，所述位置参考信息包括第一位置参考信息和第二位置参考信息，其中，所述第一位置参考信息用于指示所述第一位置信息所基于的第一位置参考方式，所述第二位置参考信息用于指示所述第二位置信息所基于的第二位置参考方式，所述第二位置信息不同于所述第一位置信息，所述第二位置参考方式不同于所述第一位置参考方式。
以第一位置参考方式为道路级的参考方式，第二位置参考方式为车道级的参考方式为例，即第一位置信为道路级的位置信息，第二位置信为车道级的位置信息为例。例如，在车辆还未开始行驶，而是使用地图查看路况并进行导航路径的筛选时，车辆或用户可能只关心道路级别的拥堵情况。此时，以第一事件的第一位置信息为道路级的位置信息为例，如图3b所示，在路径1上存在第一事件，此时，在显示路径1时，可以显示第一事件的第一位置信息。
再比如，在用户或车辆已经开始行驶的过程中，地图使用装置通过地图生成装置获取到了道路前方发生拥堵，并且选择通过该拥堵道路时，用户可能更需要获得车道级的第一事件的位置信息，从而，更好的规避拥堵的位置，提高车辆通行的体验。
相应的，地图使用装置可以基于用户的选择，确定第一事件对应的位置参考信息为道路级的位置参考信息还是车道级的位置参考信息。例如，在确定使用道路级的位置参考信息表示第一事件的位置时，可以向地图调用道路级的位置参考信息下的第一事件的位置信息。
举例来说，以第一事件的第一位置信息为道路级的位置信息，第一事件的第二位置信息为车道级的位置信息为例，响应于请求消息，例如，如图3c所示，该请求消息可以是用户触发的，例如，用户可以点击拥堵路段对应的位置，地图使用装置响应于该点击操作，可以从显示第一事件的第一位置信息(例如，图3b)改变为显示第一事件的第二位置信息。
在另一些实施例中，在所述第一事件与车辆之间的距离满足预设条件时，将显示所述第一位置信息改变为显示所述第二位置信息，其中，所述第一事件与所述车辆的距离为根据所述车辆的位置和所述第一事件的位置信息确定的，所述第一事件在所述车辆的路径规划上；所述显示所述第一位置信息为基于所述第一位置参考信息所指示的所述第一位置参考方式对所述第一位置信息进行显示，所述显示所述第二位置信息为基于所述第二位置参考信息所指示的所述第二位置参考方式对所述第二位置信息进行显示。
第一事件与车辆之间的距离满足预设条件可以是根据距离是否小于预设阈值或是否大于阈值确定的。可选的，距离否大于阈值为是否满足预设条件为例，可以针对每个车道设置不同的阈值。例如，如图3d所示，在车辆处于第一车道时，车辆需要更早的进行变道到第三车道，以保证顺利的通信，而车辆处于第二车道时，可以相比第一车道较晚的变道，第三车道可以是相比第一车道和第二车道最晚显示第二位置信息的。因此，如图3d所示，在车辆位于第一车道时，可以根据第一事件在第一车道上的位置点A，与车辆之间的距离大于或等于第一阈值时，显示第二位置信息。在车辆位于第二车道时，可以根据第一事件在第二车道上的位置点B，与车辆之间的距离大于或等于第二阈值时，显示第二位置信息。在车辆位于第三车道时，可以根据第一事件在第三车道上的位置点C，与车辆之间的距离大于或等于第三阈值时，显示第二位置信息。从而，提高用户的驾驶体验，提高 车辆的通行效率。
在另一些实施例中，在所述第一事件与车辆之间的距离满足预设条件时，根据所述第二位置信息进行驾驶决策。
其中，所述第一事件与所述车辆的距离为根据所述车辆的位置和所述第一事件的位置信息确定的，所述第一事件在所述车辆的路径规划上；所述显示所述第一位置信息为基于所述第一位置参考信息所指示的所述第一位置参考方式对所述第一位置信息进行显示，所述显示所述第二位置信息为基于所述第二位置参考信息所指示的所述第二位置参考方式对所述第二位置信息进行显示。
举例来说，第一事件与车辆之间的距离满足预设条件可以是根据距离是否小于预设阈值或是否大于阈值确定的。可选的，距离否大于阈值为是否满足预设条件为例，可以针对每个车道设置不同的阈值。例如，结合如图3d所示，在车辆位于第一车道时，可以根据第一事件在第一车道上的位置点A，与车辆之间的距离大于或等于第一阈值时，控制车辆进行变道。在车辆位于第二车道时，可以根据第一事件在第二车道上的位置点B，与车辆之间的距离大于或等于第二阈值时，控制车辆进行变道。在车辆位于第三车道时，可以根据第一事件在第三车道上的位置点C，与车辆之间的距离大于或等于第三阈值时，控制车辆缓行。从而，提高用户的驾驶体验，提高车辆的通行效率。
再一种可能的实现方式，根据所述第一事件的属性，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指示的所述第一位置参考方式。
其中，事件的属性可以包括：事故事件、交通流事件、天气类型等。还可以包括道路级的事件或车道级的事件。再比如，事件属性可以是基于时间变化频率确定的，例如，根据事件随时间变化的快慢，确定的事件属性为快速更新的事件、慢速更新的事件。基于不同时间变化的事件属性，也可以相应确定事件对应的位置信息，该位置信息对应一种位置参考信息进行表达。举例来说，天气的事件可以基于道路级的位置信息进行显示。
再一种可能的实现方式，根据所述第一事件发生的时间，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指示的所述第一位置参考方式。
一种可能的场景，以第一事件为交通流事件为例，交通流事件的位置信息可以是道路级的位置信息，也可以是车道级的位置信息，此时，可以根据交通流的拥堵程度划分为早晚高峰时段和非早晚高峰时段，还可以根据工作日和非工作日，节假日等时间进行划分。
一种可能的实施例，考虑在不同时间下，可以基于不同的位置信息进行显示。例如，在非早晚高峰时段，可以通过显示道路级的位置信息进行显示，以节省地图显示的复杂度。在早晚高峰时段，可以通显示车道级的位置信息，以提高用户使用地图驾驶车辆的驾驶体验。
另一种可能的实施例，在早晚高峰时段，还可以通过提示的方式，提示用户是否查看车道级的位置信息，在用户确认查看车道级的位置信息后，再进行显示。在非早晚高峰时段，默认显示道路级的位置信息，不提示用户是否查看车道级的位置信息。
再一种可能的实现方式，根据所述第一事件发生的位置，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指 示的所述第一位置参考方式。
另一种可能的场景，第一事件发生的位置可能位于敏感区域，例如，根据敏感区域显示的要求，确定显示第一事件的第一位置信息。例如，第一位置信息中包括敏感区域允许显示的位置信息。在一些实施例中，如图3e所示，可以显示的第一事件的第一位置信息可以是显示精度较低的位置信息。在离开敏感区域后，可以更新第一事件的第一位置信息为高精度的位置信息。
再一种可能的场景，第一事件发生的位置可能位于地形复杂的区域，例如，第一事件位于高架桥附近，此时，可以优先显示车道级的位置信息，提高用户使用地图的用户体验，避免由于道路级的位置信息定位不准确导致的第一事件显示错误的问题。例如，车辆位于高架桥下启动地图显示，此时，第一事件发生在高架桥上的车道，如果采用道路级的位置信息显示，可能会在地图上显示第一事件，导致被用户误认为是高架桥的地面发生的第一事件，导致用户选择其他路径行驶。此时，可以选择显示车道级的位置信息，即显示第一事件发生在高架桥上的车道，或者，避免显示第一事件，在确定车辆行驶在高架桥上后，再显示第一事件，提高用户使用地图使用体验。
再一种可能的实现方式，根据所述进行显示的设备的权限，或者使用所述设备的用户的权限，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指示的所述第一位置参考方式。
例如，用户可以是车辆的驾驶员或乘客。其中，该车辆的驾驶员可以是车主，也可以是非车主，因此，针对使用车辆的不同用户，可以相应设置用户权限，用户权限可以是地图生成装置为用户设置的，也可以是地图使用装置为用户设置的，还可以是运营商等第三方为用户设置的，在此不做限定。
再比如，还可以为显示地图的设备设置权限，在该设备位于车辆上时，该权限可以是用户的权限，也可以是车辆的权限，也可以是针对该设备单独设置的权限，该权限还可以是为该设备设置的权限，在此不做限定。
一种可能的实现方式，地图使用装置可以是在对用户进行验证，获得用户权限后，确定可以显示的第一事件的位置信息，并进行显示。或者，地图使用装置可以是在对车辆进行验证，获得车辆权限后，确定可以显示的第一事件的位置信息，并进行显示。验证方式本申请不做限定。
一种可能的实现方式，在所述进行地图更新操作之后，所述方法还包括：根据所述位置参考信息确定所述位置信息的精度高于当前显示所述第一事件的位置所基于的精度；基于所述位置参考信息所指示的所述位置参考方式显示所述第一事件的位置。
下面以方式1～方式2及场景2～场景5举例说明，第一事件的位置参考信息和第一事件基于所述位置参考信息的参考方式下表示的位置信息。
为提高动态事件表达的灵活性和通用性及不同精度下的表达，在地图使用装置120和地图生成装置130中，对第一事件的位置信息的表达，可以有多种实现方式。下面以位置参考信息包括：坐标系的类型、参考点的类型和参考线的类型为例，说明事件的位置信息(例如，第一事件的第一位置信息或第二事件的第三位置信息)可选的位置参考信息。
事件表达的位置参考信息中可以包括位置参考信息和几何拓扑信息等。其中，位置参 考方式可以包括：参考坐标系的类型、参考点的类型、参考线的类型等。几何拓扑信息可以包括至少一个几何位置信息。用于事件表达的位置参考信息对应的数据结构中，可以包括字段名称、字段类型、数据类型等。以proto buffer的数据格式为例，例如，如表1所示，参考坐标系类型可以为方式1中的直角坐标系，此时，可以通过字段RefCoordType中携带的1，指示参考坐标系类型可以为直角坐标系。参考坐标系类型可以为方式2中的沿参考线坐标系，此时，可以通过字段RefCoordType中携带的2，指示参考坐标系类型可以为沿参考线坐标系。参考点的类型和参考线的类型(例如，横向参考线的类型、纵向参考线的类型)可以是如表1所示通过穷举的方式进行指示的，还可以包括更多的类型，具体方式可以参见下文中的表2和表3的描述。
需要说明的是，字段类型可以包括必需(Required)字段、可选(Optional)字段和重复(Repeated)字段等。其中，重复字段指示该字段用于表征该类型为一个数组或列表，例如，在描述事件的几何拓扑信息时，可以同时使用多个几何位置重复字段也可以为空，在此不做限定。
表1
Figure PCTCN2022102435-appb-000001
Figure PCTCN2022102435-appb-000002
需要说明的是，车道组可以是以车辆行进方向相同的多条车道组成的车道组，也可以是车道为相同行驶标识的多条车道组成的车道组。以图4a所示，车道组1是由车道1～车道3组成的直行车道的车道组，车道组2是由车道1～车道5组成的所有同向车道的车道组。车道组起始线的中点有两种定义方式：第一种方式下，确定车道组中最中间一个车道的车道中心线与车道组起始线的交点作为车道组起始线的中点，则车道组1起始线的中点为图4a中的A点，车道组2起始线的中点为图4a中的B点；或者，第二种方式下，确定车道组两个边缘线与车道组起始线的两个交点连线的中点，作为车道组起始线的中点，则车道组1起始线的中点为图4a中C点与D点连线的中点，车道组2起始线的中点为图4a中C点与E点连线的中点。由于车道组中多个车道的宽度一般是相同的，因此在车道组包括的车道的数目为奇数的情况下，上述两种方式确定的车道组起始线的中点可能会有重合，即图4a中，A点即为C点与D点连线的中点，B点即为C点与E点连线的中点。
在一些实施例中，位置参考信息还可以包括以下至少一项：道路级的位置参考信息或车道级的位置参考信息。
其中，事件属性可以包括：事故事件、交通流事件、天气类型等。还可以包括道路级的事件或车道级的事件。再比如，事件属性可以是基于时间变化频率确定的，例如，根据事件随时间变化的快慢，确定的事件属性为快速更新的事件、慢速更新的事件。基于不同时间变化的事件属性，也可以相应设置事件对应的位置信息。
例如，位置参考信息可以根据事件表达的需要设置，同时，可以选择相适应的几何拓扑信息的表达方式，例如，选择多个几何位置表示事件的几何拓扑信息。几何位置的表达方式可以参考参考点和参考线的表达方式，在此不做限定。其中，参考点的类型和参考线的类型，可以扩充，包括但不限于表格中的具体示例。
下面具体介绍参考点的类型的表达方式。
参考点是指用于描述道路或事件的信息的节点，还可以是指用于描述车道属性变化的位置。参考点可以是道路中心线起点、车道中心线起点等；也可以是根据事件或地图的表达确定的参考点。例如，可以在车道起始点、车道结束点、路口或者变道的位置设置参考点。参考点的类型可以但不限于包括以下任意一种或多种：车道的起止点、车道变换点或 右转专用道起止点。其中，车道的起止点包括车道的起始点和车道的终止点。车道起止点包括一条道路上的若干条车道线的起始点与终止点。车道的起始点是车道的起始线上的点，车道的终止点是车道的停止线上的点。一般来说，实际应用中车道的起始线与逆向车道的停止线在一条直线上。车道变换点可以是有些道路快到路口时增设的转弯车道而产生的分叉点，也可以是通过路口进入一条新路车道减少一个而产生的汇合点，还可以是高速路/高架桥的驶出车道的分叉口，或高速路/高架桥的驶入车道的汇合点。综上，车道变换点可以但不限于包括以下任意一种或多种：车道由少变多产生的分叉点、车道由多变少产生的汇合点、高速路(和/或高架桥)的驶出车道的分叉口、高速路(和/或高架桥)驶入车道的汇合点。右转专用车道起止点包括右转专用道的车道线(或车道线的延长线)与连接的两条车道线的起始交点和终止交点。需要说明的是，参考点含义可引申为任何工况下的车道信息变化点，参考点的类型的各个举例仅为示例性的，参考点的类型还可以包括其他类型，或者还可以为其他类型，本申请不作限定。
参考点的位置可以是指参考点在直角坐标系中的点坐标值，即参考点的地理坐标。确定参考点的位置的方法有很多种。例如，可以用人工标注的方法对每个参考点的位置进行采集。可选的，对于右转专用道起止点和车道起止点可以用这种方式确定位置。也可以采用一种传感器采集的数据及GNSS采集的数据确定参考点的位置，在此不做限定。
参考点的类型可以包括以下一种或多种：参考点(node)的标识ID、参考点映射到地图的网格mesh_ID、参考点映射到地图中的类型ID(例如，道路ID、车道ID等)或参考点的类型。参考点的类型用于描述参考点与地图之间的联系。举例来说，参考点的类型(或者说参考点涉及的事件对应的动态图层的类型)可以用表2来表示。
表2
Figure PCTCN2022102435-appb-000003
Figure PCTCN2022102435-appb-000004
如表2所示，参考点的标识(node_ID)用于指示参考点全局唯一的ID，用于区分不同的参考点。ID也可以记为id。node_ID是自动生成的标识。网格标识(mesh_ID)用于指示参考点映射到地图的网格ID，用于区分不同的网格，以及用于将参考点与地图的网格建立映射关系。mesh_ID来源于地图中道路线的属性。其中，网格是地图中的一种属性，用于快速确定地图中的位置。类型ID可以有多种，例如，在类型为道路时，类型ID为道路标识(road_ID)用于指示参考点映射到地图的道路ID，用于区分不同的道路，以及用于将参考点与地图的道路建立映射关系。在类型为车道时，类型ID为车道标识(lane_ID)用于指示参考点映射到地图的车道ID，用于区分不同的车道，以及用于将参考点与地图的车道建立映射关系。
road_ID来源于地图中道路线的属性。车道ID或车道线ID(lane_ID)用于指示参考点所在的车道的序号，用于区分不同的车道线。例如，对于双向道路，包括正向和逆向车道。可以用序号[-n...-1]表示逆向第n个车道-逆向第1个车道，[0]表示中心车道线，序号[1...n]表示正向第1个车道-正向第n个车道。对于单向道路，可以用序号[0...n]表示正向第0个车道-正向第n个车道。参考点的类型包括参考点的类型1(node_type)和参考点的类型2(node_type_2)。参考点的类型1包括车道变换点、车道起止点和右转专用道起止点。不同的类型用不同的序号、索引号或ID来指示。例如，可以用0来表示车道变换点，用1来表示车道起止点，用2来指示右转专用道起止点。参考点的类型2是对参考点的类型1的进一步细化。可以用不同的序号、索引号或ID来进一步指示参考点的类型1。例如，用-1来表示车道变换点子类型为车道由多变少。用1来表示车道变换点子类型为车道由少变多。用-1来表示车道起止点子类型为车道起点。用1来表示车道起止点子类型为车道终止点。用-1来表示右转专用道起止点子类型为右转专用道起点，用1来表示右转专用道起止点子类型为右转专用道终止点。所述参考点的类型还可以包括以下多种类型中的至少一项：道路中心线的起点；道路边缘线的起点；车道组起始线的中点；车道中心线的起点；和车道边缘线的起点。具体可以参考表1的表述。
lane_ID、node_type和node_type_2是在确定参考点的位置时获得的。其中，参考点的各个属性的类型为int，int是将一个数值向下取整为最接近的整数的函数。
根据参考点的位置和参考点的属性，将参考点的ID打包，并在地图中存储参考点的属性和参考点与地图图层的映射关系或者关联信息。一种可能的实现方式，地图可以根据参考点的信息，对应生成参考点图层，此时，事件根据参考点的类型，从地图中的参考点图层中获取事件所对应的类型ID。
下面具体介绍参考线的类型表达方式。
参考线可以是道路中心线、道路边缘线、车道中心线、或其他类型的参考线等。参考线在地图中存储的方式可以包括以下类型的一种或多种：参考线(line)的标识ID、参考线映射到地图的网格meshID、参考线映射到地图中的类型ID(例如，道路ID、车道ID等)或参考线的类型。参考线的属性用于描述参考线与地图之间的联系。举例来说，参考线的类型(或者说参考线涉及的事件对应的动态图层的类型)可以用表3来表示。
表3
Figure PCTCN2022102435-appb-000005
如表3所示，参考线的标识(node_ID)用于指示参考线全局唯一的ID，用于区分不同的参考线。ID也可以记为id。node_ID是自动生成的标识。网格标识(mesh_ID)用于指示参考线映射到地图的网格ID，用于区分不同的网格，以及用于将参考线与地图的网格建立映射关系。mesh_ID来源于地图中道路线的属性。其中，网格是地图中的一种属性，用于快速确定地图中的位置。类型ID可以有多种，例如，在类型为道路时，类型ID为道路标识(road_ID)用于指示参考线映射到地图的道路ID，用于区分不同的道路，以及用于将参考线与地图的道路建立映射关系。在类型为车道时，类型ID为车道标识(lane_ID)用于指示参考线映射到地图的车道ID，用于区分不同的车道，以及用于将参考线与地图的 车道建立映射关系。
road_ID用于标识地图中道路线。在参考线为道路线时，可以根据road_type确定参考线的类型，例如，road_type可以包括道路中心线、道路左边缘线、道路右边缘线、车辆停止线等。当然，还可以是基于道路的宽度确定相应比例后对应的参考线，例如，可以是事件相对道路宽度的预设比例的参考线。例如，参考线可以是事件附近的路肩等道路线。不同的类型用不同的序号、索引号或ID来指示。
车道ID或车道线ID(lane_ID)用于指示参考线所在的车道的序号，用于区分不同的车道线。例如，对于双向道路，包括正向和逆向车道。可以用序号[-n...-1]表示逆向第n个车道-逆向第1个车道，[0]表示中心车道线，序号[1...n]表示正向第1个车道-正向第n个车道。对于单向道路，可以用序号[0...n]表示正向第0个车道-正向第n个车道。参考线的类型包括参考线的类型1(line_type)和参考线的类型2(line_type_2)。参考线的类型1包括车道中心线、车道左边缘线、车道右边缘线、道路的中心线、道路的边缘线、车道的中心线和车道的边缘线等至少一项。
结合车道，确定事件相对参考车道的位置信息。例如，可以是根据事件相对车道位置确定的参考线。例如，参考线可以是事件左侧的车道、事件右侧的车道或事件附近的路肩等。参考线还可以是根据道路中的总车道数及事件所在的车道确定。不同的类型用不同的序号、索引号或ID来指示。例如，可以用0来表示车道左边缘线，用1来表示车道右边缘线，用2来指示车道中心线。参考线的类型2是对参考线的类型的另一种划分方式。例如，横向参考线和纵向参考线.其中参考线的类型可以用不同的序号、索引号或ID来进一步指示参考线的类型。例如，用-1来表示参考线的类型为横向参考线，即与车道线平行的参考线。用-2来表示参考线的类型为纵向参考线，即与车道线垂直的参考线。
再一种可能的场景中，纵向参考线可以是根据参考点的位置与横向参考线确定的。即纵向参考线与横向参考线垂直，且纵向参考线上包括参考点。
需要说明的是，road_ID、road_type、line_ID、line_type和line_type_2是在确定参考线的位置时获得的。其中，参考线的各个类型的数据类型为int，int是将一个数值向下取整为最接近的整数的函数。
根据参考线的位置信息和参考线的类型，通过参考线的ID打包，并在地图中存储参考线的类型和参考线与地图图层的映射关系或者关联信息。一种可能的实现方式，地图可以根据参考线的信息(例如，参考线的位置信息和参考线的类型)，对应生成参考线图层，此时，事件根据参考线的类型，从地图中的参考线图层中获取事件所对应的类型ID，根据该类型ID，获取参考线的坐标，其中，地图的类型ID获取方式可以有多种。举例来说，在参考线的类型为道路元素下的点，如道路中心线，则获取事件所在的道路ID，获取该道路ID下的中心线的坐标；在参考线的类型为车道元素下的点，如车道中心线，则获取事件所在的车道ID，获取该车道ID下的中心线的坐标。
考虑到动态事件可能需要车道级的位置信息，及动态事件与静态地图的元素关联，本申请中，可以采用相对位置的方式表征事件的位置信息。即通过事件相对参考点和/或参考线的相对位置，表示事件的位置信息。
一种可能的实现方式，针对所述至少一个位置信息中的每个位置信息：根据所述第一事件的位置信息，确定位置信息对应的位置参考信息；根据位置信息对应的位置参考信息， 确定位置信息对应的位置信息。
需要说明的是，事件的位置信息可以通过至少一个点表示，例如，事件所在的中心点等。在事件的位置信息为一个具体的范围时，可以根据事件描述的几何拓扑信息，确定描述事件的至少一个点和/或描述事件的至少一个线段等。
下面以方式1和方式2分别介绍位置参考方式包括不同参考坐标系的类型的可能的实现方式。当然，方式1和方式2还可以组合使用，本申请不做限定。
方式1，在直角坐标系下的事件的位置信息。
在一些实施例中，可以根据参考点的位置信息，例如，参考点在直角坐标系中的坐标(x，y)，确定事件相对参考点坐标的位置信息。
其中，直角坐标系可以是地理坐标系，例如，ENU东北天坐标系，全球定位系统(GNSS)坐标系等。
一种可能的实现方式，地图可以根据参考点的信息，对应生成参考点图层，此时，事件的位置参考方式可以包括参考点的类型。具体的，可以根据参考点的类型，从地图中的参考点图层中获取事件所对应的类型ID，根据该类型ID，其中，地图的类型ID获取方式可以有多种。举例来说，在参考点的类型为道路元素下的点，如道路中心线起点，则获取事件所在的道路ID，获取该道路ID下的中心线起点地理坐标；在参考点的类型为车道元素下的点，如车道中心线起点，则获取事件所在的车道ID，获取该车道ID下的中心线起点的坐标。在根据类型ID获取参考点的坐标后，可以根据参考点的坐标计算事件的位置信息。当然，还可以选择其他参考点的类型作为位置参考信息，在此不再赘述。
举例来说，如图4b所示，在事件为通过事件中的一个点的位置信息来表示时，可以根据参考点A的坐标，确定事件的点相对参考点的坐标的位置信息。以事故为第一事件为例，发生事故的中心点可以作为第一事件中的一个点，此时，可以基于发生事故的中心点的位置信息，确定事件的位置信息(Δx,Δy)。当然，参考点A可以是参考点的类型中的任一种，在此不做限定。
另一种可能的实现方式，事件的位置参考方式可以包括多个参考点的类型。例如，可以选择多个参考点的类型，作为事件的参考位置方式。例如，以选择2个参考点的类型为例，选择道路中心线的起点和道路边缘线的起点作为事件的参考位置信息，来确定事件相对道路中心线的起点和道路边缘线的起点的位置信息。例如，可以根据道路中心线的起点确定事件的Δx，根据道路边缘线的起点，确定事件的Δy。当然，还可以选择其他方式确定，在此不做限定。
再比如，如图4c所示，在事件为通过事件中的一个区域的位置信息来表示时，可以根据参考点A的坐标，确定事件的起始位置相对参考点的坐标的位置信息d1和结束位置相对参考点A的坐标的位置信息d2，从而，表示出事件的起始位置和结束位置组成的区域。
以交通流为目标事件为例，一种可能的区域为道路级的区域，此时，目标事件对应的起始位置可以是车辆拥堵的起始点，目标事件对应的结束位置可以是车辆拥堵的结束点。根据车辆拥堵的起始点相对参考点的坐标的位置信息d1，车辆拥堵的结束点相对参考点的坐标的位置信息d2，及沿道路的行驶方向，可以确定出一个道路级的拥堵区域，该道路级的拥堵区域可以为目标事件对应的区域。
另一种可能的区域为车道级的区域，此时，目标事件对应的起始位置可以是车辆拥堵的车道的起始点，目标事件对应的结束位置可以是车辆拥堵的车道的结束点。根据车辆拥 堵的车道的起始点相对参考点的位置信息d1，车辆拥堵的车道的结束点相对参考点的位置信息d2，及沿车道的行驶方向，可以确定出一个车道级的拥堵区域，该车道级的拥堵区域可以为目标事件对应的区域。
再一种可能的实现方式，位置参考方式中，还可以包括多个参考点的类型，例如，选择道路中心线的起点和道路边缘线的起点作为参考点，以在事件为通过事件中的一个区域的位置信息来表示为例，可以将道路中心线的起点作为事件起点的参考点，确定事件的起始位置相对道路中心线的起点的位置信息d1，可以将道路边缘线的起点作为事件结束的参考点，确定事件的结束位置相对道路边缘线的起点的位置信息d2，从而，表示出事件的起始位置和结束位置组成的区域。
方式2，通过参考点和/或参考线建立的沿参考线坐标系表示事件的位置信息。
场景2-1，通过参考线建立的沿参考线坐标系表示事件的位置信息。此时，位置参考方式包括多个参考线的类型。
其中，可以根据事件对应的参考线的类型(道路、车道组、车道)及参考线对应的类型ID(例如，道路ID、车道组ID、车道ID)，获取参考线的地理坐标。
一种可能的实现方式，通过多个参考线的类型建立沿参考线坐标系。
例如，以沿参考线坐标系的坐标轴x为车道中心线，沿参考线坐标系的坐标轴y为车辆停止线为例。
沿参考线坐标系以一个参考点和一个参考线为基准表达地图中某一位置点的位置，在该坐标系下，原点为该参考点到参考线的投影点，坐标轴为从该原点出发、沿该参考线延申的一条直线、曲线或折线。具体而言，某个位置点在沿参考线坐标系下的位置坐标为(dx，dy)，其中dy为位置点到该位置点在坐标轴上的投影点的距离(可为正值或负值)，dx为从原点出发沿坐标轴到所述投影点的路径长度(可为正值或负值)。通常，选用某一点状地图元素作为参考点，或者选用两条线状地图元素的交点作为参考点；选用某一线状地图元素作为参考点。
例如，如图5a所示，参考线的类型为道路边缘线，参考点的类型为道路中心线上的起始点(图中为参考点A)。此时，沿参考线坐标系中，坐标轴x为参考线，即道路边缘线，原点为参考点A，坐标轴y为参考点到参考线的垂线。此时，第一事件位于道路中心线的左侧，第一事件的中心点在沿参考线坐标系下，可以表示为(dx，dy)，其中，dx为第一事件的中心点E在道路边缘线的投影点HE相对原点A在道路边缘线的投影点HAL的距离。即HE和HAL之间的道路的距离。dy为点E相对道路中心点A和道路中心线的垂足HEA之间的相对距离，即E和HEA之间的距离。HEA为E到道路中心线的垂直投影点。需要说明的是，dx或dy的正负符号可以根据需要进行设置。例如，可以根据道路通行方向确定dx或dy的正负符号。如，第一事件的点E沿道路通行方向在相对参考点前方时dx为正，第一事件的点E沿道路通行方向在相对参考点后方时dx为负，第一事件的点E沿道路通行方向在参考点的左侧时dy为正，右侧dy为负。当然，还可以根据其他方式确定，在此不做限定。
另一种可能的表示方式，如图5b所示，参考线的类型为道路边缘线L，参考点A的类型为道路中心线上的起始点A。第一事件的点E的参考坐标可以表示为(dx _e,dy _e)，即第一事件的点E的位置信息可以表示为(dx _e，dy _e)，其中，dy _e为E相对道路边缘 线L的相对距离，即E和HE之间的距离。其中，HE为事件点E到参考线L的垂直投影点。dx _e为E相对道路中心点A和道路边缘线L的垂足HA组成的垂线之间的相对距离，即HE和HA之间的距离。HA为参考点A到参考线L的垂直投影点。考虑到dx_e可以有正负，dx _e也可以是HAL沿参考线L到HE的距离为dx _e。
再一种可能的实现方式，参考线的类型可以包括纵向参考线和横向参考线。纵向参考线用于确定事件相对纵向参考线之间的纵向距离。横向参考线用于确定事件相对横向参考线之间的横向距离。如图5c所示，以纵向参考线为道路边缘线L1，横向参考线为车道中心线L2为例。
事件中的点F的参考坐标可以表示为(dx_f,dy_f)，即第一事件的点E的位置信息可以表示为(dx_f，dy_f)，其中，dy_f为点F相对横向参考线(车道中心线L2)的相对距离，即F和HF之间的距离。其中，HF为事件点F到横向参考线(车道中心线L2)的垂直投影点。dx_f为F相对道路中心点A和纵向参考线(道路边缘线L1)的垂足HA组成的垂线之间的相对距离，即HF1和HA之间的距离。HA为参考点A到参考线L的垂直投影点。需要说明的是，dx_f或dy_f的正负符号可以根据需要进行设置。例如，可以根据道路通行方向确定dx_f或dy_f的正负符号。如dx_f沿道路通行方向在相对参考点前方为正，后方为负，dy_f沿道路通行方向在参考线的左侧为负，右侧为正。当然，还可以根据其他方式确定，在此不做限定。
另一种可能的实现方式，可以通过参考点，确定参考线。此时，位置参考方式可以包括：参考点的类型和参考线的类型。
其中，可以根据事件对应的参考线的类型(道路、车道组、车道)及参考点对应的类型ID(例如，道路ID、车道组ID、车道ID)，从地图中获取参考点的坐标。因此，通过参考点确定的参考线的坐标，可以是基于参考点的坐标确定的。
例如，以沿参考线坐标系的坐标轴x为车道中心线，沿参考线坐标系的原点为车道中心线的起点为例。此时，可以通过参考点(车道中心线的起点)确定沿参考线坐标系的坐标轴y，例如，沿参考线坐标系的坐标轴y为通过原点的车道中心线的垂线。此时，可以根据车道中心线的起点的坐标及车道中心线的坐标，确定通过车道中心线的起点的车道中心线的垂线的坐标，即沿参考线坐标系的坐标轴y。
举例来说，事件的位置信息可以是根据沿参考线坐标系确定的纵向距离dx和侧向距离dy，沿参考线坐标系的原点可以为参考点。
如图5d所示，事件中C点的参考坐标可以表示为(dx_c，dy_c)，其中，C点沿参考线的纵向距离dx_c，事件C沿参考线的侧向距离为事件到参考线的垂线距离dy_c，由于事件C位于参考线上，因此，dy_c为0。
事件中的B点的参考坐标可以表示为(dx_b，dy_b)，其中，A点沿参考线的侧向距离为事件B到参考线的垂线距离dy_b，相应的，根据事件B到参考线的垂足HB的位置，可以确定事件的B点沿参考线的侧向距离dx_b。
场景2-2，通过至少一种参考点的类型和至少一种参考线的类型建立的沿参考线坐标系表示事件的位置信息。
举例来说，参考点可以为沿参考线坐标系的原点，参考点和参考线可以共同确定沿参考线坐标系的坐标轴，从而，事件的位置信息可以是根据沿参考线坐标系的各坐标轴确定事件的纵向距离dx和事件的侧向距离dy。
在场景2-2下，参考线的类型可以是纵向参考线，也可以是横向参考线，也可以不区分纵向参考线和横向参考线。例如，在参考线为纵向参考线时，可以根据参考线确定事件的纵向距离dx。根据参考线和参考点，确定事件的侧向距离dy。再比如，在参考线为横向参考线时，可以根据参考线确定事件的横向距离dy。根据参考线和参考点，确定事件的纵向距离dx。
举例来说，以参考点为车道线的起点，参考线为车道中心线为例，沿参考线坐标系的原点可以是参考点，沿参考线坐标系的坐标轴可以是基于车道中心线和车道线的起点确定的。如图5e所示，考虑到第一事件的点E位于第1车道，因此，参考点可以为第1车道线上的起始点A，参考线可以为第1车道中心线L。此时，沿参考线坐标系的坐标轴x轴可以为第1车道中心线L。沿参考线坐标系的坐标轴y轴可以为通过第1车道线上的起始点A的第1车道中心线L的垂线。
第一事件的点E的参考坐标可以表示为(dx _e,dy _e)，其中，dy _e为E相对第1车道中心线L的相对距离，即E和HE之间的距离。其中，HE为事件点E到第1车道中心线L的垂直投影点。dx _e为E相对第1车道中心线的起始点A和第1车道中心线L之间的相对距离，即dx _e为HE和HA之间的距离，考虑到dx_e可以有正负，dx _e也可以是HA沿第1车道中心线L到HE的距离。HA可以是参考点在参考线上的垂直投影点。
场景3，事件通过道路级或车道级的参考点的类型和/或道路级或车道级的参考线的类型确定位置信息。
一种可能的方式，考虑事件中包括至少一个位置信息，因此，可以根据所述至少一个位置信息，确定所述第一事件的边界位置信息；根据所述第一事件的所述边界位置信息，确定所述边界位置信息对应的位置参考信息；根据所述边界位置信息对应的位置参考信息，确定所述边界位置信息对应的第一位置信息。
在一些实施例中，第一事件的边界位置信息可以包括至少一个点的位置信息，在另一些实施例中，第一事件的边界位置信息可以包括至少一个线段的位置信息。
下面以至少一个点的位置信息为例进行说明第一事件的边界位置信息对应的第一位置信息。
场景3-1，事件通过道路级的参考点的类型和/或道路级的参考线的类型确定位置信息。
一种可能的方式，事件中的点的位置信息对应的参考点的类型和/或参考线的类型是道路级的参考点的类型和/或道路级的参考线的类型。具体实现方式可以参考方式1和方式2，及场景2-1和场景2-2中道路级的参考点的类型和/或道路级的参考线的类型的实现方式，在此不再赘述。
考虑到第一事件的边界位置信息包括的多个点的位置信息可以是在同一条道路的多个不同车道上，此时，可以根据事件表达的精度，确定事件的多个点在位置表达时采用的参考线和/或参考点。此时，事件中的多个点的位置信息可以采用相同的参考点和/或参考线。
举例来说，如图6a所示，第一事件所在的范围为一三角形，描述第一事件的位置时，可以通过第一事件的范围对应的3个顶点来表示。即包括3个点，E1、E2和E3。其中，E1位于第1车道，E2和E3位于第2车道。在事件的E1、E2和E3的位置信息是通过道路级的参考点和/或道路级的参考线确定时，E1、E2和E3各自对应的参考点可以为车道起 始线上的道路中心点A，E1、E2和E3各自对应的参考点可以为道路边缘线L1。
E1的位置信息可以表示为(dx_e1，dy_e1)，其中，dy_e 1为E1相对道路边缘线L1的相对距离，即E1和HE1之间的距离。dx1为E1相对道路中心点A和道路边缘线L1的垂足HA组成的垂线之间的相对距离，即HE1和HA之间的距离。
E2的位置信息可以表示为(dx_e 2，dy_e 2)，其中，dy_e 2为E2相对道路边缘线L1的相对距离，即E2和HE2之间的距离。dx_e 2为E2相对道路中心点A和道路边缘线L1的垂足HA组成的垂线之间的相对距离，即HE2和HA之间的距离。
E3的位置信息可以表示为(dx_e 3，dy_e 3)，其中，dy_e 3为E3相对道路边缘线L1的相对距离，即E3和HE3之间的距离。dx_e 3为E3相对道路中心点A和道路边缘线L1的垂足HA组成的垂线之间的相对距离，即HE3和HA之间的距离。
场景3-2，事件通过车道级的参考点的类型和/或车道级的参考线的类型确定位置信息。
此时，事件中的多个点的位置信息可以采用各自车道对应的参考点和/或参考线。举例来说，如图6b所示，在事件的E1、E2和E3的位置信息是通过车道级的参考点和/或车道级的参考线确定时，E1对应的参考点可以为车道起始线上的第1车道中心点A1，E1对应的参考线可以为第1车道边缘线L-1。E2和E3对应的参考点可以为车道起始线上的第2车道中心点A2，E2、E3对应的参考线可以为第2车道边缘线L-2。
E1的位置信息可以表示为(dx_e1，dy_e1)，其中，dy_e1为E1相对第1车道边缘线L-1的相对距离，即E1和HE1之间的距离。dx_e1为E1相对第1车道中心点A1和第1车道边缘线L-1的垂足HA1组成的垂线之间的相对距离，即HE1和HA1之间的距离。
E2的位置信息可以表示为(dx_e2，dy_e2)，其中，dy_e2为E2相对第2车道边缘线L-2的相对距离，即E2和HE2之间的距离。dx2为E2相对第2车道中心点A2和第2车道边缘线L-2的垂足HA2组成的垂线之间的相对距离，即HE2和HA2之间的距离。
E3的位置信息可以表示为(dx_e3，dy_e3)，其中，dy_e3为E3相对第2车道边缘线L-2的相对距离，即E3和HE3之间的距离。dx_e3为E3相对第2车道中心点A2和第2车道边缘线L-2的垂足HA2组成的垂线之间的相对距离，即HE3和HA2之间的距离。
场景3-3，事件通过车道级的参考点的类型和/或道路级的参考线的类型确定位置信息。
考虑一种可能的场景，在事件范围内，可能出现不同的点所在的位置的车道发生数量的变化，此时，选择每个点的参考道路级的参考线，可能导致不同点的表达的复杂度提高，此时，事件中的多个点的位置信息可以采用各自车道对应的参考点和/或道路级的参考线。举例来说，如图6c所示，在事件的E1、E2和E3的位置信息是通过车道级的参考点和/或道路级的参考线确定时，E1对应的参考点可以为车道起始线上的第1车道中心点A1。E2和E3对应的参考点可以为车道起始线上的第2车道中心点A2，E1对应的参考线可以为道路边缘线L1，E2和E3对应的参考线可以为道路边缘线L2。
E1的位置信息可以表示为(dx_e1，dy_e1)，其中，dy_e1为E1相对道路边缘线L1的相对距离，即E1和HE1之间的距离。dx_e 1为E1相对第1车道中心点A1和道路边缘线L的垂足HA1组成的垂线之间的相对距离，即HE1和HA1之间的距离。
E2的位置信息可以表示为(dx_e2，dy_e2)，其中，dy_e2为E2相对道路边缘线L2的相对距离，即E2和HE2之间的距离。dx2为E2相对第2车道中心点A2和道路边缘线L2的垂足HA2组成的垂线之间的相对距离，即HE2和HA2之间的距离。
E3的位置信息可以表示为(dx_e 3，dy_e 3)，其中，dy_e3为E3相对道路边缘线L2的相对距离，即E3和HE3之间的距离。dx_e3为E3相对第2车道中心点A2和道路边缘线L2的垂足HA2组成的垂线之间的相对距离，即HE3和HA2之间的距离。
场景3-4，事件通过道路级的参考点的类型和/或车道级的参考线的类型确定位置信息。
一种可能的方式，事件中的多个点的位置信息可以采用各自车道对应的参考点和/或参考线。举例来说，如图6d所示，在事件的E1、E2和E3的位置信息是通过道路级的参考点和/或车道级的参考线确定时，E1、E2和E3对应的参考点可以为车道起始线上的道路边缘点A0。E1对应的参考线可以为第1车道边缘线L-1。E2和E3对应的参考线可以为第2车道边缘线L-2。
E1的位置信息可以表示为(dx_e1，dy_e1)，其中，dy_e1为E1相对第1车道边缘线L-1的相对距离，即E1和HE1之间的距离。dx1为E1相对第1车道中心点A1和第1车道边缘线L-1的垂足HA1组成的垂线之间的相对距离，即HE1和HA1之间的距离。
E2的位置信息可以表示为(dx_e2，dy_e2)，其中，dy_e 2为E2相对第2车道边缘线L-2的相对距离，即E2和HE2之间的距离。dx2为E2相对道路边缘点HE2和第2车道边缘线L-2的垂足HA2组成的垂线之间的相对距离，即HE2和HA2之间的距离。
E3的位置信息可以表示为(dx_e3，dy_e3)，其中，dy_e3为E3相对第2车道边缘线L-2的相对距离，即E3和HE3之间的距离。dx_e3为E3相对道路边缘点HE3和第2车道边缘线L-2的垂足HA2组成的垂线之间的相对距离，即HE3和HA2之间的距离。
需要说明的是，在上述方式1～方式2中，在确定事件的参考点和/或参考线时，还可以考虑参考点为车道级参考点或道路级参考点，参考线为车道级参考线或道路级参考线。在参考点和参考线同时使用时，或者使用的参考点或参考线为多个时，可以考虑为参考点设置车道级参考点或道路级参考点的优先级，为参考线设置车道级参考线或道路级参考线的优先级。
举例来说，在事件的位置信息选择的参考点或参考线都是车道级的，或者，事件的位置信息选择的参考点或参考线都是道路级的。此时，事件的位置参考信息的数据可以简化，即参考点和参考线对应的类型ID可以共用。以参考点和参考线都是道路级的为例，参考点的坐标可以通过参考点对应的道路ID获取，参考线的坐标可以通过参考先对应的道路ID获取。一种可能的实现方式，参考点和参考线可以是基于同一道路ID获取参考点的坐标和参考线的坐标，通过该方式，可以简化获取参考点和参考线的坐标的获取方式，也可以简化事件中位置参考信息的数据的开销。即在事件的位置参考信息的数据结构中，参考点和参考线对应的类型ID可以共用。需要说明的是，本申请中的类型ID也可以是元素ID，本申请不做限定。以事件的点对应的参数信息中包括参考点，参考线为可选的场景下，事件的点E的数据结构可以如表4所示。
表4
Figure PCTCN2022102435-appb-000006
Figure PCTCN2022102435-appb-000007
一种可能的场景，参考线的类型ID可以是与参考线的类型ID相同，此时，事件的点的位置信息中，可以不包括参考线的类型ID的字段。例如，事件的点E的位置信息中，参考线的类型ID和参考线的类型ID都为道路边缘线的类型ID。再比如，事件的点E的位置信息中，参考线的类型ID都为第1车道中心线的类型ID。
再一种可能的场景，在不区分纵向参考线和横向参考线时，事件的点的位置信息中，可以包括参考线的原始ID的字段，即表4中的纵向参考线的类型ID和横向参考线的类型ID的字段可以是一个字段。
另一种场景，考虑参考点在参考线上的场景，如道路中心线起点为参考点，道路中心线为参考线，此时，事件的点的数据结构上可以使用一个字段表示类型ID，例如，使用参考线的类型ID字段，参考线的类型ID默认选择参考线的类型ID对应的参考线。
考虑另一种场景，在事件的各点的位置信息的表达中，道路级参考线的类型和/或道路级参考点的类型可以共用。例如，事件的点E和点F的位置信息中，参考线的类型ID都为道路边缘线的类型ID。在事件的位置信息的表达中使用各自车道参考线和/或各自车道参考点时，车道级参考点或车道级参考线可以不共用，也可以部分共用。例如，事件的点E和点F的位置信息中，参考线的类型ID都为道路中心线的起始点的类型ID。在事件的点的位置信息的数据结构中，可以通过相应的字段说明参考线之间的共用情况，或参考点之间的共用情况。例如，可以在每个点的位置信息中增加字段，指示共用的参考点或参考线的点，或者，还可以是在参考点或参考线中增加字段，指示共用的事件的点，也可以是在事件中增加字段，指示共用的事件的点及共用的参考点或参考线。当然，还可以通过其他方式指示参考点和参考线的共用方式，在此不做限定。例如，事件的点E和点F可以共用参考点和参考线，此时，事件的点E和点F的数据结构可以如表5所示。
表5
Figure PCTCN2022102435-appb-000008
类似的，第一事件的边界位置信息可以包括至少一个线段的位置信息。下面以至少一个线段的位置信息为例进行说明第一事件的边界位置信息对应的第一位置信息。
以事件的线段对应的参数信息中包括参考点，参考线为可选的场景下，事件的线段的数据结构可以如表6所示。
表6
Figure PCTCN2022102435-appb-000009
Figure PCTCN2022102435-appb-000010
需要说明的是，在表6中，事件的线段是基于起始线和结束线表示的，还可以是基于事件的起始点和事件的结束点组成的线段表示事件的线段，此时，事件的线段的数据结构可以如表7所示。
表7
Figure PCTCN2022102435-appb-000011
场景4，考虑到第一事件涉及的几何拓扑结构比较复杂时，第一事件可以划分为多个子区域，在每个子区域中可以对应一个子事件，各子事件可以采用各自的位置参考信息的方式进行表达。或者，第一事件可以划分为多个子区域，在每个子区域可以采用各自的位置参考信息的方式进行表达。
举例来说，以第一事件为在目标路段中的交通流事件为例，考虑到在目标路段中存在事故或道路维修等其他事件，影响了当前路段的交通流事件，如图7a所示，以在目标路段中存在事故事件为例，事故事件的范围涉及3个车道，包括第1车道和第2车道。事故事件包括4个点进行描述事故事件的位置信息。例如，事故事件包括：点A1、点B、点C和点D。其中，点A1位于第1车道，点B、点C和点D位于第2车道。
相应的，交通流事件可以划分为5个子区域，包括子区域1、子区域2、子区域3、子区域4和子区域5。分别对应子事件1、子事件2、子事件3、子事件4和子事件5。
其中，子区域1对应的车道为第1车道，子区域1的起始点位置为交通流事件对应路段的起始点位置，子区域1的结束点位置为根据事故事件在第1车道的位置(例如，点A1)确定的。
子区域2对应的车道为第1车道，子区域2的结束点位置为交通流事件对应路段的结束点位置，子区域2的起始点位置为根据事故事件在第1车道的位置(例如，点A1)确定的。
子区域3对应的车道为第2车道，子区域3的起始点位置为交通流事件对应路段的起始点位置，子区域3的结束点位置为根据事故事件在第2车道的位置(例如，点B和点C)确定的。
子区域4对应的车道为第2车道，子区域2的结束点位置为交通流事件对应路段的结束点位置，子区域4的起始点位置为根据事故事件在第2车道的位置(例如，点C和点D)确定的。
子区域5对应的车道为第3车道，考虑到事故事件没有对第3车道造成交通流的影响，子区域5的起始点位置可以为交通流事件对应路段的起始点位置，子区域5的结束点位置为交通流事件对应路段的结束点位置。
在一种可能的实现方式中，交通流事件中的各个子区域的位置信息的表达中，可以分别使用各子区域对应的车道级的参考点和/或参考线。一种可能的示例，可以选择沿参考线坐标，参考点为各车道中心线的起点，参考线可以为个车道中心线。相应的，事故事件中各点对应的位置信息也可以使用各车道级的参考点和/或参考线。即事故事件和交通流事件共用参考点和/或参考线。
举例来说，如图7b所示，参考点1可以是交通流事件对应路段的起始点，参考点2可以是交通流事件对应路段的结束点，参考线可以包括：第1车道的中心线，第2车道的中心线，第3车道的中心线。
此时，子区域1的位置信息可以表示为(第1车道ID，参考点1的ID，dx1_1，dx1_2)。其中，dx1_1表示子区域1的起始点位置相对参考点1的位置信息(此处为0)，dx1_2表示子区域1的结束点位置相对参考点1的位置信息，该位置可以是根据事故事件在第1车道的位置(例如，点A1)确定的。
子区域2的位置信息可以表示为(第1车道ID，参考点2的ID，dx2_1，dx2_2)。
其中，dx2_1表示子区域2的起始点位置相对参考点2的位置信息，该位置是根据事故事件在第1车道的位置(例如，点A1)相对参考点2确定的。dx2_2表示子区域2的结束点位置相对参考点2的位置信息(此处为0)。
子区域3的位置信息可以表示为(第2车道ID，参考点1的ID，dx3_1，dx3_2)。
其中，dx3_1表示子区域3的起始点位置为相对参考点1的位置信息(此处为0)，dx3_2表示子区域3的结束点位置相对参考点1的位置信息，该位置为根据事故事件在第2车道的位置(例如，点B和点C)相对参考点1的位置信息确定的。
子区域4的位置信息可以表示为(第2车道ID，参考点2的ID，dx4_1，dx4_2)。
其中，dx4_1表示子区域4的起始点位置相对参考点2的位置信息，该位置为根据事故事件在第2车道的位置(例如，点C和点D)相对参考点2的位置信息确定的。dx4_2表示子区域4的结束点位置相对参考点2的位置信息(此处为0)。
子区域5的位置信息可以表示为(第3车道ID，参考点1的ID，参考点2的ID，dx5_1，dx5_2)。
其中，dx5_1表示子区域5的起始点位置相对参考点1的位置信息(此处为0)，dx5_2表示子区域5的结束点位置相对参考点2的位置信息(此处为0)。
场景5，在事件发生变化时，例如，第一事件可以基于不同时刻或不同时期，对应采用各自的位置参考信息的方式进行表达。
举例来说，以第一事件为事故事件，在时间阶段1，获得发生交通事故的一个点，未获得事故涉及的事故范围。此时，可以通过事件的点表示事件的位置信息。
事件的位置信息选择的位置参考信息可以是道路级的参考点的类型和/或参考线的类型，也可以是车道级的参考点的类型和/或参考线的类型。
以道路级的参考点的类型和/或参考线的类型为例，可以选择沿参考线坐标，参考点为道路中心线的起点，参考线可以为道路中心线。
如图8a所示，事故事件在时间阶段1的位置信息可以表示为(道路ID，参考点ID，dx1_1，dy1_1)。其中，dx1_1表示在时间阶段1，事故事件的点1相对参考点所在的道路起始线的位置信息，dy1_1表示在时间阶段1，事故事件的点1相对道路中心线的位置信息。需要说明的是，在参考点可以根据道路ID确定时，参考点ID可以不携带。
如图8b所示，在时间阶段2，获得发生交通事故的范围，该范围可以组成一个四边形区域，此时，可以通过四边形区域的4个顶点(A、B、C和D)确定事故事件的位置信息。以车道级的参考点和/或参考线为例，可以选择沿参考线坐标，参考点为各自车道中心线的起点，参考线可以为各自车道中心线。
事故事件在时间阶段2中的点A的位置信息可以表示为(第1车道ID，参考点1的ID，dx2_A，dy2_A)。其中，dx2_A表示在时间阶段2，事故事件的点A相对参考点1所在的第1车道起始线的位置信息，dy2_A表示在时间阶段2，事故事件的点B相对第1车道中心线的位置信息。点B、C和D的表示方式可以参考点A的表示方式，在此不再赘述。需要说明的是，在参考点1可以根据第1车道ID确定时，参考点1的ID可以不携带。
另一种可能的实现方式，在对事故事件的位置信息的精度要求不高时，例如，在车辆进行导航时，将发生拥堵的道路作为不可通行的道路时，车辆可以不确定事故事件发生的事件的范围，只要确定事故事件所在的道路即可，此时，可以通过该交通事故的范围的一个点表示，例如，该交通事故的中心点表示。
以事故事件的中心点为点2为例，事故在时间阶段2中的点2的位置信息可以表示为(道路ID，参考点2的ID，dx2_2，dx2_2)。其中，dx2_2表示在时间阶段2，事故事件的点2相对参考点2所在的道路起始线的位置信息，dy2_2表示在时间阶段2，事故事件的点2相对道路中心线的位置信息。需要说明的是，在参考点2可以根据第2道路ID确定时，参考点2的ID可以不携带。
场景6，不同的事件可共享的相同的数据结构，在确定事件的位置信息时，可以根据具体需求确定各自事件的位置参考信息，并按照位置参考信息，确定事件的位置信息。下面以第一事件和第二事件为例举例说明。
如图9所示，本申请一种地图生成方法，该方法可以基于图1b所示的地图生成装置120执行，包括：
步骤901：生成地图。
所述地图包括：第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的位置参考方式。
其中，一种可能的场景是第一事件与第二事件不相关，第一事件和第二事件共享相同的位置参考方式。此时，也可以通过事件关联性指示信息指示第一事件和第二事件共享的位置参考方式。具体的，可以通过在数据结构中增加一个相应的字段，携带事件关联性指示信息，也可以是结合数据结构中的其他字段，携带事件关联性指示信息，在此不做限定。
一种可能的实现方式，地图生成装置可以基于第二事件的信息，确定第二事件。例如，第二事件的信息可以是采集装置向地图生成装置发送的，从而，地图生成装置根据采集装置上报的第二事件的信息，确定第二事件。采集装置采集第二事件的信息的方式并发送给地图生成装置的方式可以参考步骤201中采集装置采集第一事件的位置参考信息所指示的位置参考方式并发送给地图生成装置的方式，在此不再赘述。
另一种可能的场景，第二事件与第一事件相关，即第二事件可以是根据第一事件的位置参考信息所指示的位置参考方式确定的。下面以场景6-1和场景6-2举例说明。
场景6-1，考虑到地图使用的需要，可以是对不同事件进行道路级或车道级的位置信息的表示。以第一事件的第一位置信息为道路级的位置信息为例，例如，在车辆还未开始行驶，而是使用地图查看路况并进行导航路径的筛选时，车辆或用户可能只关心道路级别的拥堵情况。
再比如，在用户或车辆已经开始行驶的过程中，地图使用装置通过地图生成装置获取到了道路前方发生拥堵，并且选择通过该拥堵道路时，用户可能更需要获得车道级的事件的位置信息，从而，更好的规避拥堵的位置，提高车辆通行的体验。
因此，一种可能的实现方式，地图生成装置可以基于用户的选择，在地图生成装置获取到不同事件的信息后，地图生成装置可以根据用户的选择，确定不同事件对应的位置参考信息为道路级的位置参考信息还是车道级的位置参考信息，从而，确定不同事件的位置信息，并发送给地图使用装置，相应的地图使用装置可以显示不同事件的位置信息。
另一种可能的实现方式，地图生成装置可以在获取到不同事件的信息后，确定不同事件对应的位置参考信息为道路级的位置参考信息和车道级的位置参考信息，地图生成装置生成道路级的位置参考信息下的事件的位置信息，和车道级的位置参考信息下的不同事件的位置信息。并在地图中存储道路级的位置参考信息下的不同事件的位置信息，和车道级的位置参考信息下的不同事件的位置信息。
相应的，地图使用装置可以基于用户的选择，确定不同事件对应的位置参考信息为道路级的位置参考信息还是车道级的位置参考信息。例如，在确定使用道路级的位置参考信息表示第一事件或第二事件的位置信息时，可以向地图调用道路级的位置参考信息下的第一事件或第二事件的位置信息。
再比如，一种可能的场景下，地图生成装置当前获取到的第一事件或第二事件的信息的精度，只能对第一事件或第二事件进行道路级的位置信息的表示。此时，地图生成装置可以基于道路级的位置参考信息确定第一事件或第二事件的位置信息。在地图生成装置获得第一事件或第二事件的更多信息后，可以确定第一事件或第二事件的车道级的信息，例如，可以确定第一事件或第二事件所在的车道级的范围。此时，地图生成装置可以基于道路级的位置参考信息确定第一事件或第二事件的位置信息，和/或车道级的位置参考信息确定第一事件或第二事件的位置信息。
场景6-2，在事件之间存在关联关系时，举例来说，以第二事件为在目标路段中的交通流事件为例，考虑到在目标路段中存在事故或道路维修等第一事件，影响了当前路段的交通流事件，交通流事件的位置信息的表达方式可以是依赖与事故事件的位置信息的表达方式。例如，在事故事件表达为单点的位置表达时，交通流事件的表达可以是道路级的表达方式。再比如，在事故事件的表达为多点的位置表达时，交通流事件的表达可以是车道级的多个交通流子区域的表达方式。通过更精确的事故事件表达的范围，可以表示更详细的交通流，使得交通流事件和事故事件的位置信息可以显示的拥堵信息更为精确。当然，也可以是根据用户或车辆的需要，地图生成装置或地图使用装置选择相应的位置信息的表达方式。例如，在事故事件的表达为多点的位置表达时，交通流事件的表达可以是道路级的表达方式，也可以是车道级的多个交通流子区域的表达方式。
步骤902：向地图使用装置发送所述地图。
所述地图包括：第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的位置参考方式。
以场景6-1为例，以第二事件为在目标路段中的交通流事件，第一事件为目标路段中的事故事件为例。根据不同场景下地图使用的需要和各事件的位置信息的精度的要求，交通流事件和事故事件的位置信息的表达方式可以不同，也可以相同。
举例来说，交通流事件和事故事件的位置信息的表达方式都为道路级的表达方式，此时，交通流事件和事故事件选择的位置参考信息可以是共用的，事故事件的位置信息可以参考场景5中的时间阶段1，在此不再赘述。相应的，交通流事件的位置信息可以表示为(道路ID，参考点ID，dx_1，dx_2)。其中，参考点可以是道路ID对应的参考点，例如参考点可以是停车线上的中心点。dx_1表示交通流事件的起始点相对参考点的位置信息，dx_2表示交通流事件的结束点相对参考点的位置信息。
再举例来说，交通流事件和事故事件的位置信息的表达方式都为道路级的表达方式，此时，交通流事件和事故事件选择的位置参考信息也可以是分别设置的，结合场景5中的时间阶段1，事故事件可以选择沿参考线坐标，参考点为道路中心线的起点，参考线可以为道路中心线。事故事件的位置信息可以表示为(道路ID，参考点ID，dx1_1，dy1_1)。其中，dx1_1表示事故事件的点1相对参考点所在的道路起始线的位置信息，dy1_1表示事故事件的点1相对道路中心线的位置信息。
交通流事件可以选择沿参考线坐标，参考点为目标路段的起始点和目标路段的结束点。
交通流事件的位置信息可以表示为(道路ID，参考点1的ID，参考点2的ID，dx_1，dx_1)。其中，参考点1可以是目标路段的起始点，参考点2可以是目标路段的结束点，dx_1表示交通流事件的起始点相对参考点1的位置信息，dx_2表示事件的结束点相对参考点2的位置信息。
以场景6-2为例，在事件之间存在关联关系时，举例来说，以第二事件为在目标路段中的交通流事件为例，考虑到在目标路段中存在事故或道路维修等第一事件，影响了当前路段的交通流事件，交通流事件的位置信息的表达方式可以是依赖与第一事件的位置信息的表达方式。例如，在事故事件表达为单点的位置表达时，交通流事件的表达可以是道路级的表达方式。
再比如，在事故事件的表达为多点的位置表达时，交通流事件的表达可以是车道级的多个交通流子区域的表达方式。此时，以交通流事件为第二事件，事故事件为第一事件为例，第二事件可以包括N个子事件，第二事件的N个子事件可以是根据所述第一事件在所述位置参考信息下表示的第一位置信息确定的。
一种可能的实现方式，针对所述第二事件的N个子事件中的每个子事件：根据所述第一事件与所述子事件的关系，确定所述第一事件中与所述子事件相关的第一位置信息；根据所述第一事件中与所述子事件相关的第一位置信息，确定所述子事件在所述位置参考信息下表示的第三位置信息。
通过更精确的事故事件表达的范围，可以表示更详细的交通流，使得交通流事件和事故事件的位置信息可以显示的拥堵信息更为精确。当然，也可以是根据用户或车辆的需要，地图生成装置或地图使用装置选择相应的位置信息的表达方式。例如，在事故事件的表达为多点的位置表达时，交通流事件的表达可以是道路级的表达方式，也可以是车道级的多个交通流子区域的表达方式。
结合图7b所示，以在目标路段中存在第一事件(事故事件)为例，事故事件的范围涉及3个车道，包括第1车道和第2车道。事故事件包括4个点进行描述事故事件的位置信息。例如，事故事件包括：点A、点B、点C和点D。其中，点A位于第1车道，点B、点C和点D位于第2车道。
事故事件的位置信息的表达方式可以参考场景5中，在时间阶段2的表达方式，也可以是参考场景6-1或场景6-2中的表达方式，在此不再赘述。
相应的，第二事件(交通流事件)的位置信息的表达方式，可以是基于事故事件的位置信息确定的，可以是道路级的位置信息的表达方式，例如，交通流的位置信息可以是基于事故事件的中心点的位置信息确定的。再比如，交通流的位置信息的表达方式，可以是基于事故事件的位置信息确定的，可以是车道级的位置信息的表达方式，例如，交通流的位置信息可以是基于事故事件的4个点的位置信息确定的，具体方式可以参考场景4中的第一事件的表达方式，在此不再赘述。
如图10a所示，本申请提供一种地图使用方法，该方法可以基于图1b所示的地图使用装置130执行，包括：
步骤1001：地图使用装置接收地图。
具体的，地图使用装置接收地图生成装置发送的地图。
所述地图包括：第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的位置参考方式。
一种可能的实现方式，地图使用装置可以获得向地图生成装置发送第二事件的获取请求消息。相应的，地图使用装置接收来自地图生成装置的所述第二事件的响应消息。
具体发送第二事件的获取请求消息，可以参考向地图生成装置发送第一事件的获取请求消息的实现方式，在此不再赘述。需要说明的是，在第一事件和第二事件相关时，第一事件的获取请求消息和第二事件的获取请求消息可以是同一个消息，也可以是不同的消息，在此不做限定。
一种可能的实现方式，第二事件的响应消息包括：在所述第一事件的位置参考信息下表示的所述第二事件的第三位置信息。
另一种可能的实现方式，所述第二事件的响应消息包括：所述第二事件的N个子事件中的每个子事件在所述位置参考信息下表示的第三位置信息，所述N为大于1的正整数。
具体实施方式可以参考场景6-1和场景6-2，在此不再赘述。
步骤1002：地图使用装置根据所述地图，进行地图更新操作，或者对所述位置信息进行显示或者辅助驾驶决策。
一种可能的实现方式，地图使用装置可以根据在第二事件的位置参考信息下表示的第二事件的第三位置信息，更新地图。
可选的，地图使用装置使用更新后的地图，执行相应的地图功能。例如，地图使用装置可以结合在第一事件的位置参考信息下表示的第一事件的第一位置信息，显示第一事件，指导车辆的导航。如图10b所示，此时可以显示第一事件的第一位置信息。也可以是在车辆与第一事件的距离大于或等于第一阈值时，显示第一事件的第一位置信息，并提示前方拥堵。
再比如，地图使用装置使用更新后的地图，根据在第二事件的位置参考信息下表示的 第二事件的第三位置信息，显示第二事件，并根据第二事件，指导车辆的导航。
再比如，地图使用装置可以结合在第一事件的位置参考信息下表示的第一事件的第一位置信息，在显示第二事件的同时，显示第一事件，并根据第一事件和第二事件，指导车辆的导航。
结合图7b所示的示例，如图10c所示，第一事件可以是交通事故事件，第二事件可以是交通流事件，可以确定在第二事件中，包括5个子事件，其中，子事件1对应第一拥堵程度的子区域1，子事件2对应第二拥堵程度的子区域2，子事件3对应第三拥堵程度的子区域3，子事件4对应第四拥堵程度的子区域4，子事件5对应第五拥堵程度的子区域5。其中，第一拥堵程度和第三拥堵程度接近，第二拥堵程度和第四拥堵程度最高，第五拥堵程度最低。地图使用装置可以在相应的区域通过颜色显示各个子事件对应的拥堵程度，并根据各个子事件，更新导航信息。例如，在车辆位于第1车道时，可以在距离子事件1第一预设距离时，提示第1车道的前方拥堵，建议车辆变道至第3车道通行。在车辆位于第2车道时，可以在距离子事件3第二预设距离时，提示第2车道的前方拥堵，建议车辆变道至第3车道通行。第一预设距离和第二预设距离可以是基于子事件的拥堵程度确定的，也可以基于车辆的变道难度确定的，在此不做限定。在车辆位于第3车道时，可以提醒车辆第1车道和第2车道发生拥堵，建议车辆缓行或者切换至其他道路等，有助于提高车辆的行车安全性，降低道路的拥堵。
另一种可能的场景，如图10d所示，地图使用装置还可以根据在第一事件的位置参考信息下表示的第一事件的第一位置信息和第二事件的第三位置信息，显示第一事件和第二事件，并根据第一事件和第二事件，指导车辆的导航。例如，在车辆位于第1车道时，可以在车辆距离第二事件的子区域1小于或等于第三预设距离时，提示第1车道的前方拥堵，建议车辆变道至第3车道通行。在车辆位于第2车道时，可以在车辆距离第二事件的子区域3小于或等于第四预设距离时，提示第2车道的前方拥堵，建议车辆变道至第3车道通行。在车辆位于第3车道时，可以在车辆距离第二事件的子区域5小于或等于第五预设距离时，提示前方拥堵，提醒车辆注意避让可能变道的车辆。
当然，还可以根据车辆与第一事件所在车道的距离确定，可以参见图3d，在此不再赘述。
第三预设距离、第四预设距离和第五预设距离可以是基于第二事件的个子区域的面积和位置确定的，也可以是根据第一事件占相应车道的面积确定的，例如，在第一事件涉及的范围更大时，可以设置更大的第三预设距离、第四预设距离和第五预设距离。第三预设距离、第四预设距离和第五预设距离还可以使用第一事件的类型或第二事件的类型确定的，例如，在第一事件为事故时，相比第一事件为雨水累积的事件，可以设置更长的距离，避免车辆在距离事故更远的位置，提前进行变道。也可以基于车辆的变道难度确定的，在此不做限定。
场景7，在事件发生变化时，或者，与事件关联的其他事件的位置信息的表达的方式与该事件的表达方式不同。此时，可以基于事件的位置信息之间不同的参考方式，进行参考方式之间的变换。下面以场景7-1～场景7-2举例说明。
场景7-1，事件的位置信息的参考方式在直角坐标和沿参考线坐标之间的转换。
一种可能的示例，在事件的位置信息从直角坐标到沿参考线坐标转换时，可以通过在 静态地图中获取参考线和参考点的直角坐标的位置信息后，确定事件的位置信息相对参考线和参考点的位置信息，即将事件的位置信息转换到沿参考线坐标1下表示的事件的位置信息。
另一种可能的示例，在事件的位置信息从沿参考线坐标到直角坐标转换时，可以通过在静态地图中获取参考线和参考点的直角坐标的位置信息，及在沿参考线坐标1下表示的事件的位置信息(即事件的位置信息相对参考线和参考点的位置信息)，确定出事件的位置信息相对直角坐标的位置信息。
场景7-2，事件的位置信息的参考方式在沿参考线坐标1到沿参考线坐标2的转换。
例如，事件在时刻1确定的位置信息的参考方式对应沿参考线坐标1。事件在时刻2的参考方式对应沿参考线坐标2。
一种可能的实现方式，在对沿参考线坐标1到沿参考线坐标2进行转换时，可以以直角坐标作为中转，即先将事件的位置信息在沿参考线坐标1的位置信息转换为事件的位置信息在直角坐标下的位置信息，再通过事件的位置信息在直角坐标下的位置信息转换为事件的位置信息在沿参考线坐标2下的位置信息。从而，完成事件的位置信息从沿参考线坐标1到沿参考线坐标2的转换。
事件的位置选择位置参考信息进行表达的方式，可以在事件间、空间上、时间上、精度上四个维度上实现兼容性和通用性，支持以上各种不同应用方式下的数据结构兼容性和通用性，兼容多种动态事件的参考位置方法，兼容多种不同的几何表达方法，动态选择和组合位置参考信息，例如，参考坐标系的类型、参考线的类型、参考点的类型等位置参考信息，从而，提高动态信息数据结构的通用性和灵活性，兼容单动态事件时变特性对参考位置方法的要求，基于动态信息具有不同的位置表达精度要求，实现不同动态事件在相应的位置参考信息下表达的位置信息，实现不同精度的兼容，并且还可以实现高精度要求和低精度要求的切换。
需要说明的是，上述各个信息的名称仅仅是作为示例，随着通信技术的演变，上述任意信息均可能改变其名称，但不管其名称如何发生变化，只要其含义与本申请上述信息的含义相同，则均落入本申请的保护范围之内。
上述主要从各个网元之间交互的角度对本申请提供的方案进行了介绍。可以理解的是，上述实现各网元为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，本发明能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，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发明的范围。
根据前述方法，图11示例性示出本申请实施例提供的一种地图生成装置的结构示意图，如图11所示，该装置可以为地图服务器、采集装置、车辆，也可以为芯片或电路，比如可设置于地图服务器、采集装置、车辆中的芯片或电路，示例性地可以为如本申请中任一项所述的地图服务器、采集装置、车辆。
如图11所示，该地图生成装置1101可以包括处理器1102、存储器1104和收发器1103，还可以进一步包括总线系统，其中，处理器1102、存储器1104和收发器1103可以通过总线系统相连。
应理解，上述处理器1102可以是一个芯片。例如，该处理器1102可以是现场可编程门阵列(field programmable gate array，FPGA)，可以是专用集成芯片(application specific integrated circuit，ASIC)，还可以是系统芯片(system on chip，SoC)，还可以是中央处理器(central processor unit，CPU)，还可以是网络处理器(network processor，NP)，还可以是数字信号处理电路(digital signal processor，DSP)，还可以是微控制器(micro controller unit，MCU)，还可以是可编程控制器(programmable logic device，PLD)或其他集成芯片。
在实现过程中，上述方法的各步骤可以通过处理器1102中的硬件的集成逻辑电路或者软件形式的指令完成。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处理器执行完成，或者用处理器1102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1104，处理器1102读取存储器1104中的信息，结合其硬件完成上述方法的步骤。
应注意，本申请实施例中的处理器1102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(DSP)、专用集成电路(ASIC)、现场可编程门阵列(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。
可以理解，本申请实施例中的存储器1104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。
该地图生成装置可以包括处理器1102、收发器1103和存储器1104。该存储器1104用于存储指令，该处理器1102用于执行该存储器1104存储的指令，以实现如上本申请中所示的任一项或任意多项对应的方法中制图设备的相关方案，或执行上述实施例中地图生成装置所执行的方法。
在一些实施例中，收发器1103可以发送地图。处理器1102可以生成地图，地图包括： 第一事件的位置信息和第一事件的位置参考信息，位置信息用于指示第一事件发生的位置，位置参考信息用于指示位置信息所基于的位置参考方式。
根据前述方法，图12示例性示出本申请实施例提供的一种地图使用装置的结构示意图，如图12所示，该装置可以为地图服务器、采集装置、车辆，也可以为芯片或电路，比如可设置于地图服务器、采集装置、车辆中的芯片或电路，示例性地可以为如本申请中任一项所述的地图服务器、采集装置、车辆。
如图12所示，该地图使用装置1201可以包括处理器1202、存储器1204和收发器1203，还可以进一步包括总线系统，其中，处理器1202、存储器1204和收发器1203可以通过总线系统相连。
应理解，上述处理器1202可以是一个芯片。例如，该处理器1202可以是现场可编程门阵列(field programmable gate array，FPGA)，可以是专用集成芯片(application specific integrated circuit，ASIC)，还可以是系统芯片(system on chip，SoC)，还可以是中央处理器(central processor unit，CPU)，还可以是网络处理器(network processor，NP)，还可以是数字信号处理电路(digital signal processor，DSP)，还可以是微控制器(micro controller unit，MCU)，还可以是可编程控制器(programmable logic device，PLD)或其他集成芯片。
在实现过程中，上述方法的各步骤可以通过处理器1202中的硬件的集成逻辑电路或者软件形式的指令完成。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处理器执行完成，或者用处理器1202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1204，处理器1202读取存储器1204中的信息，结合其硬件完成上述方法的步骤。
应注意，本申请实施例中的处理器1202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(DSP)、专用集成电路(ASIC)、现场可编程门阵列(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。
可以理解，本申请实施例中的存储器1204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。
该地图使用装置可以包括处理器1202、收发器1203和存储器1204。该存储器1204用于存储指令，该处理器1202用于执行该存储器1204存储的指令，以实现如上本申请中所示的任一项或任意多项对应的方法中制图设备的相关方案，或执行上述实施例中地图生成装置所执行的方法。
在一些实施例中，收发器1203可以接收地图。地图包括：第一事件的位置信息和第一事件的位置参考信息，位置信息用于指示第一事件发生的位置，位置参考信息用于指示位置信息所基于的位置参考方式。处理器1202可以根据地图，进行地图更新操作，或者对所述位置信息进行显示，或者辅助驾驶决策。
基于以上实施例以及相同构思，图13示例性示出本申请实施例提供的另一种地图生成装置的结构示意图，如图13所示，该地图生成装置1301可以为制图设备，示例性地可以为如本申请中任一项所述的制图设备，也可以为芯片或电路，比如可设置于制图设备中的芯片或电路。该地图生成装置可以实现如上本申请中所示的任一项或任意多项对应的方法中制图设备所执行的步骤，或执行上述实施例一至实施例三所示任一实施例中制图设备所执行的方法。如图13所示，该地图生成装置1301可以包括生成模块1302、发送模块1303。
生成模块1302，可以生成地图，所述地图包括：第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式；
发送模块1303，可以发送所述地图。
一种可能的实现方式，所述地图还包括：所述位置信息包括第一位置信息和第二位置信息，所述位置参考信息包括第一位置参考信息和第二位置参考信息，其中，所述第一位置参考信息用于指示所述第一位置信息所基于的第一位置参考方式，所述第二位置参考信息用于指示所述第二位置信息所基于的第二位置参考方式，所述第二位置信息不同于所述第一位置信息，所述第二位置参考方式不同于所述第一位置参考方式。
一种可能的实现方式，所述位置参考方式包括参考坐标系的类型、参考点的类型和参考线的类型中的至少一项。
一种可能的实现方式，所述参考线包括：横向参考线和纵向参考线。
一种可能的实现方式，所述参考坐标系的类型包括：ENU直角坐标系和沿参考线坐标系中的至少一项。
一种可能的实现方式，所述参考点的类型包括以下多种类型的至少一项：道路中心线的起点；道路边缘线的起点；车道组起始线的中点；车道中心线的起点；和车道边缘线的起点。
一种可能的实现方式，所述参考线的类型包括以下多种类型的至少一项：道路的中心线；道路的边缘线；车道的中心线；和车道的边缘线。
一种可能的实现方式，所述地图还包括：第二事件的第三位置信息和事件关联性指示 信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的位置参考方式。
应理解，以上地图生成装置1301的单元的划分仅仅是一种逻辑功能的划分，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。该地图生成装置1301所涉及的与本申请实施例提供的技术方案相关的概念，解释和详细说明及其他步骤请参见前述方法或其他实施例中关于这些内容的描述，此处不做赘述。
基于以上实施例以及相同构思，图14示例性示出本申请实施例提供的另一种地图使用装置的结构示意图，如图14所示，该地图使用装置1401可以为制图设备，示例性地可以为如本申请中任一项所述的制图设备，也可以为芯片或电路，比如可设置于制图设备中的芯片或电路。该地图使用装置可以实现如上本申请中所示的任一项或任意多项对应的方法中制图设备所执行的步骤，或执行上述实施例一至实施例三所示任一实施例中制图设备所执行的方法。如图14所示，该地图使用装置1401可以包括接收模块1402、地图更新模块1403、显示模块1404和辅助驾驶决策模块1405。
接收模块1402，用于接收地图；所述地图包括：第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式；
地图更新模块1403，用于根据所述地图，进行地图更新操作；
或者，显示模块1404，用于根据所述地图对所述位置信息进行显示；
或者，辅助驾驶决策模块1405，用于根据所述地图，辅助驾驶决策。
一种可能的实现方式，所述地图还包括：所述位置信息包括第一位置信息和第二位置信息，所述位置参考信息包括第一位置参考信息和第二位置参考信息，其中，所述第一位置参考信息用于指示所述第一位置信息所基于的第一位置参考方式，所述第二位置参考信息用于指示所述第二位置信息所基于的第二位置参考方式，所述第二位置信息不同于所述第一位置信息，所述第二位置参考方式不同于所述第一位置参考方式。
一种可能的实现方式，所述位置参考方式包括参考坐标系的类型、参考点的类型和参考线的类型中的至少一项。
一种可能的实现方式，所述参考坐标系的类型包括：ENU直角坐标系和沿参考线坐标系中的至少一项。
一种可能的实现方式，所述参考点的类型包括以下多种类型中的至少一项：道路中心线的起点；道路边缘线的起点；车道组起始线的中点；车道中心线的起点；和车道边缘线的起点。
一种可能的实现方式，所述参考线的类型包括以下多种类型的至少一项：道路的中心线；道路的边缘线；车道的中心线；和车道的边缘线。
一种可能的实现方式，所述地图还包括：第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的所述位置参考方式。
一种可能的实现方式，所述显示模块1404，还用于响应于请求消息，将显示所述第一位置信息改变为显示所述第二位置信息；其中，所述显示所述第一位置信息为基于所述第一位置参考信息所指示的所述第一位置参考方式对所述第一位置信息进行显示，所述显示所述第二位置信息为基于所述第二位置参考信息所指示的所述第二位置参考方式对所述 第二位置信息进行显示。
在一些实施例中，请求消息可以是用户对显示界面上显示的地图进行操作后生成的，也可以是车辆在进行驾驶决策之前，向地图生成装置发起的。相应的，在地图生成装置确定第一事件的位置信息和所述第一事件的位置参考信息后，可以向地图使用装置发送第一事件的位置信息和所述第一事件的位置参考信息。
一种可能的实现方式，所述显示模块1404，还用于在所述第一事件与车辆之间的距离满足预设条件时，将显示所述第一位置信息改变为显示所述第二位置信息。
其中，所述显示所述第一位置信息为基于所述第一位置参考信息所指示的所述第一位置参考方式对所述第一位置信息进行显示，所述显示所述第二位置信息为基于所述第二位置参考信息所指示的所述第二位置参考方式对所述第二位置信息进行显示。
一种可能的实现方式，所述第一事件在所述车辆被规划的行驶路径上。
一种可能的实现方式，所述辅助驾驶决策模块1405，用于在所述第一事件与车辆之间的距离满足预设条件时，将根据所述第一位置信息辅助驾驶决策改变为根据所述第二位置信息辅助驾驶决策。
一种可能的实现方式，所述第一事件在所述车辆被规划的行驶路径上。
一种可能的实现方式，所述显示模块1404，还用于根据所述第一事件的属性、发生的时间或者位置，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指示的所述第一位置参考方式。
一种可能的实现方式，所述显示模块1404，还用于根据所述进行显示的设备的权限，或者使用所述设备的用户的权限，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指示的所述第一位置参考方式。
一种可能的实现方式，在所述地图更新模块进行地图更新操作之后，所述显示模块1404，还用于根据所述位置参考信息确定所述位置信息的精度高于当前显示所述第一事件的位置所基于的精度；基于所述位置参考信息所指示的所述位置参考方式显示所述第一事件的位置。
应理解，以上地图使用装置1401的单元的划分仅仅是一种逻辑功能的划分，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。该地图使用装置1401所涉及的与本申请实施例提供的技术方案相关的概念，解释和详细说明及其他步骤请参见前述方法或其他实施例中关于这些内容的描述，此处不做赘述。
本申请还提供一种地图，包括第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式。
当然，地图可以是本申请实施例提供的任一种可能的地图的实现方式。
本申请还提供一种计算机程序产品，该计算机程序产品包括：计算机程序代码，当该计算机程序代码在计算机上运行时，使得该计算机执行本申请所示实施例中任意一个实施例的方法。
本申请还提供一种计算机程序产品，该计算机程序产品包括：计算机程序代码，当该计算机程序代码在计算机上运行时，使得该计算机执行本申请所示实施例中任意一个实施例的地图。
本申请还提供一种计算机可读存储介质，该计算机可读介质存储有本申请所示实施例 中任意一个实施例的地图。
本申请还提供一种车辆，车辆按照如上述实施例中地图使用方法中的任一项可能的方法使用地图。
本申请还提供一种系统，其包括前述的地图生成装置和地图使用装置，其中，地图生成装置可以是地图服务器、地图采集设备或车辆，或相应的设备中的部件，例如，芯片。地图使用装置可以是车辆、地图服务器、或地图采集设备，或相应的设备中的部件，例如，芯片。地图生成装置按照如上述实施例任一项所述的地图生成方法生成地图后发送给地图使用装置，地图使用装置按照如上述实施例任一项所述的地图使用方法，根据所述地图，进行地图更新操作，或者对所述位置信息进行显示或者辅助驾驶决策。
本申请提供一种芯片，该芯片可以包括处理器和接口，处理器用于通过接口读取指令，以执行如上述实施例任一项可能的地图生成方法，或执行如上述实施例任一项可能的地图使用方法。
上述实施例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。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述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。所述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，所述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。所述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。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，高密度数字视频光盘(digital video disc，DVD))、或者半导体介质(例如，固态硬盘(solid state drive，SSD))等。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (59)

  1. 一种地图生成方法，其特征在于，包括：
    生成地图，所述地图包括：第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式；
    发送所述地图。
  2. 如权利要求1所述的方法，其特征在于，所述地图还包括：
    所述位置信息包括第一位置信息和第二位置信息，所述位置参考信息包括第一位置参考信息和第二位置参考信息，其中，所述第一位置参考信息用于指示所述第一位置信息所基于的第一位置参考方式，所述第二位置参考信息用于指示所述第二位置信息所基于的第二位置参考方式，所述第二位置信息不同于所述第一位置信息，所述第二位置参考方式不同于所述第一位置参考方式。
  3. 如权利要求1或2所述的方法，其特征在于，所述位置参考方式包括参考坐标系的类型、参考点的类型和参考线的类型中的至少一项。
  4. 如权利要求3所述的方法，其特征在于，所述参考坐标系的类型包括：ENU直角坐标系和沿参考线坐标系中的至少一项。
  5. 如权利要求3或4所述的方法，其特征在于，所述参考点的类型包括以下多种类型中的至少一项：
    道路中心线的起点；
    道路边缘线的起点；
    车道组起始线的中点；
    车道中心线的起点；和
    车道边缘线的起点。
  6. 如权利要求3-5任一项所述的方法，其特征在于，所述参考线的类型包括以下多种类型的至少一项：
    道路的中心线；
    道路的边缘线；
    车道的中心线；和
    车道的边缘线。
  7. 如权利要求1-6任一项所述的方法，其特征在于，所述地图还包括：
    第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的位置参考方式。
  8. 一种地图使用方法，其特征在于，包括：
    接收地图；所述地图包括：第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式；
    根据所述地图，进行地图更新操作，或者对所述位置信息进行显示，或者辅助驾驶决策。
  9. 如权利要求8所述的方法，其特征在于，所述地图还包括：
    所述位置信息包括第一位置信息和第二位置信息，所述位置参考信息包括第一位置参考信息和第二位置参考信息，其中，所述第一位置参考信息用于指示所述第一位置信息所基于的第一位置参考方式，所述第二位置参考信息用于指示所述第二位置信息所基于的第二位置参考方式，所述第二位置信息不同于所述第一位置信息，所述第二位置参考方式不同于所述第一位置参考方式。
  10. 如权利要求8或9所述的方法，其特征在于，所述位置参考方式包括参考坐标系的类型、参考点的类型和参考线的类型中的至少一项。
  11. 如权利要求10所述的方法，其特征在于，所述参考坐标系的类型包括：ENU直角坐标系和沿参考线坐标系中的至少一项。
  12. 如权利要求10或11所述的方法，其特征在于，所述参考点的类型包括以下多种类型中的至少一项：
    道路中心线的起点；
    道路边缘线的起点；
    车道组起始线的中点；
    车道中心线的起点；和
    车道边缘线的起点。
  13. 如权利要求10-12任一项所述的方法，其特征在于，所述参考线的类型包括以下多种类型的至少一项：
    道路的中心线；
    道路的边缘线；
    车道的中心线；和
    车道的边缘线。
  14. 如权利要求8-13任一项所述的方法，其特征在于，所述地图还包括：
    第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的所述位置参考方式。
  15. 如权利要求9-14任一项所述的方法，其特征在于，所述对所述位置信息进行显示，包括：
    响应于请求消息，将显示所述第一位置信息改变为显示所述第二位置信息；
    其中，所述显示所述第一位置信息为基于所述第一位置参考信息所指示的所述第一位置参考方式对所述第一位置信息进行显示，所述显示所述第二位置信息为基于所述第二位置参考信息所指示的所述第二位置参考方式对所述第二位置信息进行显示。
  16. 如权利要求9-14任一项所述的方法，其特征在于，所述根据所述地图对所述位置信息进行显示，包括：
    在所述第一事件与车辆之间的距离满足预设条件时，将显示所述第一位置信息改变为显示所述第二位置信息；
    其中，所述显示所述第一位置信息为基于所述第一位置参考信息所指示的所述第一位置参考方式对所述第一位置信息进行显示，所述显示所述第二位置信息为基于所述第二位置参考信息所指示的所述第二位置参考方式对所述第二位置信息进行显示。
  17. 如权利要求16所述的方法，其特征在于，所述第一事件在所述车辆被规划的行驶 路径上。
  18. 如权利要求9-14任一项所述的方法，其特征在于，所述根据所述地图辅助驾驶决策，包括：
    在所述第一事件与车辆之间的距离满足预设条件时，将根据所述第一位置信息辅助驾驶决策改变为根据所述第二位置信息辅助驾驶决策。
  19. 如权利要求18所述的方法，其特征在于，所述第一事件在所述车辆被规划的行驶路径上。
  20. 如权利要求9-14任一项所述的方法，其特征在于，所述对所述位置信息进行显示，包括：
    根据所述第一事件的属性、发生的时间或者位置，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指示的所述第一位置参考方式。
  21. 如权利要求9-14任一项所述的方法，其特征在于，所述对所述位置信息进行显示，包括：
    根据所述进行显示的设备的权限，或者使用所述设备的用户的权限，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指示的所述第一位置参考方式。
  22. 如权利要求8-14任一项所述的方法，其特征在于，在所述进行地图更新操作之后，所述方法还包括：
    根据所述位置参考信息确定所述位置信息的精度高于当前显示所述第一事件的位置所基于的精度；
    基于所述位置参考信息所指示的所述位置参考方式显示所述第一事件的位置。
  23. 一种地图生成装置，其特征在于，包括处理器和存储器，所述存储器存储计算机程序，所述处理器运行所述计算机程序以实现如上述权利要求1至7任一项所述的方法。
  24. 一种地图使用装置，其特征在于，包括处理器和存储器，所述存储器存储计算机程序，所述处理器运行所述计算机程序以实现如上述权利要求8至22任一项所述的方法。
  25. 一种地图生成装置，其特征在于，包括
    生成模块，用于生成地图，所述地图包括：第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式；
    发送模块，用于发送所述地图。
  26. 如权利要求25所述的装置，其特征在于，所述地图还包括：
    所述位置信息包括第一位置信息和第二位置信息，所述位置参考信息包括第一位置参考信息和第二位置参考信息，其中，所述第一位置参考信息用于指示所述第一位置信息所基于的第一位置参考方式，所述第二位置参考信息用于指示所述第二位置信息所基于的第二位置参考方式，所述第二位置信息不同于所述第一位置信息，所述第二位置参考方式不同于所述第一位置参考方式。
  27. 如权利要求25或26所述的装置，其特征在于，所述位置参考方式包括参考坐标系的类型、参考点的类型和参考线的类型中的至少一项。
  28. 如权利要求27所述的装置，其特征在于，所述参考坐标系的类型包括：ENU直角坐标系和沿参考线坐标系中的至少一项。
  29. 如权利要求27或28所述的装置，其特征在于，所述参考点的类型包括以下多种类型中的至少一项：
    道路中心线的起点；
    道路边缘线的起点；
    车道组起始线的中点；
    车道中心线的起点；和
    车道边缘线的起点。
  30. 如权利要求27-29任一项所述的装置，其特征在于，所述参考线的类型包括以下多种类型的至少一项：
    道路的中心线；
    道路的边缘线；
    车道的中心线；和
    车道的边缘线。
  31. 如权利要求25-30任一项所述的装置，其特征在于，所述地图还包括：
    第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的位置参考方式。
  32. 一种地图使用装置，其特征在于，包括：
    接收模块，用于接收地图；所述地图包括：第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式；
    地图更新模块，用于根据所述地图，进行地图更新操作；
    或者，显示模块，用于根据所述地图对所述位置信息进行显示；
    或者辅助驾驶决策模块，用于根据所述地图，辅助驾驶决策。
  33. 如权利要求32所述的装置，其特征在于，所述地图还包括：
    所述位置信息包括第一位置信息和第二位置信息，所述位置参考信息包括第一位置参考信息和第二位置参考信息，其中，所述第一位置参考信息用于指示所述第一位置信息所基于的第一位置参考方式，所述第二位置参考信息用于指示所述第二位置信息所基于的第二位置参考方式，所述第二位置信息不同于所述第一位置信息，所述第二位置参考方式不同于所述第一位置参考方式。
  34. 如权利要求32或33所述的装置，其特征在于，所述位置参考方式包括参考坐标系的类型、参考点的类型和参考线的类型中的至少一项。
  35. 如权利要求34所述的装置，其特征在于，所述参考坐标系的类型包括：ENU直角坐标系和沿参考线坐标系中的至少一项。
  36. 如权利要求34或35所述的装置，其特征在于，所述参考点的类型包括以下多种类型中的至少一项：
    道路中心线的起点；
    道路边缘线的起点；
    车道组起始线的中点；
    车道中心线的起点；和
    车道边缘线的起点。
  37. 如权利要求34-36任一项所述的装置，其特征在于，所述参考线的类型包括以下多种类型的至少一项：
    道路的中心线；
    道路的边缘线；
    车道的中心线；和
    车道的边缘线。
  38. 如权利要求32-37任一项所述的装置，其特征在于，所述地图还包括：
    第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的所述位置参考方式。
  39. 如权利要求33-38任一项所述的装置，其特征在于，所述显示模块在对所述位置信息进行显示时，具体用于：
    响应于请求消息，将显示所述第一位置信息改变为显示所述第二位置信息；
    其中，所述显示所述第一位置信息为基于所述第一位置参考信息所指示的所述第一位置参考方式对所述第一位置信息进行显示，所述显示所述第二位置信息为基于所述第二位置参考信息所指示的所述第二位置参考方式对所述第二位置信息进行显示。
  40. 如权利要求33-38任一项所述的装置，其特征在于，所述显示模块在根据所述地图对所述位置信息进行显示时，具体用于：
    在所述第一事件与车辆之间的距离满足预设条件时，将显示所述第一位置信息改变为显示所述第二位置信息；
    其中，所述显示所述第一位置信息为基于所述第一位置参考信息所指示的所述第一位置参考方式对所述第一位置信息进行显示，所述显示所述第二位置信息为基于所述第二位置参考信息所指示的所述第二位置参考方式对所述第二位置信息进行显示。
  41. 如权利要求40所述的装置，其特征在于，所述第一事件在所述车辆被规划的行驶路径上。
  42. 如权利要求33-38任一项所述的装置，其特征在于，所述辅助驾驶决策模块在根据所述地图辅助驾驶决策时，具体用于：
    在所述第一事件与车辆之间的距离满足预设条件时，将根据所述第一位置信息辅助驾驶决策改变为根据所述第二位置信息辅助驾驶决策。
  43. 如权利要求42所述的装置，其特征在于，所述第一事件在所述车辆被规划的行驶路径上。
  44. 如权利要求33-38任一项所述的装置，其特征在于，所述显示模块在对所述位置信息进行显示时，具体用于：
    根据所述第一事件的属性、发生的时间或者位置，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指示的所述第一位置参考方式。
  45. 如权利要求33-38任一项所述的装置，其特征在于，所述显示模块在对所述位置信息进行显示时，具体用于：
    根据所述进行显示的设备的权限，或者使用所述设备的用户的权限，从所述第一位置信息和所述第二位置信息中选择第一位置信息进行显示，且所述显示基于所述第一位置参考信息所指示的所述第一位置参考方式。
  46. 如权利要求32-38任一项所述的装置，其特征在于，在所述地图更新模块进行地图更新操作之后，所述显示模块还用于：
    根据所述位置参考信息确定所述位置信息的精度高于当前显示所述第一事件的位置所基于的精度；
    基于所述位置参考信息所指示的所述位置参考方式显示所述第一事件的位置。
  47. 一种车辆，其特征在于，包括如权利要求24或32至46任一项所述的地图使用装置。
  48. 一种系统，其特征在于，包括地图生成装置和地图使用装置，所述地图生成装置用于执行权利要求1至7任一项所述的方法，所述地图使用装置用于执行权利要求8至22任一项所述的方法。
  49. 一种地图，其特征在于，包括第一事件的位置信息和所述第一事件的位置参考信息，所述位置信息用于指示所述的第一事件发生的位置，所述位置参考信息用于指示所述位置信息所基于的位置参考方式。
  50. 如权利要求49所述的地图，其特征在于，所述地图还包括：所述位置信息包括第一位置信息和第二位置信息，所述位置参考信息包括第一位置参考信息和第二位置参考信息，其中，所述第一位置参考信息用于指示所述第一位置信息所基于的第一位置参考方式，所述第二位置参考信息用于指示所述第二位置信息所基于的第二位置参考方式，所述第二位置信息不同于所述第一位置信息，所述第二位置参考方式不同于所述第一位置参考方式。
  51. 如权利要求49或50所述的地图，其特征在于，所述位置参考方式包括参考坐标系的类型、参考点的类型和参考线的类型中的至少一项。
  52. 如权利要求51所述的地图，其特征在于，所述参考坐标系的类型包括：ENU直角坐标系和沿参考线坐标系中的至少一项。
  53. 如权利要求51或52所述的地图，其特征在于，所述参考点的类型包括以下多种类型的至少一项：
    道路中心线的起点；
    道路边缘线的起点；
    车道组起始线的中点；
    车道中心线的起点；
    和车道边缘线的起点。
  54. 如权利要求51-53任一项所述的地图，其特征在于，所述参考线的类型包括以下多种类型的至少一项：
    道路的中心线；
    道路的边缘线；
    车道的中心线；
    和车道的边缘线。
  55. 如权利要求49-54任一项所述的地图，其特征在于，第二事件的第三位置信息和事件关联性指示信息，所述事件关联性指示信息用于指示所述第三位置信息基于所述位置参考信息所指示的位置参考方式。
  56. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，当所述计算机程序被运行时，实现如上述权利要求1至7任一项所述的方法、或实现如上述权利要求8至22任一项所述的方法。
  57. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有如权利要求49至55任一项所述的地图。
  58. 一种计算机程序产品，其特征在于，所述计算机程序产品包括计算机程序，当所述计算机程序被运行时，实现如上述权利要求1至7任一项所述的方法、或实现如上述权利要求8至22任一项所述的方法。
  59. 一种芯片，其特征在于，所述芯片包括处理器和接口，所述处理器用于通过所述接口读取指令，实现如上述权利要求1至7任一项所述的方法、或实现如上述权利要求8至22任一项所述的方法。
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