Patent ID: 11933627
Assignee: HUAWEI TECHNOLOGIES CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 14:
15. A computer program product comprising computer-executable instructions for storage on a non-transitory computer-readable medium that, when executed by one or more processors, cause an apparatus to:
determine that a key node exists in plurality of frames when a lane width change continuously occurs in N consecutive frames of the plurality of frames, wherein N is greater than a first predefined threshold;
determine the key node describing information of a key position of a lane attribute change, wherein a type of the key node comprises a lane change point;
determine a geographic coordinate of the key node, wherein the geographic coordinate is a is a point coordinate value of the key node in a coordinate system of a Global Positioning System (GPS);
determine a key node layer based on the geographic coordinate of the key node and an attribute of the key node;
determine a virtual lane line layer based on the key node layer;
build a high-definition map comprising lane-level navigation information based on a navigation map, the key node layer and the virtual lane line layer, wherein the navigation map comprises road-level navigation information, and wherein the high-definition map is used to provide lane-level navigation information; and
navigate a vehicle based on the high-definition map, wherein the navigating comprises causing the apparatus to:
determine, based on the high-definition map, a current key node that has a mapping relationship with a road on which the vehicle currently travels, and travel based on the current key node and a route planning intention;
wherein the current key node comprises a first key node, determine a projected point from the first key node to the road and traveling along a road route based on a distance between a traveling position of the vehicle and the projected point and further based on the road-level navigation information in the navigation map;
wherein the current key node further comprises a second key node, change a lane based on the route planning intention when the traveling position reaches the projected point and travel based on a distance between the traveling position and the second key node; and
wherein the current key node further comprises a third key node, identify that the traveling position reaches the second key node and passing through, in response to the identifying and based on the route planning intention and a virtual lane line, an intersection, wherein the virtual lane line is based on the second key node and the third key node.