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

Claim 8:
9. A vehicle comprising:
a memory configured to store programming instructions;
a camera configured to obtain a plurality of frames; and
one or more processors coupled to the memory and the camera, wherein when executed by the one or more processors, the programming instructions cause the vehicle to be configured to:
determine that a key node exists in the 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 the vehicle based on the high-definition map, wherein the navigating comprises:
determining, 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 traveling based on the current key node and a route planning intention;
wherein the current key node comprises a first key node, determining 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, changing a lane based on the route planning intention when the traveling position reaches the projected point and traveling 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, identifying 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.