Deformation correction of a digital map for a vehicle

An apparatus for correcting deformation of a digital map for a vehicle moving from a first zone towards a second zone, the apparatus comprising:

• a processor;
• a memory coupled to the processor and storing instructions, when executed by the processor, configure the processor to implement:
• a loading unit configured to load a related part from the digital map, wherein
• the related part comprises all digital map information relating to a geographical area within a radius of M km from the vehicle;
• a determination unit configured to determine whether the related part includes road coordinate information in the first zone and/or road coordinate information in the second zone by checking a map description file of the digital map, wherein
• if it is determined that the related part only includes road coordinate information in the first zone:
• directly use road coordinate information in the first zone, wherein
• the road coordinate information in the first zone is associated with a first Cartesian coordinate system,
• an automatic driving system of the vehicle uses the first Cartesian coordinate system to process road coordinate information, and
• the road coordinate information in the second zone is associated with a second Cartesian coordinate system;
• if it is determined that the related part includes road coordinate information in the first zone and road coordinate information in the second zone associated with a second Cartesian coordinate system thus creating a distortion at an edge between the first zone and the second zone:
• transform the road coordinate information in the second zone to the first Cartesian coordinate system, and
• generate a corrected map by combining the road coordinate information in the first zone and the transformed road coordinate information in the second zone, wherein
• the automatic driving system of the vehicle uses the first Cartesian coordinate system to process road coordinate information;
• and
• if it is determined that the related part only includes road coordinate information in the second zone:
• convert back the transformed road coordinate information in the second zone to original road coordinate information, wherein
• the automatic driving system of the vehicle transitions to use the second Cartesian coordinate system to process localization and trajectory planning.

An apparatus for correcting deformation of a digital map for a vehicle located in a second zone and moving back toward a first zone, the apparatus comprising:

• a processor;
• a memory coupled to the processor and storing instructions, when executed by the processor, configure the processor to implement:
• a loading unit configured to load a related part from the digital map, wherein
• the related part comprises all digital map information relating to a geographical area within a radius of M km from the vehicle;
• a determination unit configured to determine whether the related part includes road coordinate information in the first zone and/or road coordinate information in the second zone by checking a map description file of the digital map, wherein
• if it is determined that the related part only includes road coordinate information in the first zone:
• directly use road coordinate information in the first zone, wherein
• the road coordinate information in the first zone is associated with a first Cartesian coordinate system,
• an automatic driving system of the vehicle uses the first Cartesian coordinate system to process road coordinate information, and
• the road coordinate information in the second zone is associated with a second Cartesian coordinate system;
• if it is determined that the related part includes road coordinate information in the first zone and road coordinate information in the second zone associated with a second Cartesian coordinate system thus creating a distortion at an edge between the first zone and the second zone:
• transform the road coordinate information in the second zone to the first Cartesian coordinate system, and
• generate a corrected digital map by combining the road coordinate information in the first zone and the transformed road coordinate information in the second zone, wherein
• the automatic driving system of the vehicle uses the first Cartesian coordinate system to process road coordinate information;
• and
• during movement of the vehicle from the first zone toward the second zone, if it is determined that the related part only includes road coordinate information in the second zone:
• convert back the transformed road coordinate information in the second zone to original road coordinate information, wherein
• the automatic driving system of the vehicle transitions to use the second Cartesian coordinate system to process localization and trajectory planning.