A cooperative vehicle-infrastructure system, comprising:
- a road side facility;
- a plurality of on-road vehicles;
- and
- at least one map server corresponding to the plurality of on-road vehicles, wherein the road side facility includes a road side map processor deployed adjacent to the road side facility that is configured to load peripheral road network information of the road side facility, the road side map processor converting absolute elevation information of a plurality of roads around the road side facility into road side map-based relative elevation representations according to the peripheral road network information of the road side facility, the road side map-based relative elevation representation being used for describing a spatial location relationship between the plurality of roads around the road side facility, wherein the road side map processor is configured to perform perception positioning of a traffic object by detecting the traffic object using a camera or radar module and, after the detecting, converting an absolute elevation of the traffic object to a road side map-based relative elevation representation according to the peripheral road network information of the road side facility, wherein the traffic object is different from the plurality of on-road vehicles;
- the plurality of vehicles each comprising a map processor that is configured to load the peripheral road network information of the plurality of vehicles, the map processors converting absolute elevation information of a plurality of roads around the vehicle into the map-based relative elevation representations according to the peripheral road network information of the vehicle, the map-based relative elevation representation being used for describing a spatial location relationship between the plurality of roads around the vehicle;
- and
- the at least one map server communicating with the road side map processor and the map processors, updating and maintaining a conversion relationship between the road side map-based relative elevation representation and the map-based relative elevation representation of the same road, and synchronizing an updated conversion relationship to the map processors,
- wherein the plurality of roads around the road side facility are represented by directed road sections in the peripheral road network information of the road side facility, and
- wherein a road side elevation representation in the road side map processor is different than a road side elevation representation in an onboard processor of a vehicle from the plurality of vehicles for a same directed road section from the plurality of roads.