Map construction method and device, vehicle, storage medium and computer program product

The invention relates to the technical field of auxiliary driving, in particular to a map construction method and device, a vehicle, a storage medium and a computer program product, and the method comprises the steps: obtaining image features around the vehicle and point cloud features sensed by a laser radar; converting the image feature by using depth information of the point cloud feature to obtain a first BEV feature, and optimizing the point cloud feature based on the image feature; fusing the first BEV feature and the optimized point cloud feature to obtain a second BEV feature, and generating a semantic map according to the second BEV feature and the time sequence BEV feature; and identifying the semantic map to obtain one or more map elements, and constructing map information according to the map elements. Therefore, the problems that in the prior art, only sensor data at the current moment is used for constructing an online map, the method is not suitable for complex environment scenes, and the accur