CN110588665A - Method, device and system for checking automatic driving infrastructure - Google Patents
Method, device and system for checking automatic driving infrastructure Download PDFInfo
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- CN110588665A CN110588665A CN201910924774.6A CN201910924774A CN110588665A CN 110588665 A CN110588665 A CN 110588665A CN 201910924774 A CN201910924774 A CN 201910924774A CN 110588665 A CN110588665 A CN 110588665A
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- 238000012423 maintenance Methods 0.000 claims abstract description 45
- 230000008859 change Effects 0.000 claims abstract description 36
- 230000008569 process Effects 0.000 claims abstract description 24
- 238000007689 inspection Methods 0.000 claims description 42
- 238000005516 engineering process Methods 0.000 claims description 8
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/0083—Setting, resetting, calibration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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Abstract
The invention discloses a method, a device and a system for checking an automatic driving infrastructure, wherein a car domain controller acquires vehicle driving environment information acquired by a vehicle-mounted sensor in the running process of an automatic driving vehicle, the vehicle driving environment information comprises the automatic driving infrastructure information and vehicle positioning information sent by a vehicle positioning module, a target position corresponding to the vehicle positioning information is searched in a high-precision map, a target high-precision map containing the target position is determined in the high-precision map, whether the automatic driving infrastructure changes or not is determined by comparing the acquired automatic driving infrastructure information with standard automatic driving infrastructure contained in the target high-precision map, and when the automatic driving infrastructure changes and the standard automatic driving infrastructure do not accord with each other, the automatic driving infrastructure is determined to change and prompt information is output so as to prompt related technicians to take corresponding measures, maintenance and service of the autonomous driving infrastructure.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a method, a device and a system for checking an automatic driving infrastructure.
Background
With the rapid development of information and control technologies, the automatic driving technology is gradually accepted by automobile manufacturers and users. The automatic driving can not only minimize the driving risk of the automobile, but also reduce the heavy driving task of the user, so the automatic driving is a great trend of the future automobile development.
Currently, the automatic driving infrastructure, such as roads, lane lines, guardrails, lamp posts, signboards and other road related facilities supporting automatic driving, is only in a new building state in the demonstration area, and therefore, there is no method for inspecting the automatic driving infrastructure so as to maintain the automatic driving infrastructure.
Disclosure of Invention
In view of the above, the present invention discloses an automated driving infrastructure checking method, apparatus, and system to determine whether an automated driving infrastructure has changed by comparing automated driving infrastructure information included in vehicle driving environment information with standard automated driving infrastructures included in a target high-precision map, and to determine that the automated driving infrastructure has changed when there is inconsistent information between the two automated driving infrastructures. At the moment, prompt information of the change of the automatic driving infrastructure is output so as to remind relevant technicians of taking corresponding measures to maintain and maintain the automatic driving infrastructure, thereby filling the technical blank that the automatic driving infrastructure is not checked at present.
An automatic driving infrastructure inspection method is applied to an automobile domain controller, the automobile domain controller is respectively connected with an on-board sensor and a vehicle positioning module, and the inspection method comprises the following steps:
the method comprises the steps of obtaining vehicle running environment information in the running process of the automatic driving vehicle collected by a vehicle-mounted sensor and vehicle positioning information sent by a vehicle positioning module, wherein the vehicle running environment information comprises: autodrive infrastructure information;
searching a target position corresponding to the vehicle positioning information from a pre-stored high-precision map;
determining a target high-precision map covered by an area with a preset distance from the target position in the high-precision map;
comparing the collected automatic driving infrastructure information with standard automatic driving infrastructure information in the target high-precision map;
and when the collected automatic driving infrastructure information is inconsistent with the standard automatic driving infrastructure information, outputting prompt information of automatic driving infrastructure change.
Optionally, the information of the automatic driving infrastructure includes: lane lines, ground signs, roadside signs, traffic signs, curbs, and guardrails.
Optionally, the checking method further includes:
and acquiring a map updating instruction, and updating the high-precision map into the latest version according to the map updating instruction.
An automatic driving infrastructure inspection device is applied to a car domain controller, the car domain controller is respectively connected with a vehicle-mounted sensor and a vehicle positioning module, and the inspection device comprises:
the acquisition unit is used for acquiring vehicle running environment information acquired by the vehicle-mounted sensor in the running process of the automatic driving vehicle and vehicle positioning information sent by the vehicle positioning module, wherein the vehicle running environment information comprises: autodrive infrastructure information;
the searching unit is used for searching a target position corresponding to the vehicle positioning information from a pre-stored high-precision map;
the determining unit is used for determining a target high-precision map covered by an area with a preset distance away from the target position in the high-precision map;
a comparison unit for comparing the collected automatic driving infrastructure information with standard automatic driving infrastructure information in the target high-precision map;
and the output unit is used for outputting prompt information of automatic driving infrastructure change when the collected automatic driving infrastructure information is inconsistent with the standard automatic driving infrastructure information.
Optionally, the method further includes:
and the updating unit is used for acquiring a map updating instruction and updating the high-precision map into the latest version according to the map updating instruction.
An automated driving infrastructure inspection system, comprising: an on-board sensor, a vehicle location module and a car domain controller, said car domain controller comprising the automated driving infrastructure inspection apparatus of claim 3;
the vehicle-mounted sensor is connected with the automobile domain controller, and is used for collecting vehicle running environment information in the running process of an automatic driving vehicle and sending the vehicle running environment information to the automobile domain controller, wherein the vehicle running environment information comprises: autodrive infrastructure information;
the vehicle positioning module is connected with the automobile domain controller and used for positioning an automatic driving vehicle and sending vehicle positioning information to the automobile domain controller.
Optionally, the vehicle-mounted sensor includes: cameras, millimeter wave radar, and laser radar.
Optionally, the vehicle positioning module comprises: the system comprises a global navigation satellite system, an inertia measurement unit and a milemeter.
Optionally, the method further includes: the system comprises a network controller and a background operation and maintenance management platform;
the internet controller is respectively connected with the automobile domain controller and the background operation and maintenance management platform, and is used for acquiring the vehicle running environment information and the vehicle positioning information which are output by the automobile domain controller when the change of the automatic driving infrastructure is determined, and sending the vehicle running environment information and the vehicle positioning information to the background operation and maintenance management platform;
the background operation and maintenance management platform is used for receiving the vehicle running environment information and the vehicle positioning information, identifying and obtaining automatic driving infrastructure information by adopting an artificial intelligence technology based on the vehicle running environment information and the vehicle positioning information, determining a change parameter of the automatic driving infrastructure according to a preset judgment standard by using the identified automatic driving infrastructure information and pre-stored automatic driving infrastructure information, outputting maintenance early warning information when the change parameter has a parameter meeting a maintenance standard, updating a stored high-precision map when a newly added parameter or an updated parameter exists in the change parameter, and updating the stored high-precision map in the automobile domain controller.
From the above technical solutions, the present invention discloses an automatic driving infrastructure inspection method, device and system, wherein the inspection system comprises: the system comprises a vehicle-mounted sensor, a vehicle positioning module and a vehicle domain controller, wherein the vehicle domain controller acquires the information of the vehicle in the running process of an automatic driving vehicle, the vehicle running environment information collected by the vehicle-mounted sensor comprises the automatic driving infrastructure information and the vehicle positioning information sent by the vehicle positioning module, then, in the high-precision map, the target position corresponding to the vehicle positioning information is searched, and in the high-precision map, the target high-precision map containing the target position is determined, determining whether the automated driving infrastructure is changed by comparing automated driving infrastructure information included in the vehicle driving environment information with standard automated driving infrastructure included in the target high-precision map, and determining that the autonomous driving infrastructure is changed when there is inconsistent information for the two autonomous driving infrastructures. At the moment, prompt information of the change of the automatic driving infrastructure is output so as to remind relevant technicians of taking corresponding measures to maintain and maintain the automatic driving infrastructure, thereby filling the technical blank that the automatic driving infrastructure is not checked at present.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the disclosed drawings without creative efforts.
FIG. 1 is a schematic diagram of an embodiment of an automated driving infrastructure inspection system;
FIG. 2 is a schematic diagram of another exemplary embodiment of an automated driving infrastructure inspection system;
FIG. 3 is a flowchart of an automated driving infrastructure inspection method disclosed in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic driving infrastructure inspection device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a method, a device and a system for checking an automatic driving infrastructure, wherein the checking system comprises the following steps: the system comprises a vehicle-mounted sensor, a vehicle positioning module and a vehicle domain controller, wherein the vehicle domain controller acquires the information of the vehicle in the running process of an automatic driving vehicle, vehicle running environment information collected by the vehicle-mounted sensors, including the automatic driving infrastructure information, and vehicle positioning information sent by the vehicle positioning module 20, then, in the high-precision map, the target position corresponding to the vehicle positioning information is searched, and in the high-precision map, the target high-precision map containing the target position is determined, determining whether the automated driving infrastructure is changed by comparing automated driving infrastructure information included in the vehicle driving environment information with standard automated driving infrastructure included in the target high-precision map, and determining that the autonomous driving infrastructure is changed when there is inconsistent information for the two autonomous driving infrastructures. At the moment, prompt information of the change of the automatic driving infrastructure is output so as to remind relevant technicians of taking corresponding measures to maintain and maintain the automatic driving infrastructure, thereby filling the technical blank that the automatic driving infrastructure is not checked at present.
Referring to fig. 1, a schematic structural diagram of an automated driving infrastructure inspection system according to an embodiment of the present invention is disclosed, and the inspection system includes: the vehicle-mounted sensor 10, the vehicle positioning module 20 and the automobile domain controller 30;
wherein:
the vehicle-mounted sensor 10 is connected to the car domain controller 30, and the vehicle-mounted sensor 10 is configured to collect vehicle running environment information during running of the autonomous vehicle and send the vehicle running environment information to the car domain controller 30.
It should be noted that the in-vehicle sensor 10 may specifically include: cameras, millimeter wave radar, laser radar, and the like.
The vehicle running environment information includes: static information and dynamic information.
The static information, that is, the information of the automatic driving infrastructure, specifically includes: lane lines, ground signs, roadside signs, traffic signs, curbs, guardrails, and the like.
The dynamic information includes: vehicles and pedestrians, etc.
The vehicle positioning module 20 is connected to the car domain controller 30, and the vehicle positioning module 20 is configured to position an autonomous vehicle and send vehicle positioning information to the car domain controller 30.
It should be noted that the vehicle positioning module 20 specifically includes: GNSS (global navigation Satellite System), IMU (Inertial measurement unit), odometer, and the like, wherein the odometer includes a wheel speed odometer, a laser radar odometer, a visual odometer, and the like.
The car domain controller 30 is configured to search a target position corresponding to the vehicle positioning information from a pre-stored high-precision map, determine a target high-precision map covered by an area having a preset distance from the target position in the high-precision map, compare the autopilot infrastructure information in the vehicle driving environment information with the standard autopilot infrastructure information in the target high-precision map, and output prompt information of the change of the autopilot infrastructure when the two pieces of information are inconsistent.
The domain controller is that in a 'domain' mode, at least one server is responsible for the verification work of each computer connected to the network and a user, and is called as a 'domain controller' like a unit entrance guard.
In this embodiment, the controller for checking and determining the automated driving infrastructure is the car zone controller 30.
It should be noted that the vehicle driving environment information and the static information for comparison in the high-precision map include, but are not limited to, lane lines, ground marks, roadside marks, traffic marks, road edges, guard rails, and the like. Criteria that may be used for comparison include, but are not limited to, presence, volume, shape, color, and the like.
Wherein, the high-accuracy map of target includes: lane lines, ground marks, roadside marks, traffic marks, curbs, guardrails, and the like.
The value of the preset distance depends on actual requirements, for example, the distance from the target position is 1km or 100 m.
It should be noted that the high-precision map pre-stored in car domain controller 30 is obtained when the new construction of the automated driving infrastructure is completed, and is used as a standard for maintenance of the automated driving infrastructure.
When the automated driving infrastructure is changed, changed or re-upgraded to improve the automated driving function, vehicle stability or other reasons, the domain controller 30 needs to re-acquire the latest high-precision map. In practical application, the car domain controller 30 may update the high-precision map by upgrading the high-precision map.
In the present embodiment, the process of checking the automated driving infrastructure by the car domain controller 30 is performed based on the case where the in-vehicle sensor 10 is not faulty.
In summary, the present invention discloses an automated driving infrastructure inspection system, comprising: the vehicle-mounted sensor 10, the vehicle positioning module 20 and the car domain controller 30, the car domain controller 30 obtains the information of the vehicle position of the vehicle during the running process of the automatic driving vehicle, the in-vehicle sensor 10 collects vehicle driving environment information, which includes the automatic driving infrastructure information, and vehicle positioning information transmitted from the vehicle positioning module 20, then, in the high-precision map, the target position corresponding to the vehicle positioning information is searched, and in the high-precision map, the target high-precision map containing the target position is determined, determining whether the automated driving infrastructure is changed by comparing automated driving infrastructure information included in the vehicle driving environment information with standard automated driving infrastructure included in the target high-precision map, and determining that the autonomous driving infrastructure is changed when there is inconsistent information for the two autonomous driving infrastructures. At the moment, prompt information of the change of the automatic driving infrastructure is output so as to remind relevant technicians of taking corresponding measures to maintain and maintain the automatic driving infrastructure, thereby filling the technical blank that the automatic driving infrastructure is not checked at present.
It should be noted that the automated driving infrastructure inspection system provided by the present invention has more advantages for automated driving operation and maintenance in a fixed area, and the advantages include: convenient operation, convenient maintenance and the like, wherein fixed areas such as ports, parks, parking lots and the like.
In the above-described embodiment, the car domain controller 30 implements a preliminary check of the automated driving infrastructure by comparing the automated driving infrastructure information included in the collected vehicle running environment information with the standard automated driving infrastructure information in the target high-precision map. When the auto domain controller 30 determines that the auto-driving infrastructure is changed by comparing the collected auto-driving infrastructure information with the standard auto-driving infrastructure information, for example, the auto-driving infrastructure is newly constructed, the lane line is worn, the signboard is damaged, and the like, the present invention further checks and determines whether the auto-driving infrastructure needs to be maintained.
Referring to fig. 2, a schematic structural diagram of another automated driving infrastructure inspection system disclosed in an embodiment of the present invention is shown, and based on the embodiment shown in fig. 1, the inspection system may further include: the system comprises a network controller 40 and a background operation and maintenance management platform 50, wherein the background operation and maintenance management platform 50 may be a locally deployed server or a cloud deployed server.
The internet controller 40 is connected to the car domain controller 30 and the background operation and maintenance management platform 50, respectively, and the internet controller 40 is configured to obtain vehicle running environment information and vehicle positioning information of the automatic driving vehicle in the running process, which are output when the car domain controller 30 determines that the automatic driving infrastructure changes, and send the vehicle running environment information and the vehicle positioning information to the background operation and maintenance management platform 50.
Wherein the vehicle running environment information includes: static information and dynamic information.
The static information, that is, the information of the automatic driving infrastructure, specifically includes: lane lines, ground signs, roadside signs, traffic signs, curbs, guardrails, and the like.
The dynamic information includes: vehicles and pedestrians, etc.
In this embodiment, the networking controller 40 is used as a connection bridge between the car domain controller 30 and the background operation and maintenance management platform 50, and is mainly used for sending the vehicle running environment information and the vehicle positioning information output by the car domain controller 30 to the background operation and maintenance management platform 50.
The background operation and maintenance management platform 50 is configured to receive vehicle running environment information and vehicle positioning information, recognize, based on the vehicle running environment information and the vehicle positioning information, the automatic driving infrastructure information by using an artificial intelligence technology, determine a change parameter of the automatic driving infrastructure according to a preset judgment standard with the recognized automatic driving infrastructure information and pre-stored automatic driving infrastructure information, output maintenance early warning information when the change parameter includes a parameter meeting a maintenance standard, update a stored high-precision map when a new parameter or an updated parameter exists in the change parameter, and update the high-precision map stored in the car domain controller 30.
Specifically, the background operation and maintenance management platform 50 automatically identifies the automatic driving infrastructure information in the vehicle driving environment information, such as lane lines, ground marks, traffic marks, road edges, guardrails, and the like, by using an artificial intelligence technology, for example, end-to-end deep learning CNN (Convolutional Neural network), and includes: location, size, and color, etc. The background operation and maintenance management platform 50 determines the change parameters of the automatic driving infrastructure, such as 0.1m position change, 10% shape change, 10% wear, newly added infrastructure, lane line update, and the like, according to the preset judgment standard, by using the identified automatic driving infrastructure information and the pre-stored automatic driving infrastructure information. When parameters meeting the maintenance standard exist in the changed parameters, such as lane line abrasion and infrastructure damage/position movement, outputting maintenance early warning information so as to inform relevant management departments/personnel to maintain the infrastructure; when the new parameters or the updated parameters exist in the changed parameters, such as lane line update and infrastructure new, the high-precision map stored in the map is updated, and the high-precision map stored in the car domain controller 30 of the automatic driving car-mounted terminal can be automatically updated through Over-the-Air Technology (OTA).
In summary, the car domain controller 30 obtains the vehicle driving environment information collected by the vehicle-mounted sensor 10 during the operation of the autonomous vehicle, wherein the vehicle driving environment information includes the information of the autonomous driving infrastructure and the vehicle positioning information sent by the vehicle positioning module 20, then searches for a target position corresponding to the vehicle positioning information in the high-precision map, determines a target high-precision map containing the target position in the high-precision map, preliminarily determines whether the autonomous driving infrastructure is changed by comparing the collected information of the autonomous driving infrastructure with the standard autonomous driving infrastructure in the target high-precision map, and determines that the autonomous driving infrastructure is changed when there is inconsistent information in the two autonomous driving infrastructures. At this time, a prompt message of the change of the automated driving infrastructure is output. And when it is determined that the automatic driving infrastructure is changed, the vehicle running environment information and the vehicle positioning information in the running process of the automatic driving vehicle are obtained, the information is sent to the background operation and maintenance management platform 50 through the internet controller 40, the background operation and maintenance management platform 50 further determines the specific situation of the change of the automatic driving infrastructure, i.e., determining the changed parameters of the automatic driving infrastructure, and when the new parameters or the updated parameters exist in the changed parameters, updates the stored high-precision map, and updates the high-precision map stored in the car domain controller 30, when the parameters meeting the maintenance standard exist in the changed parameters, the maintenance early warning information is output so that relevant technicians can take corresponding measures, the method and the system maintain and maintain the automatic driving infrastructure, thereby filling up the technical blank that the automatic driving infrastructure is not checked at present.
Referring to fig. 3, an embodiment of the present invention discloses a flowchart of an inspection method for an automatic driving infrastructure, the inspection method is applied to a car domain controller in the inspection system, the car domain controller is respectively connected to a vehicle-mounted sensor and a vehicle positioning module, and the inspection method includes:
s101, acquiring vehicle running environment information acquired by a vehicle-mounted sensor in the running process of an automatic driving vehicle and vehicle positioning information sent by a vehicle positioning module;
the vehicle running environment information includes: static information and dynamic information.
The static information, that is, the information of the automatic driving infrastructure, specifically includes: lane lines, ground signs, roadside signs, traffic signs, curbs, guardrails, and the like.
The dynamic information includes: vehicles and pedestrians, etc.
Step S102, finding out a target position corresponding to vehicle positioning information from a pre-stored high-precision map;
in this embodiment, the car domain controller stores a high-precision map obtained when the new establishment of the autonomous driving infrastructure is completed, and after the autonomous driving vehicle is positioned, a target position corresponding to vehicle positioning information can be searched from the high-precision map.
S103, determining a target high-precision map covered by an area with a preset distance away from the target position in the high-precision map;
it can be understood that the information of the automatic driving infrastructure around the position of the vehicle is collected in real time during the driving process of the automatic driving vehicle, and after the target position corresponding to the vehicle positioning information is found from the high-precision map, the standard automatic driving infrastructure around the position of the vehicle, that is, the target high-precision map determined in the step, can be determined from the high-precision map.
Step S104, comparing the collected automatic driving infrastructure information with standard automatic driving infrastructure information in a target high-precision map;
specifically, the driving environment information of the vehicle is compared with the same object in the driving environment information of the target high-precision map, for example, the lane line, the ground mark, the roadside mark, the traffic mark, the road edge and the guardrail in the driving environment information of the vehicle are compared with the lane line, the ground mark, the roadside mark, the traffic mark, the road edge and the guardrail in the target high-precision map, respectively, and the comparison content includes, but is not limited to, presence, volume, shape, color, and the like.
And step S105, outputting prompt information of automatic driving infrastructure change when the collected automatic driving infrastructure information is inconsistent with the standard automatic driving infrastructure information.
Information that the collected autopilot infrastructure information is inconsistent with the standard autopilot infrastructure information, such as: the length of the lane lines of the two is different, the position of the road sign is different, and the like.
In summary, the invention discloses an automatic driving infrastructure checking method, which includes acquiring vehicle driving environment information acquired by a vehicle-mounted sensor in the running process of an automatic driving vehicle, wherein the vehicle driving environment information comprises the automatic driving infrastructure information and vehicle positioning information sent by a vehicle positioning module, searching a target position corresponding to the vehicle positioning information in a high-precision map, determining a target high-precision map containing the target position in the high-precision map, comparing standard automatic driving infrastructures contained in the target high-precision map with the acquired automatic driving infrastructure information, determining whether the automatic driving infrastructures are changed, and determining that the automatic driving infrastructures are changed when inconsistent information exists between the two automatic driving infrastructures. At the moment, prompt information of the change of the automatic driving infrastructure is output so as to remind relevant technicians of taking corresponding measures to maintain and maintain the automatic driving infrastructure, thereby filling the technical blank that the automatic driving infrastructure is not checked at present.
To further optimize the above embodiment, the automated driving infrastructure inspection method may further include:
and acquiring a map updating instruction, and updating the high-precision map into the latest version according to the map updating instruction.
It should be noted that the high-precision map pre-stored in the car domain controller is obtained when the new construction of the automatic driving infrastructure is completed, and is used as a standard for maintenance of the automatic driving infrastructure. When the autonomous driving infrastructure is changed, changed or re-upgraded in order to improve the autonomous driving function, vehicle stability or other reasons, the car domain controller needs to re-acquire the latest high-precision map. In this embodiment, when the high-precision map needs to be updated, the car domain controller receives a map update instruction, and updates the high-precision map to the latest version according to the map update instruction.
Specifically, the automobile domain controller can obtain the latest version of the high-precision map from the cloud database after receiving the map updating instruction.
To further optimize the above embodiment, the automated driving infrastructure inspection method may further include:
when the change of the automatic driving infrastructure is determined, the vehicle running environment information and the vehicle positioning information in the running process of the automatic driving vehicle are sent to the background operation and maintenance management platform through the internet controller, and the background operation and maintenance management platform further determines the position of the change of the automatic driving infrastructure based on the vehicle running environment information and the vehicle positioning information.
Specifically, the background operation and maintenance management platform is used for receiving vehicle running environment information and vehicle positioning information, recognizing automatic driving infrastructure information by adopting an artificial intelligence technology, determining change parameters of the automatic driving infrastructure according to the recognized automatic driving infrastructure information and pre-stored automatic driving infrastructure information according to a preset judgment standard, outputting maintenance early warning information when the change parameters include parameters meeting the maintenance standard, updating a stored high-precision map when new parameters or updated parameters exist in the change parameters, and updating the high-precision map stored in the automobile domain controller.
In summary, the vehicle-mounted sensor collects vehicle driving environment information including automatic driving infrastructure information and vehicle positioning information sent by the vehicle positioning module, then searches a target position corresponding to the vehicle positioning information in a high-precision map, determines a target high-precision map including the target position in the high-precision map, preliminarily determines whether the automatic driving infrastructure changes by comparing standard automatic driving infrastructures included in the target high-precision map with the automatic driving infrastructure information included in the vehicle driving environment information, and determines that the automatic driving infrastructure changes when inconsistent information exists between the two automatic driving infrastructures. At this time, a prompt message of the change of the automated driving infrastructure is output. And when it is determined that the automatic driving infrastructure is changed, the vehicle running environment information and the vehicle positioning information in the running process of the automatic driving vehicle are obtained, the information is sent to a background operation and maintenance management platform through the internet controller, the background operation and maintenance management platform further determines the position of the automatic driving infrastructure which changes, i.e., determining the changed parameters of the automatic driving infrastructure, and when the new parameters or the updated parameters exist in the changed parameters, updates the stored high-precision map, and updates the high-precision map stored in the car domain controller 30, when the parameters meeting the maintenance standard exist in the changed parameters, the maintenance early warning information is output so that relevant technicians can take corresponding measures, the method and the system maintain and maintain the automatic driving infrastructure, thereby filling up the technical blank that the automatic driving infrastructure is not checked at present.
Corresponding to the embodiment of the method, the invention also discloses an automatic driving infrastructure checking device.
Referring to fig. 4, a schematic structural diagram of an inspection apparatus for an automatic driving infrastructure according to an embodiment of the present invention is disclosed, the inspection apparatus is applied to a car zone controller in the inspection system, the car zone controller is respectively connected to a vehicle-mounted sensor and a vehicle positioning module, and the inspection apparatus includes:
the acquiring unit 201 is used for acquiring vehicle running environment information acquired by a vehicle-mounted sensor in the running process of the automatic driving vehicle and vehicle positioning information sent by a vehicle positioning module;
the vehicle running environment information includes: static information and dynamic information.
The static information, that is, the information of the automatic driving infrastructure, specifically includes: lane lines, ground signs, roadside signs, traffic signs, curbs, guardrails, and the like.
The dynamic information includes: vehicles and pedestrians, etc.
The searching unit 202 is used for searching a target position corresponding to the vehicle positioning information from a pre-stored high-precision map;
in this embodiment, the car domain controller stores a high-precision map obtained when the new establishment of the autonomous driving infrastructure is completed, and after the autonomous driving vehicle is positioned, a target position corresponding to vehicle positioning information can be searched from the high-precision map.
A determining unit 203, configured to determine, in the high-precision map, a target high-precision map covered by an area having a preset distance from the target position;
it can be understood that the information of the automatic driving infrastructure around the position of the vehicle is collected in real time during the driving process of the automatic driving vehicle, and after the target position corresponding to the vehicle positioning information is found from the high-precision map, the standard automatic driving infrastructure around the position of the vehicle, namely the determined target high-precision map, can be determined from the high-precision map.
A comparison unit 204, configured to compare the acquired autopilot infrastructure information with standard autopilot infrastructure information in the target high-precision map;
specifically, the driving environment information of the vehicle is compared with the same object in the driving environment information of the target high-precision map, for example, the lane line, the ground mark, the roadside mark, the traffic mark, the road edge and the guardrail in the driving environment information of the vehicle are compared with the lane line, the ground mark, the roadside mark, the traffic mark, the road edge and the guardrail in the target high-precision map, respectively, and the comparison content includes, but is not limited to, presence, volume, shape, color, and the like.
An output unit 205 configured to output prompt information of the change of the automated driving infrastructure when there is information that the collected automated driving infrastructure information does not coincide with the standard automated driving infrastructure information.
Information that the collected autopilot infrastructure information is inconsistent with the standard autopilot infrastructure information, such as: the length of the lane lines of the two is different, the position of the road sign is different, and the like.
In summary, the invention discloses an automatic driving infrastructure inspection device, which acquires vehicle driving environment information acquired by a vehicle-mounted sensor in the running process of an automatic driving vehicle, wherein the vehicle driving environment information comprises the automatic driving infrastructure information and vehicle positioning information sent by a vehicle positioning module, then searches a target position corresponding to the vehicle positioning information in a high-precision map, determines a target high-precision map containing the target position in the high-precision map, determines whether the automatic driving infrastructure changes or not by comparing standard automatic driving infrastructures contained in the target high-precision map with the acquired automatic driving infrastructure information, and determines that the automatic driving infrastructure changes when two automatic driving infrastructures have inconsistent information. At the moment, prompt information of the change of the automatic driving infrastructure is output so as to remind relevant technicians of taking corresponding measures to maintain and maintain the automatic driving infrastructure, thereby filling the technical blank that the automatic driving infrastructure is not checked at present.
To further optimize the above embodiment, the automated driving infrastructure inspection apparatus may further include:
and the updating unit is used for acquiring the map updating instruction and updating the high-precision map into the latest version according to the map updating instruction.
It should be noted that the high-precision map pre-stored in the car domain controller is obtained when the new construction of the automatic driving infrastructure is completed, and is used as a standard for maintenance of the automatic driving infrastructure. When the autonomous driving infrastructure is changed, changed or re-upgraded in order to improve the autonomous driving function, vehicle stability or other reasons, the car domain controller needs to re-acquire the latest high-precision map. In this embodiment, when the high-precision map needs to be updated, the car domain controller receives a map update instruction, and updates the high-precision map to the latest version according to the map update instruction.
Specifically, after receiving the map updating instruction, the automobile domain controller can obtain the high-precision map of the latest version from the cloud database, namely the background operation and maintenance management platform.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. An inspection method of an automatic driving infrastructure, which is applied to a car domain controller, wherein the car domain controller is respectively connected with a vehicle-mounted sensor and a vehicle positioning module, the inspection method comprises the following steps:
the method comprises the steps of obtaining vehicle running environment information in the running process of the automatic driving vehicle collected by a vehicle-mounted sensor and vehicle positioning information sent by a vehicle positioning module, wherein the vehicle running environment information comprises: autodrive infrastructure information;
searching a target position corresponding to the vehicle positioning information from a pre-stored high-precision map;
determining a target high-precision map covered by an area with a preset distance from the target position in the high-precision map;
comparing the collected automatic driving infrastructure information with standard automatic driving infrastructure information in the target high-precision map;
and when the collected automatic driving infrastructure information is inconsistent with the standard automatic driving infrastructure information, outputting prompt information of automatic driving infrastructure change.
2. The automated driving infrastructure inspection method according to claim 1, wherein the automated driving infrastructure information includes: lane lines, ground signs, roadside signs, traffic signs, curbs, and guardrails.
3. The automated driving infrastructure inspection method of claim 1, further comprising:
and acquiring a map updating instruction, and updating the high-precision map into the latest version according to the map updating instruction.
4. An autopilot infrastructure inspection device, for use in a car domain controller, said car domain controller being connected to an on-board sensor and a vehicle locating module respectively, the inspection device comprising:
the acquisition unit is used for acquiring vehicle running environment information acquired by the vehicle-mounted sensor in the running process of the automatic driving vehicle and vehicle positioning information sent by the vehicle positioning module, wherein the vehicle running environment information comprises: autodrive infrastructure information;
the searching unit is used for searching a target position corresponding to the vehicle positioning information from a pre-stored high-precision map;
the determining unit is used for determining a target high-precision map covered by an area with a preset distance away from the target position in the high-precision map;
a comparison unit for comparing the collected automatic driving infrastructure information with standard automatic driving infrastructure information in the target high-precision map;
and the output unit is used for outputting prompt information of automatic driving infrastructure change when the collected automatic driving infrastructure information is inconsistent with the standard automatic driving infrastructure information.
5. The automated driving infrastructure inspection device of claim 4, further comprising:
and the updating unit is used for acquiring a map updating instruction and updating the high-precision map into the latest version according to the map updating instruction.
6. An automated driving infrastructure inspection system, comprising: an on-board sensor, a vehicle location module and a car domain controller, said car domain controller comprising the automated driving infrastructure inspection apparatus of claim 3;
the vehicle-mounted sensor is connected with the automobile domain controller, and is used for collecting vehicle running environment information in the running process of an automatic driving vehicle and sending the vehicle running environment information to the automobile domain controller, wherein the vehicle running environment information comprises: autodrive infrastructure information;
the vehicle positioning module is connected with the automobile domain controller and used for positioning an automatic driving vehicle and sending vehicle positioning information to the automobile domain controller.
7. The autopilot infrastructure inspection system of claim 6 wherein the onboard sensors include: cameras, millimeter wave radar, and laser radar.
8. The automated driving infrastructure inspection system of claim 6, wherein the vehicle positioning module comprises: the system comprises a global navigation satellite system, an inertia measurement unit and a milemeter.
9. The automated driving infrastructure inspection system of claim 6, further comprising: the system comprises a network controller and a background operation and maintenance management platform;
the internet controller is respectively connected with the automobile domain controller and the background operation and maintenance management platform, and is used for acquiring the vehicle running environment information and the vehicle positioning information which are output by the automobile domain controller when the change of the automatic driving infrastructure is determined, and sending the vehicle running environment information and the vehicle positioning information to the background operation and maintenance management platform;
the background operation and maintenance management platform is used for receiving the vehicle running environment information and the vehicle positioning information, identifying and obtaining automatic driving infrastructure information by adopting an artificial intelligence technology based on the vehicle running environment information and the vehicle positioning information, determining a change parameter of the automatic driving infrastructure according to a preset judgment standard by using the identified automatic driving infrastructure information and pre-stored automatic driving infrastructure information, outputting maintenance early warning information when the change parameter has a parameter meeting a maintenance standard, updating a stored high-precision map when a newly added parameter or an updated parameter exists in the change parameter, and updating the stored high-precision map in the automobile domain controller.
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