CN112414416A - ADAS map data system based on four-level automatic driving high precision - Google Patents
ADAS map data system based on four-level automatic driving high precision Download PDFInfo
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- 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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Abstract
The invention relates to the field of vehicle control, in particular to an ADAS map data system based on four-level automatic driving high precision, which comprises a manufacturing method, a transmission method and a device, wherein the manufacturing method comprises the following steps: s1, information acquisition: acquiring four-level automatic driving high-precision map data and vehicle positioning information in a private format; s2, extracting information: extracting effective information for generating ADAS map data from the map data with the private format according to the vehicle positioning information; s3, production: and generating standard ADAS map data according to the extracted information and the topological relation of the vehicle forward road network. The transmission method comprises the following steps: the ability to receive and transmit information from and to the ethernet, the ability to receive and process vehicle location information, and the ability to perform the above-described methods. The invention has the beneficial effects that the manufacturing method of ADAS Map data based on HD Map can restore key elements in a real scene within extremely small precision error, thereby smoothly solving similar safety problems.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to an ADAS map data system based on four-level automatic driving and high precision.
Background
The advanced driving assistance system is a general term of various systems which monitor a driver, a vehicle and a driving environment thereof by using sensing, communication, decision-making, execution and other devices installed on the vehicle, and assist the driver to execute driving tasks or actively avoid/reduce collision hazards in the modes of images, light, sound, tactile prompt/warning or control and the like. The intelligent driving high-precision map is a key infrastructure for realizing automatic driving of the automobile, contains rich and accurate lane level scene semantic information, map elements generally have centimeter-level precision, can be used for local path planning, is mainly used for the intelligent driving automobile, can be combined with real-time road condition information and driver driving experience information to be used for assisting environmental perception, vehicle positioning and planning control, realizes an optimal driving strategy under the current condition, and supports future travel of the automatic driving automobile. The traditional navigation map is a map containing road level information, map elements usually have meter-level accuracy, and the map can only carry out global path planning.
Chinese patent No. CN109540162A provides a processing method, an acquisition method, an apparatus and a vehicle-mounted device for ADAS map data, the method includes: acquiring map data and vehicle positioning information in a preset format; reading standard map data in a preset format according to vehicle positioning information, and reconstructing an ADAS road network in a certain range in front of a road where a current vehicle is located according to a road network relation in the obtained map data; and acquiring key attribute data in the map data, and generating and outputting an ADAS message which can be identified by a receiving object by combining the ADAS road network. According to the processing method, the obtaining method and the device of the ADAS map data and the vehicle-mounted equipment, the accuracy of the ADAS is improved.
Existing manufacturers generally perform secondary reconstruction based on the SD Map, such as after acquiring and recording the number information of lanes of each road, equally dividing and dividing the original road, so that the original road has the capability of local path planning. The method is suitable for a part of urban roads and expressways, but the defects of safety problems are caused on roads with irregular lane widths, so that the development of an ADAS map data system based on four-level automatic driving and high precision is urgently needed.
Disclosure of Invention
The invention aims to provide an ADAS Map data system based on four-level automatic driving with high precision, which aims to solve the problem that part of manufacturers in the background art usually carry out secondary reconstruction based on SD Map, such as after acquiring and recording the quantity information of lanes of each road, equally dividing the original road to enable the original road to have the capacity of local path planning. This method is suitable for some urban roads and expressways, but causes many safety problems on roads with irregular lane widths.
The technical scheme of the invention is as follows: an ADAS map data system based on four-level automatic driving high precision comprises a manufacturing method, a transmission method and a device, wherein the manufacturing method comprises the following steps:
s1, information acquisition: acquiring four-level automatic driving high-precision map data and vehicle positioning information in a private format;
s2, extracting information: extracting effective information for generating ADAS map data from the map data with the private format according to the vehicle positioning information;
s3, production: and generating standard ADAS map data according to the extracted information and the topological relation of the vehicle forward road network.
The transmission method comprises the following steps: the ability to receive and transmit information from and to the ethernet, the ability to receive and process vehicle location information, and the ability to perform the above-described methods.
The device comprises: the system comprises a hardware part, a software part and cloud services, wherein the hardware part comprises a first expansion board and a second expansion board, the software part comprises a vehicle path providing platform and an electronic horizon platform, the vehicle path providing platform comprises a recorded vehicle path and a real-time vehicle terminal, the electronic horizon platform comprises a position receiver, an element search interface, a horizon reconstruction simulator and a real-time map element display, and the cloud services comprise a horizon provider and feature analysis.
Further, the hardware part is an electronic development board of Raspberry Pi 4Model B, and is connected with a first Pi CAN 2 expansion board supporting a CAN bus and a second MMP-0045UPS expansion board with the functions of power storage and power management.
Furthermore, the first expansion board is a Pi CAN 2 expansion board supporting a CAN bus, and the second expansion board is a MMP-0045UPS expansion board having power storage and power management functions.
Furthermore, the vehicle path providing platform CAN receive two data sources, one of which is to receive geographic coordinate information obtained by message analysis on the CAN bus, wherein the coordinate information represents the current geographic position of the vehicle; the other is a software provided, serialized playback of preloaded historical geographic coordinate information read from a local resource.
Further, the position receiver: after receiving the coordinate information from the position receiver, the receiver converts the coordinate information into two parts, wherein one part is in a coordinate information format which can be identified by the element search interface, and the other part is in a coordinate information format which can be identified by the ADAS map characteristic display platform.
Further, the element search interface: a series of realization that can extract effective information in the HD Map data of magnanimity private structure according to geographic information coordinate, this key element search function passes through on-vehicle ethernet, communicates with the key element service in the high in the clouds.
Further, the horizon reconstruction simulator: the function receives ADAS map element information provided by a horizon provider, and constructs a most probable driving path in the front direction according with the ADAS standard, namely a third point of the invention purpose according to the current position information and the surrounding environment information of the vehicle. The function simulates the possible use mode and the actual effect of an OEM manufacturer when actually using the device.
Further, the real-time map elements show: the function presents the results from the simulator generation on the Web platform, supporting all ADAS standard map elements.
Further, the horizon provider receives a request from an element search interface, and extracts effective information required by the ADAS Map from the mass of HD Map data of the private structure.
Further, the horizon provider receives all the information after the feature analysis processing, converts the information into a data stream adapted to the ADAS map format, and returns the data stream to the request.
The invention provides an ADAS map data system based on four-level automatic driving high precision through improvement, compared with the prior art, the invention has the following improvements and advantages:
(1) by adopting the manufacturing method of ADAS Map data based on HD Map, the high-precision Map can restore key elements in a real scene within a very small precision error, so that similar safety problems can be smoothly solved.
(2) The method for extracting the necessary elements of the ADAS Map through the private data format is adopted, the private HD Map data and the vehicle positioning information are required to be used as input, the relevant blocks can be quickly positioned in the massive Map data information, then data retrieval and extraction operations are carried out, the time required by data extraction can be effectively reduced, and the data extraction efficiency is improved.
(3) By adopting a road level network topology construction method, an ADAS map requires to acquire lane element information and surrounding environment information according to the current position of a vehicle to construct a forward topological relation, and provides a most possible walking path. The HD Map comprises rich lane element information such as lane steering relation before entering a lane intersection, three-dimensional space information of a traffic sign and a traffic light acting on a perception module and the like, after a global Map is routed from a starting point to an ending point, a vehicle advances according to the unobstructed assumption Planning MPP, and after a plurality of new conditions such as lane blockage, traffic signal change and the like are added in the advancing process, the construction method is applied to re-plan new MPP.
(4) The method greatly reduces the storage space of the map data by designing a unique data format, and designs a set of transmission method of the map data based on a TCP/IP protocol to ensure that the transmitted data cannot be lost.
(5) The design method of the ADAS vehicle-mounted device is adopted, all the inventions are operated on the device, the hardware of the device meets the AEC-Q100 reliability standard, conforms to the IATF 16949 standard of supply chain quality management standard of Zero failure (Zero Defect), and conforms to the ASIL function safety guarantee level of the ISO 26262 standard, the device provides a method for receiving the current geographic position information of a vehicle, a tool for viewing the ADAS map of the area where the vehicle is located according to the geographic position information, and a series of auxiliary research and development tools are provided to support the OEM vehicle factory to integrate the device.
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The invention is further explained below with reference to the figures and examples:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the process configuration of the present invention;
fig. 3 is a schematic view of the apparatus frame of the present invention.
Detailed Description
The present invention will be described in detail with reference to fig. 1 to 3, and the technical solutions in the embodiments of the present invention will be clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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 invention provides an ADAS map data system based on four-level automatic driving high precision through improvement, as shown in figures 1-3, comprising a manufacturing method, a transmission method and a device, wherein the manufacturing method comprises the following steps:
s1, information acquisition: acquiring four-level automatic driving high-precision map data and vehicle positioning information in a private format;
s2, extracting information: extracting effective information for generating ADAS map data from the map data with the private format according to the vehicle positioning information;
s3, production: and generating standard ADAS map data according to the extracted information and the topological relation of the vehicle forward road network.
The transmission method comprises the following steps: the ability to receive and transmit information from and to the ethernet, the ability to receive and process vehicle location information, and the ability to perform the above-described methods.
The device comprises: the system comprises a hardware part, a software part and cloud services, wherein the hardware part comprises a first expansion board and a second expansion board, the software part comprises a vehicle path providing platform and an electronic horizon platform, the vehicle path providing platform comprises a recorded vehicle path and a real-time vehicle terminal, the electronic horizon platform comprises a position receiver, an element search interface, a horizon reconstruction simulator and a real-time map element display, and the cloud services comprise a horizon provider and feature analysis.
Furthermore, the hardware part is an electronic development board of Raspberry Pi 4Model B, and is connected into a first Pi CAN 2 expansion board and a second MMP-0045UPS expansion board which support a CAN bus and have the functions of power storage and power management.
Furthermore, the first expansion board is a Pi CAN 2 expansion board supporting the CAN bus, and the second expansion board is an MMP-0045UPS expansion board with power storage and power management functions.
Furthermore, the vehicle path providing platform CAN receive two data sources, one of the two data sources is geographical coordinate information obtained by analyzing information on the CAN bus, and the coordinate information represents the current geographical position of the vehicle; the other is a software provided, serialized playback of preloaded historical geographic coordinate information read from a local resource.
Further, the position receiver: after receiving the coordinate information from the position receiver, the receiver converts the coordinate information into two parts, wherein one part is in a coordinate information format which can be identified by the element search interface, and the other part is in a coordinate information format which can be identified by the ADAS map characteristic display platform.
Further, the element search interface: a series of realization that can extract effective information in the HD Map data of magnanimity private structure according to geographic information coordinate, this key element search function passes through on-vehicle ethernet, communicates with the key element service in the high in the clouds.
Further, the horizon reconstruction simulator: the function receives ADAS map element information provided by a horizon provider, and constructs a most probable driving path in the front direction according with the ADAS standard, namely a third point of the invention purpose according to the current position information and the surrounding environment information of the vehicle. The function simulates the possible use mode and the actual effect of an OEM manufacturer when actually using the device.
Further, real-time map elements show: the function presents the results from the simulator generation on the Web platform, supporting all ADAS standard map elements.
Further, the horizon provider receives a request from the element search interface, and extracts effective information required for the ADAS Map from the mass of HD Map data of the private structure.
Further, the horizon provider receives all the information after the feature analysis processing, converts the information into a data stream adapted to the ADAS map format, and returns the data stream to the request.
The working principle is as follows: firstly, four-level automatic driving high-precision Map data and vehicle positioning information in a private format are obtained, effective information used for generating ADAS Map data is extracted from the Map data in the private format according to the vehicle positioning information, standard ADAS Map data is generated according to the extracted information and the topological relation of a vehicle forward road network, the capabilities of receiving information from an Ethernet and sending information to the Ethernet, the capability of receiving and processing the vehicle positioning information and the capability of executing the method are achieved, and the manufacturing method of the ADAS Map data based on the HD Map is adopted, so that the high-precision Map can restore key elements in a real scene within a tiny precision error, similar safety problems can be solved smoothly, and a method for extracting necessary elements of the ADAS Map through a private data format is adopted. The method needs private HD Map data and vehicle positioning information as input, and can quickly position relevant blocks in massive Map data information and then perform data retrieval and extraction operations. The method can effectively reduce the time required by data extraction and improve the data extraction efficiency, and the ADAS map requires to acquire lane element information and surrounding environment information according to the current position of the vehicle to construct a forward topological relation by adopting a lane-level road network topology construction method, so that a most possible walking path is provided. The HD Map comprises rich lane element information such as lane steering relation before entering a lane intersection, three-dimensional space information of a traffic sign and a traffic light acting on a perception module and the like, after a global Map is routed from a starting point to an ending point, a vehicle advances according to the clear assumption Planning MPP, after a plurality of new conditions such as lane blockage, traffic signal change and the like are added in the advancing process, the construction method is applied to re-plan new MPP, and a special format and a method for transmitting and storing Map data are adopted. The map data is different from the common text information, a large amount of storage space is occupied to store rich lane elements and the correlation among the elements, and the characteristic that the data cannot be lost continuously is ensured during transmission. The method greatly reduces the storage space of the map data by designing a unique data format, designs a set of map data transmission method based on a TCP/IP protocol to ensure that the transmitted data cannot be lost, adopts a design method of an ADAS vehicle-mounted device, operates on the device, and has hardware meeting AEC-Q100 reliability standard, meeting the IATF 16949 standard of supply chain quality management standard of Zero failure (Zero Defect) and meeting the ASIL function safety guarantee level of ISO 26262 standard. The device provides a method for receiving the current geographic position information of the vehicle, provides a tool for viewing an ADAS map of an area according to the geographic position information, and provides a series of auxiliary research and development tools to support OEM (original equipment manufacturer) to integrate the device.
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 (10)
1. The utility model provides an ADAS map data system based on level four autopilot high accuracy which characterized in that: the method comprises a manufacturing method, a transmission method and a device, wherein the manufacturing method comprises the following steps:
s1, information acquisition: acquiring four-level automatic driving high-precision map data and vehicle positioning information in a private format;
s2, extracting information: extracting effective information for generating ADAS map data from the map data with the private format according to the vehicle positioning information;
s3, production: and generating standard ADAS map data according to the extracted information and the topological relation of the vehicle forward road network.
The transmission method comprises the following steps: the ability to receive and transmit information from and to the ethernet, the ability to receive and process vehicle location information, and the ability to perform the above-described methods.
The device comprises: the system comprises a hardware part, a software part and cloud services, wherein the hardware part comprises a first expansion board and a second expansion board, the software part comprises a vehicle path providing platform and an electronic horizon platform, the vehicle path providing platform comprises a recorded vehicle path and a real-time vehicle terminal, the electronic horizon platform comprises a position receiver, an element search interface, a horizon reconstruction simulator and a real-time map element display, and the cloud services comprise a horizon provider and feature analysis.
2. An ADAS map data system based on four-level autopilot high accuracy according to claim 1 and characterized in that: the hardware part is an electronic development board of Raspberry Pi 4Model B, and is connected into a Pi CAN 2 expansion board I supporting a CAN bus and an MMP-0045UPS expansion board II with power storage and power management functions.
3. An ADAS map data system based on four-level autopilot high accuracy according to claim 1 and characterized in that: the first expansion board is a Pi CAN 2 expansion board supporting a CAN bus, and the second expansion board is an MMP-0045UPS expansion board with the functions of power storage and power management.
4. An ADAS map data system based on four-level autopilot high accuracy according to claim 1 and characterized in that: the vehicle path providing platform CAN receive two data sources, one of the two data sources is geographical coordinate information obtained by analyzing information on a CAN bus, and the coordinate information represents the current geographical position of a vehicle; the other is a software provided, serialized playback of preloaded historical geographic coordinate information read from a local resource.
5. An ADAS map data system based on four-level autopilot high accuracy according to claim 1 and characterized in that: the position receiver: after receiving the coordinate information from the position receiver, the receiver converts the coordinate information into two parts, wherein one part is in a coordinate information format which can be identified by the element search interface, and the other part is in a coordinate information format which can be identified by the ADAS map characteristic display platform.
6. An ADAS map data system based on four-level autopilot high accuracy according to claim 1 and characterized in that: the element search interface: a series of realization that can extract effective information in the HD Map data of magnanimity private structure according to geographic information coordinate, this key element search function passes through on-vehicle ethernet, communicates with the key element service in the high in the clouds.
7. An ADAS map data system based on four-level autopilot high accuracy according to claim 1 and characterized in that: the horizon reconstruction simulator: the function receives ADAS map element information provided by a horizon provider, and constructs a most probable driving path in the front direction according with the ADAS standard, namely a third point of the invention purpose according to the current position information and the surrounding environment information of the vehicle. The function simulates the possible use mode and the actual effect of an OEM manufacturer when actually using the device.
8. An ADAS map data system based on four-level autopilot high accuracy according to claim 1 and characterized in that: and displaying the real-time map elements: the function presents the results from the simulator generation on the Web platform, supporting all ADAS standard map elements.
9. An ADAS map data system based on four-level autopilot high accuracy according to claim 1 and characterized in that: the horizon provider receives a request from an element search interface and extracts effective information required by the ADAS Map from the mass of HD Map data of the private structure.
10. An ADAS map data system based on four-level autopilot high accuracy according to claim 1 and characterized in that: and the horizon provider receives all the information after the characteristic analysis processing, converts the information into a data stream adapted to the ADAS map format, and returns the data stream to the application.
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