CN114898058A

CN114898058A - Digital road infrastructure, code generation method and device

Info

Publication number: CN114898058A
Application number: CN202210549426.7A
Authority: CN
Inventors: 潘晓虹
Original assignee: Shanghai Tianyong Technology Development Co ltd
Current assignee: Shanghai Tianyong Technology Development Co ltd
Priority date: 2021-05-30
Filing date: 2022-05-20
Publication date: 2022-08-12
Also published as: WO2022253040A1

Abstract

The invention relates to a virtual three-dimensional digital road infrastructure, which is a digital product. According to the actual road infrastructure, special equipment testing or manual input method is adopted to obtain the member parameters of the digital road infrastructure, and the digital road infrastructure is coded and integrated into virtual digital road infrastructure. It is almost identical to a real road (equator longitude error not exceeding 1.11 cm), ensuring that the intelligent navigation device is able to accurately "drive" a real motor vehicle traveling in the virtual three-dimensional digital road infrastructure space. Therefore, the real road facilities are virtualized into three-dimensional digital road infrastructure; the intelligent navigation device drives a real motor vehicle to safely and reliably travel on a real road according to a virtual three-dimensional digital road infrastructure, thereby realizing typical closed-loop application of a virtual reality technology.

Description

Digital road infrastructure, code generation method and device

Technical Field

The invention relates to the field of structural design and code generation of digital products, in particular to a digital road infrastructure, a code generation method and a device.

Background

As intelligent transportation gradually moves into a real society, electronic (digital) maps have been widely applied to intelligent navigation. The existing electronic map has the main function of indicating navigation for manual driving; even if various imaging technologies are used for obtaining the characteristic information of a real road, point cloud data are collected, and a virtual digital road is obtained by means of a clustering algorithm and the like; acquiring traffic identification on a real road by means of an image recognition technology, and generating an electronic map by means of GIS tool software through a mathematical modeling method. Such electronic maps exist: firstly, the digital road is expressed by means of GIS and database auxiliary tool software, the method mode is backward, and the electronic map is huge in size. Secondly, the road parameters are not accurate enough; the requirement of safe driving of the intelligent navigation vehicle is difficult to meet. Thirdly, the intelligent navigation algorithm is difficult to upgrade because of the absence of complete static road conditions of the real road; therefore, the automatic driving vehicle using the electronic map needs to be equipped with more sensors to acquire the static road conditions of the real road in real time. Fourthly, processing image data in real time has high technical requirements and great processing difficulty.

The existing laboratory uses the electronic map, its road parameter is relatively abundant, but all make up the electronic map, is used for the function and performance of the real motor vehicle of laboratory test; or training drivers through a simulation driving system. In addition, the existing electronic game map is also a fictional electronic map; the method is used for experiencing the virtual game and rarely sees the traffic identification. In summary, the conventional electronic map cannot provide accurate and complete static road conditions for intelligent navigation, and further cannot be a digital infrastructure-level digital commodity (product).

Disclosure of Invention

The invention provides a virtual digital road infrastructure which adopts a virtual reality technology to virtualize real road infrastructure (also called real road static road conditions) into three dimensions. The digital road infrastructure comprises digital road static road conditions (including digital road surface attributes) such as digital roads, digital intersections, digital traffic signs and the like; the application is as follows: the intelligent navigation equipment is released from busy business of acquiring the static road conditions of the digital road in real time, and the dynamic road conditions of the digital road are processed in a concentrated manner. To achieve fully autonomous (level 5) navigation, digital goods (products) are provided that are nearly identical to real road infrastructure — digital road infrastructure (also called digital road static road conditions).

In 8/3 of 2020, the news release conference is held by the country newly, and the beidou system speaker wins up the announcement that china provides centimeter-level positioning service for the world before 2025. A centimeter-level positioning system is adopted to test the real road infrastructure, so that the problem of accurate positioning data of the digital road infrastructure is solved preliminarily; the problem of accurate digital marking is drawn to road such as rubble road, dirt road has also been solved. The digital road infrastructure adopts digital marking coordinate points to express a virtual three-dimensional digital road space (a geographic fence technology application), and the coding method solves the difficulties that the digital road infrastructure has huge data volume and cannot be commercialized. The digital road infrastructure increases the pavement attribute of the digital road, and solves the problem that the intelligent navigation elements are not complete enough; a new field of automatic driving equipment is developed; the functional performances of an intelligent steering control system, an intelligent actuating control system, an intelligent braking control system and the like are greatly improved, and intelligent navigation algorithms such as a steering control algorithm, a vehicle lane changing algorithm, a collision processing algorithm and the like are simpler and more precise. Especially, the introduction of lane road surface attributes such as a digital lane course angle, a transverse safe distance, a safe straight-driving distance and the like solves the problem of transient dependence on real-time positioning information. The digital goods (products) of the digital road infrastructure save the test system for acquiring the static road conditions of the real road in real time by the automatic driving vehicle, and greatly reduce the production and maintenance cost of the automatic driving vehicle.

The digital road infrastructure is: a data set is encoded with member parameters integrated according to a data structure. The specific encoding process is as follows: firstly, according to the actual road infrastructure, acquiring the member parameters of the digital road infrastructure by adopting a field test (same field actual measurement) acquisition method of manual intervention, and encoding and integrating the parameters into the digital road infrastructure. Secondly, digital road surface attributes such as a digital lane course angle, a digital lane pitch angle, a digital lane roll angle, a dynamic friction coefficient, a digital road load, a safe transverse distance, a safe straight-going distance and the like are added, so that the existing intelligent navigation algorithm is simpler and more accurate, and powerful data and algorithm support are provided for upgrading the automatic driving function performance. Thirdly, the digital road infrastructure innovatively defines a large number of digital lane marking types and digital traffic marks; the algorithms of cruising, lane changing, avoiding and the like of the intelligent navigation equipment are more effective. Fourthly, the digital road space is expressed by virtual three-dimensional digital lane markings; the virtual three-dimensional digital lane marking is regularly and orderly fitted and expressed by a group of digital marking coordinate points, the mode is simple and convenient, the data volume is small, and the commercialization of the digital road infrastructure becomes possible. Fifthly, the member parameters are coded and integrated into the digital road infrastructure according to a standard data structure (such as shown in fig. 4); it is a digital infrastructure. Sixth, the digital road infrastructure provides a method for retrieving a digital driving road.

In conclusion, the virtual three-dimensional digital road infrastructure can be independently coded, produced, stored, retrieved, called and maintained without the support of tool software such as a GIS system, a database and the like; digital goods (products) consisting of numbers, characters and letters. Its data structure, member parameters (including component parts), parameter usage, encoding method, and the like will be described in various embodiments herein.

The invention provides a digital road infrastructure, which is formed by integrating member parameter codes; the digital road infrastructure includes digital roads and digital traffic identifications.

In a refinement, the digital road comprises a digital co-directional road; the digital equidirectional road comprises at least one digital equidirectional road pavement transverse tangent array; the digital same-direction road surface transverse tangent line comprises at least one digital lane road surface transverse tangent line array; the digital lane road surface transverse tangent line array comprises at least one digital lane road surface transverse tangent line; the member parameters of the digital lane road surface transverse tangent line comprise: left side digital marking coordinate points, digital lane road surface attributes and/or right side digital marking coordinate points.

In a refinement, the digital road comprises a digital co-directional road; the digital equidirectional road comprises at least one digital lane array; wherein the digital lane array comprises at least one digital lane; the digital lane comprises two parallel and adjacent digital marked lines and the road surface attribute of the digital lane; the digital lane road surface attribute comprises a digital lane heading angle and/or a digital lane roll angle and/or a digital lane pitch angle and/or a dynamic friction coefficient.

In a refinement, the digital roadway includes the digital reticle; the digital reticle comprises at least one set of coordinate points of the digital reticle; the number k of the coordinate point of the digital reticle is started from 0, and the number k = n-1 of the nth coordinate point of the digital reticle; wherein k and n are natural numbers, and n is greater than or equal to 1; and sequencing the group of digital marking coordinate points from small to large according to the serial numbers of the digital marking coordinate points, and standardly connecting and fitting the digital marking coordinate points into a section of digital marking.

In a refinement, the digital roadway further comprises digital reticle coordinate points; the digital reticle coordinate points comprise coordinate point numbers and/or coordinate point longitudes, coordinate point latitudes, coordinate point altitudes and/or digital reticle category codes.

In a refinement, the digital roadway includes the coordinate point longitude with an error of less than 1.11 centimeters; and/or the course angle, the basic unit of which is less than or equal to 0.01 °; and/or the pitch angle; the basic unit is less than or equal to 0.1 degree.

In a refinement, the digital roadway further comprises a safe lateral distance and a safe straight-ahead distance.

In a refinement, the digital road infrastructure further comprises a digital intersection; the digital intersection includes at least one set of digital guide road segments; the digital guide road section set comprises at least one digital guide road section subset connected with the exit end of the digital equidirectional road; the digital guide road section subset comprises at least one digital guide road section array connected with the exit end of the digital lane; the digital guide road section array comprises at least one digital guide road section; and the outlet end of the digital guide road section is connected with the inlet end of a digital same-direction road.

In a refinement, the digital guidance distance comprises a digital guidance distance number and a digital guidance lane; wherein the digital guide road section number includes a digital lane number and/or a digital driving direction code.

The invention also provides a digital road infrastructure generation method, which adopts a field test acquisition method of manual intervention to the actual road to obtain, encode and integrate the digital equidirectional road identification; acquiring, coding and integrating the digital equidirectional roads; obtaining and coding integration into the digital guide road section subset; formatting the digital equidirectional road identifier in a digital equidirectional road, and encoding to generate the digital equidirectional road with the digital equidirectional road identifier; and integrating the set digital equidirectional road mark, the digital equidirectional road and/or the digital guide road segment subset code into one digital equidirectional road access component.

In a refinement, the digital road infrastructure code and the stored base unit is a digital syntropic road access unit.

The invention also provides an application method of the digital driving road, which retrieves and obtains one digital equidirectional road access component from the digital road infrastructure according to the driving route; according to the retrieval information in the digital equidirectional road access component, retrieving to obtain the next digital equidirectional road access component connected with the digital equidirectional road access component; and repeating the steps to obtain a digital driving road by retrieval.

Compared with the prior art, the digital road infrastructure described in the above technical solution has the following beneficial effects:

1. digital road infrastructure architecture. The digital road static road condition is simple in data structure, clear in nesting level, convenient to analyze and call, complete in member parameters and accurately expressed in data. In which screen display information such as traffic assistant signs, number-homodromous road integrated codes, etc. are expressed using letters, numbers, symbols, letters, etc. The digital road infrastructure does not contain image, audio, video data. Most of member parameters of the digital road infrastructure are expressed by numbers, and the computer processing efficiency is high.

2. Digital road infrastructure technology. Obtaining digital marking line coordinate points by adopting a manual intervention field test acquisition method in advance, and sequentially fitting a group of digital marking line coordinate points with standard data structures, unequal numbers and standard intervals into a digital marking line; the two parallel and adjacent digital marked lines and the road surface attribute of the digital lane form a section of digital lane; a group of digital lanes are longitudinally and transversely spliced into a section of digital equidirectional road; a digital intersection is also represented by a set of digital guide segments so that the amount of data for its digital road infrastructure is greatly reduced.

3. Innovative aspects of digital road infrastructure. The digital road infrastructure expresses member parameters which are difficult to or not identified by the real road infrastructure, such as digital lane course angle, digital lane pitch angle, digital lane roll angle, dynamic friction coefficient, road load, safe straight-ahead distance, safe transverse distance, digital marking (including isolation facilities), digital traffic identification and the like, greatly improves the 'perception' of the intelligent navigation equipment on the static road condition of the digital road, and provides abundant and valuable basic data for improving the functions and performances of an intelligent steering control system, an intelligent actuating control system, an intelligent braking control system and the like. To assist the upgrade and upgrade of existing autonomous vehicles.

4. Digital road infrastructure identification aspects. The existing intelligent navigation equipment is seriously influenced to see the real road and traffic signs clearly in bad scenes such as heavy fog, heavy rain, heavy snow, strong wind, hail, sand storm, haze, shelters and the like; the intelligent navigation equipment can accurately and completely see the digital road and the digital traffic identification in real time (millisecond level), and can not be omitted or wrongly identified; the identification rate of the intelligent navigation equipment is greatly improved. Meanwhile, the time for acquiring the static road conditions of the real road in real time is saved.

5. Digital road infrastructure precision aspects. The member parameters of the digital road infrastructure adopt a manual intervention field test acquisition method, and the longitude and latitude error of the digital marking coordinate is less than 1.11 cm; the basic unit of the digital lane course angle is 0.01 degree; the basic unit of the digital lane pitch angle and the digital lane roll angle is 0.1 degree; the precision of the dynamic friction coefficient is less than or equal to 0.001 degrees; compared with the existing methods of laser point cloud data, clustering algorithm, mathematical modeling and the like, the method for generating the electronic map has the advantage that the data is more accurate. And conditions are created for accurate intelligent navigation.

6. Digital road infrastructure storage aspects. 519.8 kilometers of the whole country (2020 bottom statistics) are estimated, and the lane is about 1000 kilometers; the co-directional roads are on average calculated on 4 lanes (two motorways, one non-motorway and sidewalks) with a volume of about 678 GB. Currently, the 1T storage device price supports the popularization and application of digital road infrastructure. And the electronic map adopting the GIS system and the database occupies storage equipment resources which greatly exceed digital road infrastructure.

7. Digital road infrastructure supporting aspect. The digital road infrastructure needs the parameter precision of the coordinate point to be about 1 cm; the dynamic positioning parameters of the vehicle using the method are about 1 cm. In the future, the production and use of digital road infrastructure need to be matched with Beidou positioning, or Beidou ground station network auxiliary positioning, or satellite chain positioning supports dynamic positioning of about 1 cm. The function of the digital road infrastructure can be fully exerted, and a fine and effective digital foundation is laid for realizing an L4 or even an L5 driving automation system.

8. Digital road infrastructure convergence aspects. The digital road infrastructure is an open and extensible data structure, and supports the definition of new member parameters according to requirements; the application field of digital road infrastructure is very extensive: intelligent express delivery can be realized by adding a doorplate number on a digital road; adding a market name to realize intelligent shopping; adding virtual world tunnel names to realize the crossing of different virtual worlds and the like; the economic benefit and the social benefit are unlimited. More importantly, the virtual three-dimensional digital road infrastructure is a 'fusion basic platform' of a virtual world and a real world, and is a fusion platform of most 'metas' applications.

Virtualizing a real road into a three-dimensional digital road space; the real intelligent navigation equipment intelligently drives a real motor vehicle to safely and reliably run in a virtual digital road according to a virtual three-dimensional digital road space to reach a real terminal point, so that the typical closed-loop application of a virtual reality technology is realized.

Drawings

FIG. 1 is a schematic flow chart of a digital equidirectional road code generation method for setting digital equidirectional road identifiers;

FIG. 2 is a schematic view of a digital equidirectional road exit end circumscribed by a digital intersection;

FIG. 3 is a schematic diagram of the digital roadway infrastructure generation apparatus;

fig. 4 is a diagram illustrating member parameters of the digital road infrastructure and a data structure thereof.

Detailed Description

The present invention will be described in further detail below in the detailed description of the preferred embodiments with reference to the attached figures, wherein like parts are identified by associated part numbers in different embodiments. Many details are set forth in the following description in order to provide a better understanding of the present invention; those skilled in the art will readily recognize that certain features may be omitted or replaced with other components, materials, methods in different instances. In some instances, certain features of the invention have not been shown or described in detail in order not to obscure the invention in unnecessary detail; it is not necessary for those skilled in the art to describe these implementation details in detail, but rather they may be fully developed in light of the description and the general knowledge in the art.

The following detailed description is to be construed as exemplary only and is for the purpose of promoting an understanding of the invention and is not intended to limit the invention. Numerous and varied other arrangements, modifications, combinations and variations could be devised by those skilled in the art without departing from the spirit and scope of the embodiments herein, and it is intended that all such arrangements and modifications be included within the scope of the appended claims.

The serial numbers of the components herein, such as "first", "second"; (1) (2), (3); the first step, the second step, and the like are only used for distinguishing the described objects, and do not have any sequence or technical meaning. The terms "connected" and "coupled" as used herein, unless otherwise specified, include direct and indirect connections (couplings).

As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.

The present invention defines the following set of nouns and verbs to clarify their content and margins.

An Electronic Map (Electronic Map) is a data existence and upgrade of a paper Map, and digital roads and digital traffic identifications of the Electronic Map are specified and ordered data sets in a computer storage medium; also known as digital maps.

"Virtual Reality" (Virtual Reality) is the combination of Virtual Reality and Reality; referred to as virtual reality technology (i.e., VR technology). By the technology, the static road conditions of the real road are virtualized into the three-dimensional digital road infrastructure.

"Navigation" (Navigation) refers to the process of driving a vehicle to safely move from one place to another designated place.

An intelligent Navigation device (intelligent Navigation Equipment) is a device for intelligently navigating and automatically driving a vehicle to run by relying on a digital road infrastructure.

"Digital Road Infrastructure" (Digital Road Infrastructure) includes Digital roads (including Digital Road pavement attributes), Digital traffic signs, and the like; also called digital road static road conditions. It is a data product of the digitization of the real road infrastructure; it is in mirror image relationship with the real road infrastructure. The autonomous vehicle "learns" the real road infrastructure by "learning" the digital road infrastructure; of course, it can be displayed to the human body after special treatment.

The "Data Structure" refers to a Structure of its member parameters and its positions before and after.

"Express" (Express) is an action that reflects the result of thinking in language. This document refers to the meaning that one thing can be described by another thing. Such as: the digital product or the digital component is composed of member parameter codes; the digital road infrastructure is expressed by a digital equidirectional road access assembly set; the numerical coordinate points are expressed by longitude, latitude, altitude, and the like.

"encode" (Code) means that the member parameters are combined into a meaningful data set according to a data structure, such as an electronic file encoding format, a communication protocol encoding format, an H.264 encoding format and the like; it is information that can be analyzed, processed and applied by a computer. Encoding is the act of parameter listing and integration. Parameters, including parameter names and parameter values; the member parameters in the data structure may agree on parameter names, or parameter values. Member parameters may be expressed using a code; a code is a symbol used to represent things, which can be represented in chinese (foreign language), numbers, letters, characters, or a combination thereof. The encoded data structure may be referred to as an encoding structure.

"Member parameters" (Member parameters) refer to Member parameters of the digital road infrastructure; member parameters can be nested in multiple layers; nesting the lower member parameters layer by layer; member parameters such as digital road infrastructure include digital roads, digital traffic signs, etc.; the member parameters of the digital road comprise a digital equidirectional road, a digital intersection and the like; the digital equidirectional road comprises a digital lane array; a digital intersection includes a collection of digital guide segments, and so on.

"Digital Products" (Digital Products) is a formatted electronic file consisting of member parameters encoded in a data structure; wherein, the name, definition and use of the member parameter are clear. And the digital products realize data sharing through exchange, and further obtain economic value.

The "road condition" (road condition) includes static road condition and dynamic road condition. The static road condition refers to the technical conditions of the existing road subgrade, road pavement, road structure (including bridges and culverts), accessory facilities (including traffic signs) and the like; the dynamic road condition refers to the technical conditions of the type, size, distance, density, movement speed and direction and the like of moving objects on the road. The static road condition of the real road is virtualized into the static road condition of the digital road through the virtual reality technology. Description of the drawings: the static road conditions of the digital road do not include: the temporary technical conditions of road and accessory facilities damage, road repairing site fences, piled materials and the like are realized.

"Road" (Road) refers to a highway, an urban Road, and a place where social vehicles are allowed to pass though in a unit jurisdiction, and includes a square, a public parking lot, and the like for public traffic. The invention virtualizes a real road (not including a traffic sign) into a three-dimensional digital road space, which is called a digital road for short, by a virtual reality technology. The digital road (including the road surface attribute and the height limit of the digital road) comprises a digital road section and a digital intersection; the digital road section comprises a digital bidirectional road section, a digital unidirectional road section, a digital non-directional road section, a digital equidirectional road and the like. The digital road consists of 'digital' codes; it is a component of static road conditions of digital roads.

"Two-Way Road" (Two-Way Road) includes a Road with opposite directions of motor vehicles and a Road center line (or a division strip) in the middle; alternatively, a bidirectional road is composed of two opposite co-directional roads. The invention virtualizes a real bidirectional road into a three-dimensional digital bidirectional road space. Digital two-way road for short.

"One-Way Road" (One-Way Road) refers to a Road containing only One Way of vehicles. Alternatively, the one-way road includes a same-direction road; it may also include a reverse non-motorized lane segment and a sidewalk segment, respectively or simultaneously. The unidirectional road is a special case of the same-direction road. The method virtualizes the real one-way road into a three-dimensional digital one-way road space, which is called a digital one-way road for short.

"non-directional Road" (Undirected Road) refers to a real Road that does not identify the direction of travel of the vehicle, or a pedestrian street. The method comprises the steps of virtualizing a real non-directional road into a three-dimensional digital non-directional road space, which is called a digital non-directional road for short; generally, a digital non-directional road has two digital equidirectional road access pieces in different directions. If the driving direction of the automatic driving vehicle is determined, the corresponding digital same-direction road access piece is unique. Therefore, the present invention will not be described in detail.

"Road In Same Direction" (Road In Same Direction) refers to a section of Road In Same Direction between two adjacent intersections. The invention virtualizes the real equidirectional road into a three-dimensional digital equidirectional road space, which is called a digital equidirectional road for short. One end of the digital same-direction road is called as a digital same-direction road inlet end, and the other end of the digital same-direction road is called as a digital same-direction road outlet end. If the road is a bidirectional road, the same-direction road refers to the right part of the road from the center line (the division belt) of the road; and left-driving rules, as opposed to countries such as the united states, the united kingdom, japan, and the like. The digital equidirectional road comprises a motor vehicle lane section, a non-motor vehicle lane section, a sidewalk section and the like. If the road is a one-way road, the same-direction road refers to the whole road section.

"lane" (Drive) refers to a section of lane between two adjacent intersections. The lane is composed of two lane markings and the road surface attribute of the lane between the lane markings. One end of the lane is called the entry end of the lane and the other end is called the exit end of the lane. The invention virtualizes a real lane into a three-dimensional digital lane segment space, referred to as a digital lane for short. Connecting lines of coordinate points of digital marked lines with the same serial numbers on two sides of the digital lane are called as transverse tangent lines of the road surface of the digital lane; the transverse tangent lines of two adjacent digital lane road surfaces are determined to form a section of virtual three-dimensional digital lane road surface, which is called a section of digital lane road surface for short.

"Road Direction" (Road Direction), which generally refers to the Direction on a co-directional Road that indicates the Direction of travel of the vehicle; the lane direction is a direction indicating the running direction of the vehicle on the lane; the lane driving direction refers to the driving direction of the indicated vehicles on a plurality of guide road sections connected with the lane exit end marks; the driving direction refers to a direction indicating that the vehicle is driven on the same-direction road to which the guide link identifier is connected.

The "Road Surface Tangent In The Same Direction" (Road Surface Tangent In The Same Direction) refers to The intersection line of The vertical Tangent plane of The Same Direction Road and The Road Surface of The Same Direction. The method virtualizes the cross tangent of the real equidirectional road surface into a three-dimensional digital equidirectional road surface cross tangent, which is called the digital equidirectional road surface cross tangent for short. Is characterized in that: the numbers of the coordinate points of the digital marked lines in the transverse tangent of the road surface of the digital equidirectional road are the same. The transverse tangent lines of two adjacent digital equidirectional road pavements are determined and form a section of virtual three-dimensional digital equidirectional road pavement.

"Driving Road" (Driving Road) means: a digital driving route is planned and generated according to the starting address and the destination address of the journey set by the user and the characteristics of the driving route, such as the shortest starting and stopping route, the fastest arriving route, the best sightseeing route, the best purchasing route and the like. And then, according to the digital driving route, a group of related digital homodromous road access pieces are obtained by searching from the digital road infrastructure to form a section of three-dimensional digital driving road space, which is called a digital driving road for short.

"number" (Digital), which refers herein to an Arabic number or a string of Arabic numbers; such as the number 99. The term "numeric" is used herein to recite the member parameters, indicating that they are expressed numerically; except for a portion of the digital traffic identification.

The "Digital Line-Marking Coordinate Point" includes member parameters such as Coordinate Point number, longitude, latitude, altitude, etc., and is called Coordinate Point for short.

The Digital Lane Marking line (Digital Lane Marking) comprises a group of Digital Marking line coordinate points with standard coding structures, unequal numbers and standard intervals, and a virtual three-dimensional Digital Lane Marking line, which is called the Digital Marking line for short, is formed by fitting according to the serial number sequence of the coordinate points. Usually, the coordinate points are numbered in the order from small to large, which is the digital lane direction. The type of the digital lane marking is called as the type of the digital marking for short.

The Digital drive road surface Attribute (Digital drive road surface Attribute) comprises member parameters such as a Digital lane heading angle, a Digital lane pitch angle, a Digital lane roll angle, a dynamic friction coefficient, a Digital road load, a safe transverse distance and a safe straight-driving distance. The digital lane pavement attribute is further subdivision of the digital road pavement attribute, so that the pavement attribute expression has universality.

The separating belt (Separator) is a green belt, a concrete facility, a protective fence, an isolation pier and other separating facilities with certain width arranged on the road surface to ensure that vehicles, non-vehicles and pedestrians in different directions or the same direction on the road can respectively run on the road. A central dividing strip arranged in the middle of the opposite traffic; a so-called maneuver separator arranged between the lanes of equidirectional vehicles; and the non-motor separator is arranged among the motor vehicle lane, the non-motor vehicle lane and the pedestrian path and is called a non-motor vehicle separator.

"digital lane Heading Angle" (Heading Angle) refers to the Angle between the digital lane direction and the direction of the north pole of the earth.

The "Pitch Angle" of the digital lane means the Angle between the longitudinal tangent of the digital lane road and the horizontal line.

The "digital lane rolling Angle" (Roll Angle) refers to the included Angle between the horizontal line and the horizontal line of the digital lane road surface.

"Dynamic friction coefficient (Dynamic friction coefficient of behavior) refers to the Dynamic friction coefficient μ when the vehicle is moving relative to the road surface; dynamic friction f = μ × N; wherein N is a vertical force.

"Safe Transverse Distance" (Safe transition Distance) refers to the Distance between the outside of the traveling vehicle and the same side digital marking. The autonomous vehicle can set any number of safe lateral distances; the digital lane road surface properties of the present invention hold only one, such as the safe straight-running distance obtained according to the most common safe lateral distance (43 cm) test.

"Safe Straight Travel Distance" (Safe Straight Travel Distance) refers to the maximum longitudinal Distance at which an autonomous vehicle can Travel continuously in the direction of the digital lane heading angle in the last digital lane transverse line without colliding with a digital marking at the Safe lateral Distance position within the lane. It is perpendicular to the safe lateral distance.

The "Lane Type" (Lane Type) includes a motor Lane, a non-motor Lane, a sidewalk, and the like. The digital road infrastructure refers to the actual lane type as the digital lane type; by real lane category names such as motorway, non-motorway, sidewalk, etc.

"Vertical and Horizontal Spelling" (Vertical and Horizontal Spelling) refers to the act of assembling strips of uniform length and not necessarily uniform width into a rectangular shape having the same length but a width equal to the sum of the widths of the assembled strips.

An "Intersection" (Intersection) refers to a plane Intersection of two or more roads; that is, the planar intersection fits at least three (including a three-way intersection) or more road segments. The invention virtualizes the real intersection into a three-dimensional digital intersection space, which is called digital intersection for short, or digital intersection, or digital crossroad (general name).

"Guide The Road section" (Guide The Road) refers to The lane respectively fitted between The exit end of The same-direction Road and The entrance end of another same-direction Road in The intersection. The guidance sections include a motor vehicle guidance section, a non-motor vehicle guidance section and a pedestrian guidance section. The method virtually converts the real guide road section into a three-dimensional digital guide road section space, which is called a digital guide road section for short. The digital guide road section is also a digital lane, generally the lane is short, mostly turning lane and has larger radian; the invention defines the coordinate point spacing as one meter; the two side digital marked lines are solid lines. The digital guide section has only one driving direction. The digital guide road section contains all digital traffic identifications therein.

Fitting is the selective joining of a series of sufficiently dense points on a plane by straight lines into a smooth curve. The invention fits all coordinate points into a section of digital marking, digital lane, digital equidirectional road, digital non-directional road, digital unidirectional road, digital bidirectional road, digital guide road section and the like in a standard, orderly and unique connection manner.

"Elementary Unit" (Elementary Unit), the Elementary Unit of a substance means the smallest independent Unit that constitutes the substance. The basic units for coding and storing the digital road infrastructure are as follows: and a digital equidirectional road access component.

"Test" refers to a measurement having a Test property, i.e., a combination of a measurement and a Test. The test refers to that necessary test signal analysis and data processing are carried out on the actual road infrastructure by means of a reasonable test method designed by professional instruments or equipment, so that member parameters of the digital road are accurately acquired.

"formatting" (Format) is derived from the formatting of the disk, which means that the operating system marks the disk in advance so that it can access data according to a certain Format. Later, computer terminology, a standardized method of computer data access, was introduced. The formatting of data (information) herein refers to an operation in which each data is well-defined and is stored in a digital road storage device or an electronic map in a data structure specification.

The term "Set Up" refers to the action of formatting digital traffic signs such as warning signs, prohibition signs, indication signs, direction signs, tourist areas signs, road construction safety signs and auxiliary signs after standard coding and integration.

The first embodiment is as follows:

in this embodiment, the member parameters of the digital equidirectional road marked by the digital equidirectional road identifier and the data structure thereof are analyzed and set in combination with the member parameters of the digital road infrastructure and the data structure schematic diagram 4 thereof. The method comprises the following steps of virtualizing a real road infrastructure into a digital road infrastructure by adopting a virtual reality technology; it is also called digital road static road conditions. In this context, real road infrastructure, and names such as road surface attributes and traffic signs thereof are used by digital road infrastructure, and the virtual name is modified by a definite phrase "number", or "virtual three-dimensional number xxx space", etc. just before the real name. For the convenience of the skilled artisan to read smoothly, abbreviations are commonly used herein.

The digital road infrastructure member parameters include digital roads, digital traffic signs and the like. Wherein, the digital road is formed by alternately fitting a digital road section and a digital intersection in the longitudinal direction; the digital road section is a virtual three-dimensional digital road space (including height) and also comprises digital lane road surface attributes; the digital intersection includes a collection of digital guide road segments. Specifically, the digital road segment transversely comprises two digital equidirectional roads with opposite directions, or a digital unidirectional road, or a digital non-directional road; wherein, the digital one-way road is a section of enhanced digital same-direction road; the digital non-directional road can be understood as two digital unidirectional roads with opposite directions, and when the lane direction is determined, the digital unidirectional road is also determined. Specifically, the basic application values of the digital road infrastructure are: obtaining a starting address and an ending address of a user journey, and planning a digital driving route; then, according to the starting address, searching a digital driving road which comprises a starting address, a stopping address and an ending address and is composed of a plurality of digital equidirectional roads with digital equidirectional road marks and a digital guide road section subset connected with the digital equidirectional roads; without regard to the opposite digital co-directional road. In the embodiment, the digital equidirectional road is mainly analyzed, so that the digital road, the digital unidirectional road and the digital non-directional road can be understood; further analyzing their member parameters and their data structures, and the use of each member parameter; and analyzes the digital traffic signs in the same manner.

Description of the drawings: the arrays referred to herein below include arrays containing only one element. An array is also a data structure.

The digital road of the invention is also like a real road, and needs to be provided with a digital traffic identification; the automatic driving vehicle is enabled to run on the virtual digital road according to laws, compliance and order. The digital traffic signs comprise warning signs, forbidden signs, indicating signs, road indicating signs, tourist areas signs, road construction safety signs, auxiliary signs and the like which are defined in road traffic signs and marking lines (GB 5768); no matter what form they are expressed by road markings, characters, numbers, patterns and the like; whether they are marked on the road surface or placed on both sides or above the road. The digital traffic sign is replaced by the codes of numbers, characters, symbols, letters and the like; thereby greatly reducing the volume of the digital equidirectional road signs. Furthermore, the invention uses the digital dictionary technology to analyze the digital traffic identification expressed by the digital code into the information which can be understood by people; thereby reducing its display processing cost. The invention also optimizes the traditional traffic identification according to the digital road characteristics and the actual need of intelligent navigation; and new digital traffic signs such as new digital marking line types, attention to driving on the left side of a lane, attention to no signal lights at intersections and the like are added, so that the intelligent navigation equipment can 'see' more digital traffic signs which are beneficial to intelligent navigation.

The member parameters and the data structure of the digital equidirectional road mark of the invention are as follows: the method comprises the steps that a digital same-direction road comprehensive code, a digital road type code, a digital traffic identification array and a digital lane identification array are combined; description of the drawings: "+" represents "empty" or "separator"; wherein:

specifically, the digital same-direction road integrated code is used for describing a digital same-direction road name and the like; for retrieval and verification, etc., are data codes.

Specifically, the digital road category code includes an expressway, a first-level road, a second-level road, a third-level road, a fourth-level road, a county road, a country road (gravel road, sand road, dirt road, etc.), a special road, an urban expressway, a trunk road, a secondary trunk road, a branch road, a unit internal road, a residential district road, a yard road, an expressway access ramp, an urban viaduct access ramp, an overpass access ramp, an underground parking lot access ramp, etc.; they use data codes uniformly. The digital road type implicitly expresses the maximum speed of a running vehicle, the width of a digital lane, the height limit of the digital lane, the distance standard of coordinate points, the road surface load and other standard information; the method is used for data sharing and verification.

In particular, digital traffic identification arrays are used to express traffic identification of real co-directional roads, such as: pay attention to the charging island, no horn, no pass sign and time period, name of scenic sightseeing area, etc. If no traffic sign is set on the actual equidirectional road, the element of the digital traffic sign array can be 'null'; otherwise, the array may have any number of array elements. Specifically, the array elements comprise digital traffic identifications and auxiliary marks thereof; wherein, the digital traffic sign is expressed by a digital code, and the auxiliary sign is expressed by data which people are used to, such as time periods expressed as: 7: 30-9: 30; statement expresses: 500 meters in the left front of the temple; the auxiliary flag may be "null".

Specifically, the member parameters of the digital lane identification array and the data structure thereof are as follows: digital lane type code + digital lane driving direction code + digital lane height limit value. Is the encoding of data. Wherein:

specifically, the digital lane category code is used to regulate traffic behaviors of vehicles, humans, livestock, and the like; the invention refers to the actual lane type as the digital lane type; by means of the name of the real lane category. The digital lane category includes the vehicle lane, and its special vehicle lanes, such as: emergency stop zones, special lanes, escape lanes, diversion lanes (also called tide lanes), danger-avoiding lanes, bus lanes, etc.; non-motor lanes, and their non-motor-specific lanes, such as: a power-assisted vehicle lane, a bicycle lane, a tricycle lane, a plate car lane, a livestock lane, etc.; sidewalks, and special sidewalks thereof, such as pedestrian streets, zebra sidewalks, sidewalks for blind sidewalks, machine sidewalks, and the like. The non-motor vehicle lane and the sidewalk are contained in the digital lane, so that the intelligent navigation equipment can see the digital road infrastructure around the place where the intelligent navigation equipment is located clearly, the motor vehicle can be driven more accurately, and the occurrence of a collision event can be avoided; is also one of the bases of the intelligent lane-changing algorithm. Is a digital code.

Specifically, the digital lane driving direction code is used for guiding the direction in which the vehicle can drive at the exit end of the digital lane, and is one of the bases for planning the driving route. The lane driving direction may include: no direction of travel, one direction of travel, or two directions of travel, or even more than two directions of travel. The invention is expressed by digital codes, and at most 100 combined digital lane driving directions can be provided. The invention also adopts a digital dictionary to meet the requirement of showing people to see the driving direction of the lane.

Specifically, the digital lane height limit is one of basic data for planning an ultrahigh vehicle driving route. Expressed as a numerical value.

Specifically, there are 84 real road markings defined in the edition of 2022 under the heading road traffic marking and markings (GB 5768). According to the requirements of various algorithms of intelligent navigation, the invention divides the types of the digital marked lines into: the marked lines (including the division strips) on the leftmost side of the digital equidirectional road, the marked lines (including the division strips) on the rightmost side of the digital equidirectional road and the like are in hundreds of categories and are expressed by digital codes. Wherein, the leftmost marking of digit syntropy road includes: a central marking line, left and right 2 waveform guardrails and a middle shallow dish green belt; the center marking line is used for fixing the iron fences at the left and the right and for fixing the middle shallow plate green belt; the center marked line and the opposite isolation belt are anti-collision columns, sidewalks, houses and the like. The equidirectional road lane marking includes: white dotted line; a yellow dotted line; a solid yellow line; double white dotted line; a double yellow solid line; solid double white lines; yellow dashed solid lines, etc. The rightmost marked line of the digital equidirectional road comprises: solid white line, non-motorized lane, tree, farmland; white dotted line (kerbstone), sidewalk, store; cable guardrails, shrub greenbelts (kerbs), sidewalks and trees, and the like. With the digital marking variety, the intelligent navigation device can drive the vehicle more accurately and safely, such as helping the vehicle to standardize straight running in a digital lane; the vehicle changes lanes and preferably selects a left or right lane; preparing and implementing lane change time of the vehicle; traffic accidents are intelligently avoided; when an unavoidable collision accident occurs, the self collision posture is adjusted in time according to the obtained information of the relative (collision object) speed of the automatic driving vehicle, the vehicle quality, the vehicle framework strength, the braking effectiveness, the position of important personnel in the vehicle, the lane digital marking type and the like, and the optimal collision object, the collision site and the minimum damage degree are estimated. The digital reticle class uses a digital code.

In summary, the digital equidirectional road sign is a digital traffic sign set with a data structure specification. It is encoded by data.

The digital equidirectional road comprises a digital lane array; the digital lane array at least comprises one digital lane; that is, a plurality of parallel and adjacent digital lanes can be longitudinally and transversely spliced into a digital same-direction road. Specifically, the digital lane comprises a left digital marking, a digital lane road surface attribute, a right digital marking and the like; wherein, the data structures of the digital marked lines on the left side and the right side are the same; parallel and adjacent. Is a digital code.

Specifically, the digital reticle coordinate points are the basic units that make up the digital reticle; the digital marking line coordinate points (which help to determine the relative position of the intelligent driving vehicle in the digital equidirectional road and acquire the static road conditions of the surrounding digital road) comprise member parameters such as coordinate point numbers, coordinate point longitudes, coordinate point latitudes, coordinate point altitudes (used for judging whether the intelligent driving vehicle is a ground lane or an urban elevated lane or a traffic lane with complicated and overlapped overpasses), and the like, and are all expressed by numbers. In the embodiment, the test data of the coordinate points is collected from a segment of real lane marking (located at the entrance end of the digital lane), the number k of the coordinate points is defined to start from 0, the number k = n-1 of the nth coordinate point of the digital marking, and the maximum coordinate point number is m (located at the exit end of the digital lane); wherein n and m are both natural numbers of 1 or more. Specifically, a group of digital reticle coordinate points with standard data structures, unequal numbers and standard spacing are synthesized according to the sequence of coordinate point numbers from small to large: a virtual three-dimensional digital reticle. Coordinate point usage: firstly, if the coordinate point spacing standard is defined and is short enough relative to the vehicle speed, the dense and effective coordinate points are linearly connected and are fitted into a smooth digital marking curve, and then the fitting treatment between digital markings and between digital lanes is not performed, so that a large amount of data expressing the radian of the digital markings is saved. Secondly, two digital marking lines, the digital lane road surface attribute and a lane height mark are used for expressing the virtual three-dimensional digital lane space, and the method is a dotted line fusion expression method which can save the data volume most. Thirdly, multiplying the maximum serial number m of the coordinate points by the standard distance of the coordinate points to obtain the length of the digital marking; the calculation of mileage and speed will be more accurate; the vehicle odometer and the speedometer are eliminated, and the vehicle production cost is reduced. And fourthly, the system has the function of recording and tracing all driving and mileage of the vehicle every time, every day, every month, every year and in a full life cycle. Fifthly, the width of the real road marking is 10-20 cm, and the digital marking is an infinite thin connecting line; therefore, the digital marked lines assist in remotely handling the traffic accidents, and responsibility is more accurate.

Specifically, the coordinate points of the present embodiment refer to the distance standard of the real road marking: the distance standard among the expressway, the first-level highway and the urban expressway is 10 meters; the spacing standards of second-level roads, third-level roads, fourth-level roads, urban roads, roads inside units, courtyard roads, village roads, mountain roads and expressways, urban viaducts, overpasses, underground parking lot access ramps and the like are 6 meters; various turning roads, and other roads requiring a 1 meter pitch standard. The reference standard is not only convenient for testing coordinate points, but also can draw long-term traffic experience.

Two adjacent and parallel digital marked lines determine and form a section of virtual three-dimensional digital lane road surface. The cost of real road marking and road surface attribute sensing is too high; however, digital lanes are relatively easy. Specifically, the member parameters of the digital lane road surface attribute and the data structure thereof are as follows: a digital lane course angle, a digital lane pitch angle, a digital lane roll angle, a dynamic friction coefficient, a digital road load, a safe transverse distance and a safe straight-driving distance; it is a digital code, the precision design of this paper, can satisfy the needs of various intelligent algorithms of complete autopilot (5 grades), wherein the member parameter:

digital lane heading angle. The design value is 360 degrees, and the basic unit is 0.01 degrees. The method is mainly used for an intelligent steering system, and ensures the safety of cruising or lane changing of the automatic driving vehicle. Such as a heading angle tan of 0.01 ° =0.0001745329, which has a 15 second time to handle deviations of less than 8.73 centimeters if the autonomous vehicle is driving 500 meters at 120 km/h.

Digital lane pitch angle. The maximum value is designed to be +/-45 degrees (the highway engineering technical standard (JTG B1-2003) specifies that the maximum longitudinal slope of each level of highway is not more than 9 percent), and the basic unit is 0.1 degree; the intelligent gear shifting control system is used for achieving a preset vehicle speed by intelligent gear shifting control, intelligent actuating control or intelligent braking control and the like when an automatic driving vehicle ascends and descends. The digital lane pitch angle can also replace the warning sign of going up and down a slope.

Digital lane roll angle. The maximum value is designed to be +/-45 degrees, and the basic unit is 0.1 degree; and calculating the maximum safe turning speed of the vehicle according to the gravity center of the automatic driving vehicle and the steering angle of the digital lane, and using the maximum safe turning speed for intelligent vehicle turning control and vehicle rollover prevention.

Coefficient of dynamic friction. According to road subgrade and pavement site test regulations (JTG 3450 and 2019), the dynamic friction coefficient of the pavement is measured by a similar two-wheel type transverse force coefficient test system; the accuracy was 0.001. The dynamic friction coefficient of the lane is one of basic data processed by an intelligent actuating system and an intelligent braking system; in particular to one of basic data for automatic correction of dynamic friction coefficient of an automatic driving vehicle.

The digital road load is used for planning one of basic data of a heavy-load vehicle driving route; grading the automobile load: 8 tons, 10 tons, 15 tons, 20 tons, 25 tons, 30 tons, 40 tons, 50 tons, 60 tons, 80 tons and more.

A safe lateral distance. The safety straight-going distance is calculated; the precision is in centimeter level. Usually, the vehicle runs on the outer side of a plane curve of a digital lane to obtain the maximum safe straight-going distance; therefore, the safe transverse distance of the intelligent navigation device is unique. In particular, the safe lateral distance is determined according to the user's safety and comfort needs. Specifically, the automatic driving vehicle obtains a group of digital lane course angles in front, and runs to the right if clockwise change occurs from near to far, and the safe transverse distance on the right side of the digital lane is used; otherwise, the vehicle runs to the left with the counterclockwise change, and the safe transverse distance on the left side of the digital lane is used. If the course angle of a group of digital lanes is not changed, the digital lanes are straight lanes, and the safe transverse distance of the original side is not changed. The early digital transverse distance is preset manually; automatically generating a safe transverse distance in future according to parameters such as a digital road plane curve, a driving safety level, a comfort degree, a positioning signal strength and the like; it is defined herein as a digital road attribute.

The safe straight-driving distance is also called as blind driving distance. Blind distance ÷ vehicle travel speed = blind travel time; the method is used for informing the intelligent navigation equipment of the time, and the safe straight-going distance of the automatic driving vehicle is guaranteed under the condition that no reliable positioning signal exists. This attribute demonstrates that the frequency and serviceability requirements for locating information for autonomous vehicles are greatly reduced using digital road infrastructure and intelligent steering control systems.

The invention integrates member parameter codes into a digital equidirectional road according to the data structure of the digital equidirectional road. It is coded by numbers. And formatting the digital equidirectional road identifications in the digital equidirectional roads, and coding to generate the digital equidirectional roads with the digital equidirectional road identifications.

In another preferred embodiment, the data structure of the digital equidirectional road for setting the digital equidirectional road sign is: and the array of the transverse tangent lines of the digital equidirectional roads. Specifically, the digital equidirectional road transverse tangent line comprises a digital equidirectional road mark and a digital equidirectional road pavement transverse tangent line; if no digital equidirectional road mark exists, the transverse tangent of the digital equidirectional road is equal to the transverse tangent of the road surface of the digital equidirectional road. Specifically, the digital equidirectional road pavement transverse tangent line at least comprises a digital lane pavement transverse tangent line array. The digital lane road surface transverse tangent line array at least comprises a digital lane road surface transverse tangent line. Specifically, the member parameters of the digital lane road surface transverse tangent line and the data structure thereof are as follows: a left digital marking coordinate point + a digital lane road surface attribute + a right digital marking coordinate point, and the like; and the numbers of coordinate points of the digital marked lines on the crosscut lines of the road surfaces of the digital equidirectional roads are the same.

Specifically, two adjacent and parallel digital lane road surface transverse tangent lines are determined to form a section of virtual three-dimensional digital lane road surface. Furthermore, a group of digital lane road surface transverse tangent lines with standard data structures, unequal numbers and standard intervals are regularly and orderly fitted into a section of virtual three-dimensional digital lane road surface according to the direction of the digital lane. And further, longitudinally and transversely splicing a plurality of adjacent digital lane road surfaces one by one to generate a section of virtual three-dimensional digital same-direction road surface.

As described above, the digital marking coordinate points are basic units constituting a virtual three-dimensional digital marking, a virtual three-dimensional digital lane road surface transverse line, a virtual three-dimensional digital co-directional road surface transverse line, and the like. The digital road generation by digital coding is one of the core features of the present invention.

Example two:

in the embodiment, another important component of the digital road is analyzed by combining the member parameters of the digital road infrastructure and the data structure diagram 4: a digital intersection. Specifically, the digital intersection includes a digital crossroad, a digital loop intersection, a digital three-way intersection and the like; the digital guide section arrangement combination can express different kinds of digital intersections. The digital intersection is connected with the digital road entrance and exit end, the digital equidirectional road entrance and exit end, the digital lane entrance and exit end and the like. The digital guide road sections all contain digital traffic identifications thereof.

The digital road infrastructure also includes digital intersections. The digital intersection includes a collection of digital guide road segments. Wherein the digital guide road section set comprises at least one digital guide road section subset connected with the exit end of the digital equidirectional road. The digital guide road section subset comprises at least one digital guide road section array connected with the exit end of the digital lane. The digital guide road section array comprises at least one digital guide road section; the digital guide road section has only one driving direction, and the outlet end of the digital guide road section is connected with the inlet end of a digital same-direction road. The method is characterized in that: the digital guide road sections of the digital intersection can have an intercrossing phenomenon; therefore, the busy digital intersection is provided with a traffic signal lamp system, so that the phenomenon of crossing between digital guide road sections which effectively pass can not occur (the collection of the straight red light right turning lane and the green light straight lane does not belong to crossing), and the vehicle can be ensured to run legally, orderly, safely and smoothly. The intersection which is not busy is not usually matched with a traffic signal lamp, and a driver is required to ensure that the vehicle runs safely, orderly, safely and smoothly according to a traffic avoidance rule.

Specifically, by determining the digital lane number and the digital driving direction code at the exit end of the digital equidirectional road, the unique digital guidance section in the subset of digital guidance sections connected thereto can be determined. All the digital lanes at the exit end of the digital equidirectional road A are defined to be numbered from left to right, starting from the number 1 and sequentially numbered from small to large according to natural numbers. A digital driving direction code is also defined herein: the turning direction of the exit end of the digital equidirectional road A is taken as a code 1, the digital equidirectional road A rotates clockwise (or anticlockwise), and the codes are sequentially compiled for the entrance end of each digital equidirectional road from small to large by using natural numbers so as to accurately express an irregular digital intersection. All digital lanes at the entrance end of the digital equidirectional road B are numbered from left to right, the number 1 is started, and the digital lanes are numbered sequentially from small to large according to natural numbers. Specifically, each digital lane in the digital equidirectional road A is connected with a digital lane with the same number at the inlet end of another digital equidirectional road B pointed by the digital driving direction of the digital lane through a unique digital guide road section; except for extended or reduced digital guide segments.

In another preferred embodiment, one end of the special digital guide road section is a digital lane, and the other end of the special digital guide road section is a plurality of digital lanes; and marking digital marked lines according to the avoidance standard of traffic expansion and reduction, and setting digital traffic marks. In order to ensure the driving safety of the vehicle, the outer side digital marking lines of the digital guide road sections are all defined to be solid lines, so that the automatic driving vehicle cannot change lanes to drive at the digital intersection. Specifically, the digital guidance road section comprises the types of a digital motor vehicle lane, a digital non-motor vehicle lane, a digital sidewalk and the like; they cannot be connected to each other.

The number of digital lanes in a certain driving direction in the digital same-direction road A is a, and a is more than or equal to 1; the digital lanes are connected to another digital same-direction road B through a digital guide road section, the number of the digital lanes is B, and B is more than or equal to 1. Specifically, if the number of lanes a = B, the exit end of the digital lane in a certain driving direction in the digital equidirectional road a is sequentially connected with the entrance end of the digital lane in the digital equidirectional road B from left to right. Specifically, if the number a of the digital lanes is greater than b; the number of a digital lane in a certain driving direction in the exit end of the digital equidirectional road A is the number of the b-th digital lane, and the left (a-b) digital lanes are used as the entrance ends of the special digital guide road sections; the exit end is reduced to a B-th digital lane from the left in the digital same-direction road B; marking a reduced digital marked line and a reduced digital mark in the special digital guide road section; the exit end of the digital equidirectional road A is provided with b digital guide road sections connected with the digital equidirectional road A. Specifically, if the number a of the digital lanes is less than b, the a-th digital lane numbered in a certain driving direction at the exit end of the digital equidirectional road A is the entrance end of the special digital guide road section; starting the a-th digital lane from the left in the digital same-direction road B, taking the left (B-a) digital lane as an expansion outlet end, and marking an expansion digital marking line and a digital expansion mark in the special digital guide road section; the exit end of the digital equidirectional road A is provided with a digital guide road sections connected with the digital equidirectional road A.

Example three:

fig. 1 is a schematic flow chart of a digital equidirectional road code generation method for setting a digital equidirectional road sign, which is analyzed below with reference to a first embodiment, a schematic structural diagram 3 of a digital road infrastructure generation device, and a schematic structural diagram 4 of member parameters of a digital road infrastructure and data thereof.

Specifically, the digital road creation device is mounted on a test vehicle. In the running process of a test vehicle, the digital road generating device intelligently acquires lane markings and lane pavement attributes of real road infrastructure by means of professional equipment and instruments and adopting a manual intervention field test acquisition method, a tester selects or inputs traffic signs and the like, and a digital equidirectional road with digital equidirectional road signs is generated by coding. Specifically, the digital road generation apparatus includes a digital road encoder 10 and a digital road infrastructure storage device 30; the digital road encoder 10 comprises a digital equidirectional road sign input program module 11, a digital marking and road surface attribute acquisition program module 12, a digital equidirectional road code generation program module 13, an acquisition equipment interface program module 14 and the like; and a data testing and collecting device 20 connected with and including an intelligent focusing device, an RTK testing and receiving device, an optical fiber gyroscope, a speed and length measuring instrument, an intelligent navigation device and the like. The acquisition and code generation method comprises the following steps:

st1, the encoding generates a digital equidirectional road sign. Specifically, the digital equidirectional road sign input program module 11 includes a digital equidirectional road sign input window; the tester selects or inputs all digital traffic identifications of the digital equidirectional roads by using the tester; and is stored in the digital equidirectional road identification input program module 11. Setting a digital equidirectional road identification array E [ B ] as 'null', wherein an array subscript B =0 (a digital marking line coordinate point number); the steps of collecting and coding the digital equidirectional road identification array are as follows:

step 100: acquiring a digital same-direction road comprehensive code and a digital road category code; during actual operation, a tester selects or inputs a digital equidirectional road comprehensive code and a digital road type through a digital equidirectional road identification input window; the digital co-directional road sign input program module 11 automatically obtains from the system corresponding "traffic sign dictionary" (one of the digital dictionaries): digital same-direction road comprehensive code, digital road category code, etc. Description of the drawings: first, the digital equidirectional road complex code is used to retrieve the next digital equidirectional road access component. Secondly, taking a first digital co-directional road pavement transverse tangent line comprising all digital lanes at the entrance end of the digital co-directional road; the redundant part belongs to the exit end of the digital guide road section. In the same way, the last digital same-direction road surface transverse tangent line comprising all digital lanes is taken at the outlet end of the digital same-direction road; the redundant part belongs to the entrance end of the digital guide road section. Thirdly, the digital same-direction road comprehensive code and the digital road category belong to digital traffic identification of the digital same-direction road.

Step 101: coding to generate a digital traffic identification array; in actual operation, a tester selects or inputs the traffic signs observed on the equidirectional road one by one through the digital equidirectional road sign input window. The digital equidirectional road sign input program module 11 obtains digital traffic sign codes from a traffic sign dictionary, and the auxiliary signs need to be input by testers; such as 8.3 km from the next exit at the temple of ajowang.

Step 102: coding to generate a digital lane identification array; during actual operation, a tester selects and inputs the digital lane types, the digital lane driving directions and the digital lane height limits of the equidirectional roads one by one through the digital equidirectional road mark input window; the digital equidirectional road sign input program module 11 generates digital lane signs through coding of a corresponding digital dictionary, and the data structure of the digital lane signs is as follows: digital lane type code + digital lane driving direction code + digital lane height limit value. Circulating and reciprocating; and finally, coding and integrating all the digital lane marks into a digital lane mark array according to the serial number sequence of the digital lanes.

Step 103: coding to generate digital equidirectional road identification; specifically, the digital equidirectional road sign input program module 11, according to the member parameters of the digital equidirectional road sign and the data structure thereof: the digital same-direction road comprehensive code + digital road category code + digital traffic identification array + digital lane identification array are integrated into a digital same-direction road identification and stored in a digital same-direction road identification array E [ B ].

St2, encoding to generate a digital co-directional road surface transverse tangent array; specifically, the digital equidirectional road pavement transverse tangent line comprises a digital lane pavement transverse tangent line array; the acquisition equipment interface program module 14 is connected with professional testing equipment such as intelligent focusing equipment, RTK test receiving equipment, an optical fiber gyroscope, a speed and length measuring instrument, intelligent navigation equipment and the like through an RS442 interface to acquire digital co-directional road data; the digital marking and road surface attribute acquisition program module 12 comprises a digital equidirectional road sign input window; implementing field test acquisition of manual intervention of digital marking (or digital marking coordinate points) and digital vehicle road surface attributes; setting a digital lane number A = 1; the method comprises the following specific implementation steps:

step 200: obtaining the type of the digital marked line; during actual operation, a tester sequentially enables digital lanes of the digital equidirectional road to be from left to right through a digital equidirectional road identification input window, and two types of digital marking lines needing to be identified in the digital lanes are selected in the input window; the digital marking and road surface attribute acquisition program module 12 automatically generates a digital marking type code; and automatically generating the standard distance of the coordinate points of the digital marking according to the type of the digital road. And setting a digital lane road surface transverse tangent line array A [ B ] = empty.

Step 201: focusing the test cross of the coordinate point of the digital marking; in actual operation, a tester draws a straight line (perpendicular to the road) at the entrance end of the road, and draws two real test crosses with a pen at the centers of the straight line and the lane markings, wherein the number of the coordinate points of the digital markings is B =0. The tester drives the test vehicle to a test position, the left and right sets of intelligent focusing equipment control the left and right front and back four stepping motors (at present, the single step travel of the straight line of the stepping motors is about 0.01mm, and the test precision of a digital marking coordinate point can be met), and the equipment test cross focusing practical test cross of the left and right intelligent focusing equipment (at present, the stepping distance of the intelligent focusing equipment can reach 60cm, and the intelligent focusing requirement is met); confirming successful focusing until complete overlapping; and sends out a focusing success signal. Specifically, if the number B of the coordinate point of the digital marking is more than or equal to 1; the intelligent navigation equipment navigates the test vehicle and standardizes the distance according to the traveling coordinate points in the lane direction; calculating the distance arc of the coordinate point (B-1) of the digital marking as the transverse line of the virtual test cross; then, drawing an arc at a distance on a real standard line (10-20 cm), taking a bit line to generate a vertical line of a virtual test cross, wherein the required error is about 1mm, and the application requirement of full automatic driving (L5) can be met; thereby generating a virtual test cross. The intelligent focusing equipment controls the left, right, front and rear stepping motors, and focuses the equipment test cross of the left and right intelligent focusing equipment on a virtual test cross; until complete overlap; and sends out a focusing success signal.

Step 202: collecting codes to generate the coordinate points of the left and right digital marking lines of the digital lane; specifically, a focusing success signal of the intelligent focusing device triggers the left RTK test receiving device and the right RTK test receiving device to work through the RS442 interface respectively; the positioning antennas are fixed right above a focusing lens of the intelligent focusing equipment and automatically receive WGS-84 coordinate data of a coordinate point; and acquiring the longitude and latitude and the altitude of the current left and right digital marking coordinate points by using a coordinate point parameter conversion algorithm. In 2025, beidou of china will provide reliable centimeter-level positioning service for the world; furthermore, a Beidou ground base station auxiliary platform is adopted to obtain millimeter-level positioning data, and the precision requirement of the digital road is met. Specifically, the RTK test receiving equipment is connected with the digital road generating device through an RS-442 interface and interacts digital marking coordinate point information. Further, the digital road encoder 10, according to the member parameters of the coordinate points and their data structures: and (4) coding the coordinate points, namely the coordinate point number, the coordinate point longitude, the coordinate point latitude, the punctuation altitude and the digital marking type code to generate the left and right digital marking coordinate points of the digital lane.

Step 203: testing and collecting member parameters of the pavement attribute part of the digital lane; specifically, a focusing success signal of the intelligent focusing device is received through the RS442 interface, and the left and right optical fiber gyroscopes are triggered to work (at present, the zero offset stability, zero offset repeatability and random walk coefficient of the gyroscope are all less than or equal to 0.008 degrees/h, the scale factor nonlinearity, scale factor repeatability and scale factor asymmetry are all less than or equal to 10PPM, and the precision requirement of a digital road can be met). And acquiring a course angle, a pitch angle and a roll angle of the digital lane. Further, the optical fiber gyroscope is connected with the digital road generating device through an RS442 interface, and member parameters of the digital lane road surface attribute part are interacted.

Step 204: testing and collecting the dynamic friction coefficient of the pavement; in actual operation, a tester prepares a test environment of a lane according to the road subgrade and pavement site test regulation (JTG E60-2008) and at the highest speed, and performs site test to obtain a dynamic friction coefficient; such as a highway, selecting a straight and flat test lane about 300 meters long; one end of the lane is provided with a test target; and at the other end which is 0.5 kilometer away from the front of the vehicle speed test target, a tester debugs the laser Doppler speed and length measuring instrument to focus the vehicle speed test target and ensure that the test vehicle can capture effective reflected signals in the process of moving towards the direction of the test target. After the preparation is finished, starting a test vehicle to accelerate to the direction of the vehicle speed test target, and sending braking information to the digital road generating device through an RS-442 interface by a laser Doppler speed and length measuring instrument at a position 300 meters away from the test target; the digital road generating device transmits the braking information to the intelligent navigation equipment through the RS-442 interface, so that the test vehicle is triggered to start emergency braking. Meanwhile, a laser Doppler speed and length measuring instrument (at present, the support test range is 10000 m/min, the precision is less than or equal to 0.05 percent) produces and stores about 150K groups of speed and length measuring data per second. The laser Doppler speed and length measuring instrument is connected with the digital road generating device and exchanges test data; calculating to obtain about 150 KXM groups of dynamic friction coefficients mu through a dynamic friction coefficient formula mu = v 2/2gS (wherein v is the initial speed of the tested vehicle; g is the gravity acceleration; and S is the braking distance); where M is the length of time in seconds from the start of braking the vehicle to the stop of the vehicle. Further, a more accurate dynamic friction coefficient curve graph is obtained by calculating a middle error value of about 150K multiplied by M groups of dynamic friction coefficients mu; expressing the dynamic friction coefficient of the road surface under different vehicle speeds; the digital lane road surface attribute is the dynamic friction coefficient when the highest speed limit of the lane is 70%. The dynamic friction coefficients of roads built at the same time are basically the same; the dynamic friction coefficient is usually tested only once. If the road surfaces of the digital vehicles on the digital same-direction road are not homogeneous, the dynamic friction coefficients of the digital vehicles need to be tested respectively in the same testing mode.

Step 205: selecting a digital road load; in actual operation, a tester selects a digital road load according to the road surface type of the digital road through a digital equidirectional road mark input window; including bridge bearing. Mainly the load of the motor vehicle lane.

Step 206: selecting a safe transverse distance; in actual operation, a tester selects the safe transverse distance through the digital equidirectional road sign input window.

Step 207: calculating to obtain a safe straight-going distance; the calculation principle is as follows: the digital marking coordinate points with the same number on the left and the right of the connecting digital lane are virtualized into a section of digital lane road surface transverse tangent; the digital marking and road surface attribute acquisition program module 12 takes two test points of safe transverse distance from two ends of the digital lane road surface transverse tangent line, forwards extends according to a digital course angle in the digital lane road surface transverse tangent line, and tests how far the digital marking and the digital marking on two sides are crossed; the maximum is 500 m. The digital lane road surface attribute only identifies a longer safe straight-driving distance. Description of the invention: this is a delayed calculation, for example, the maximum safe straight-line distance of the coordinate point of the digital reticle is 200 meters, and the standard distance of the coordinate point of the digital reticle is 10 meters, which means that it is not until the 20 digital reticle coordinate points in front of the coordinate point of the digital reticle are tested, and the delayed safe straight-line distance calculation can be implemented; the preferred safe straight-ahead distance calculation is complemented "afterwards" by the digital road generating device to shorten the testing time of the digital road. Specifically, the blind driving time can be calculated according to the safe straight-driving distance and the intelligent vehicle driving speed; that is, even if the navigation-oriented data is lost, the autonomous vehicle is safe to travel within a safe straight-ahead distance by traveling strictly in accordance with the heading angle of the digital lane. In the blind driving time period, the intelligent navigation equipment takes corresponding measures, including control actuation, braking, gear shifting, lane changing and other treatment, so as to avoid traffic accidents such as collision.

Step 208: coding to generate digital lane road surface attributes; specifically, the digital marking and road surface property acquisition program module 12 encodes and generates member parameters of the digital lane road surface property and a data structure thereof: the method comprises the steps of digital lane heading angle, digital lane pitch angle, digital lane roll angle, dynamic friction coefficient, digital road load, safe transverse distance and safe straight-driving distance.

Step 209: coding to generate all longitudinal digital lane road surface transverse tangent line arrays of the digital equidirectional road; specifically, the digital marking and road surface property acquisition program module 12 is, according to the data structure: and (3) coding the member parameters of the digital lane left side digital marking coordinate point, the digital lane road surface attribute and the digital lane right side digital marking coordinate point to generate a digital lane road surface transverse tangent line. Specifically, a digital lane road surface transverse tangent line is taken as an element of a longitudinal digital lane road surface transverse tangent line array A [ B ]; obtaining the number B = B +1 of the coordinate point of the next digital marking; if A =1, repeatedly executing step 100 to step 209; until the tester considers the complete code to generate the first longitudinal digital lane road surface transverse tangent line array A [ B ]. If other lanes need to be tested, the number A = A +1 of the digital lane is set, and the array subscript B =0. Repeating the steps 200-209. Until the tester considers the codes to generate all longitudinal digital lane road surface transverse tangent arrays of the digital equidirectional road.

St3, the digital equidirectional road code generation program module 13 codes and integrates a digital equidirectional road with digital equidirectional road marks; the implementation steps are as follows:

step 300: preparing integration; specifically, a digital marking line coordinate point number C =0 is set, and a digital equidirectional road transverse tangent line array D [ C ] = null.

Step 301: the code integrates a digital same-direction road pavement transverse tangent; specifically, the data structure of the digital co-directional road surface transverse tangent line is as follows: a digital lane road surface transverse tangent line 1+ a digital lane road surface transverse tangent line 2+ -.. + a digital lane road surface transverse tangent line N; the digital equidirectional road code generation program module 13 takes out all the digital lane road surface transverse tangents with the digital marking line coordinate point number C from the above-mentioned all the longitudinal digital lane road surface transverse tangent arrays, and integrates them into a digital equidirectional road surface transverse tangent F [ C ] from small to large.

Step 302: encoding to generate a digital same-direction road transverse tangent; specifically, the data structure of the digital co-directional road transverse tangent line is as follows: digital same direction road mark E [ C ] + digital same direction road surface transverse tangent F [ C ]; the digital equidirectional road code generation program module 13 integrates the digital equidirectional road mark E [ C ] and the digital equidirectional road surface transverse tangent F [ C ] code into a digital equidirectional road transverse tangent D [ C ].

Step 303: coding and integrating a digital same-direction road transverse tangent line array D [ C ]; specifically, C = C + 1; if C is less than the maximum number of the coordinate point number B of the digital reticle, repeating the steps 301 to 303; otherwise, the coding is completed to integrate a digital same-direction road transverse tangent line array D [ B ]. Thereby obtaining a digital equidirectional road with the digital equidirectional road mark.

Example four:

in this embodiment, the second embodiment and the third embodiment are combined, and the member parameters of the digital road infrastructure and the data structure thereof are analyzed schematically in fig. 4, so that those skilled in the art can further understand the member parameters of the digital intersection, the digital guidance road section, the digital cocurrent road access component, and the data structure thereof, and the generation method thereof.

The embodiment is an intersection formed by intersecting two road planes; or the digital intersection is connected with the inlet ends of at most four equidirectional digital roads; and possibly with up to four equidirectional digital road exit ends. Fig. 2 shows a part of the digital intersection, which is externally connected with a digital equidirectional road exit end. Specifically, the exit end of the digital equidirectional road consists of 3 digital motor vehicle lanes, a digital non-motor vehicle lane and a digital sidewalk. The exit end of the digital equidirectional road starts from the left, the first digital motor lane has two digital lane driving directions of turning around and going straight, and two digital guide road sections are coded for the test according to the standard requirement; the second digital motor vehicle lane has two digital lane driving directions of left turning and straight going, and two digital guide road sections are coded for the test of the second digital motor vehicle lane; the third digital motor lane has only one straight driving direction, but according to the current traffic rules, the lane can also turn right (except that the traffic signal indicates that the vehicle cannot turn right), and two digital guide road sections are coded for the test. Specifically, the exit end of one digital lane can identify the driving directions of a plurality of digital lanes; each digital lane driving direction is coded to generate a digital guide road section connected with the digital lane driving direction. The present embodiment describes only 6 digital guide sections of a motor vehicle lane; and does not describe the digital guide sections of the non-motorized lane and the sidewalk.

The digital guide road section is a simple digital lane, and the member parameters and the data structure thereof are as follows: the digital guide road section number + the digital guide road section length + the digital guide road section identification + the digital guide lane + the digital equidirectional road composite code. Wherein:

the code generates a digital guide link number (2 bytes). Specifically, the data structure is: digital lane number (1 byte) + digital direction of travel code (1 byte). First, as shown in fig. 2, the number of digital lanes k: the numbering rule is that according to the sequence of the exit end of the digital equidirectional road from left to right, the number k of the leftmost digital lane =1, and the numbers k of the rest digital lanes are one by one: k = k +1, maximum k = 3. Secondly, defining a digital driving direction code r, wherein the digital driving direction code r =1 at the entrance end of the digital equidirectional road is a U-turn; the entrance ends of the rest digital equidirectional roads are sequentially coded one by one according to the clockwise direction as follows: r = r + 1. The numbers of the digital guide road sections at the exit end of the digital equidirectional road shown in fig. 2 are sequentially as follows: 11 (1 lane turning around) and 13 (1 lane straight going); 22 (2 lane left turn), 23 (2 lane straight); 33 (3 lanes going straight), 34 (3 lanes turning right), etc. They belong to the digital guide road section arrays of 3 digital lanes respectively, but belong to the digital guide road section subset of the same digital equidirectional road. Description of the drawings: in the digital guide road section subset connected with the digital equidirectional road, the numbers of the digital guide road sections are unique. And in the digital guide road section set of the digital intersection, the digital guide road section number can be repeated.

A digital guide segment length (4 bytes) is generated. Specifically, the digital guide road comprises member parameter accumulated word lengths such as digital guide road section identification, digital guide lanes, digital same-direction road comprehensive codes and the like. The length of the digital guide road section is used for quickly analyzing and acquiring the digital guide road section identification, the digital guide lane and the digital equidirectional road comprehensive code from the digital guide road section.

The code generates a digital guide road segment identification. Specifically, the number of guidance road section identifications is small, such as turning zone stop lines, lane reduction number marking lines, lane expansion number marking lines and the like. The member parameters and the data structure thereof are defined and collected by codes as the digital traffic identification arrays in the first embodiment and the third embodiment, and are expressed by data.

The codes are integrated into a digital guide lane. In particular, a digital guide lane is typically a digital lane; only the digital guide lane with expanded or reduced marks has a plurality of digital lanes at one end. In the embodiment, the test vehicle provided with the digital road generating device in the third embodiment is adopted, and the same manual intervention field test acquisition method is implemented on one guide road section of the intersection through professional equipment such as intelligent focusing equipment, RTK test receiving equipment, an optical fiber gyroscope, a speed and length measuring instrument, intelligent navigation equipment and the like; encoding all longitudinal digital lane road surface transverse tangent line arrays thereof by a digital road encoder 10; thereby the codes are integrated into a digital guide lane. Wherein, digital lane road surface transversal cut's member parameter and data structure thereof: left side digital marking, digital lane road surface attribute and right side digital marking; the digital guide road section has the same data structure as the digital lane in the digital equidirectional road; the standard spacing of the digital marking coordinate points of the digital guide lane is 1 meter.

Digital equidirectional road comprehensive codes. Specifically, the member parameters, the data structure thereof and the manual intervention field test acquisition method are the same as those of the first embodiment and the third embodiment. Retrieving information from the digital equidirectional road comprehensive code to obtain a unique digital equidirectional road access component connected with the outlet end of the digital guide road section; the intelligent navigation equipment can see the static road condition of the next digital road in advance; furthermore, when the automatic driving vehicle is in leisure in the driving process, the static road conditions of the farther digital road can be seen in advance according to the same method.

Specifically, the digital road encoder 10 integrates the digital guide link number, the digital guide link length, the digital guide link identifier, the digital guide lane, and the digital equidirectional road integrated code into one digital guide link according to the data structure of the digital guide link. Circularly repeating the operation, and encoding to generate six digital guide road sections; then the codes are integrated into three digital guide road section arrays; and further encoding to generate a digital guide link subset of the digital equidirectional road shown in fig. 2. Finally, the digital road encoder 10 integrates the digital equidirectional road with the digital equidirectional road sign in the third embodiment and a digital guidance link subset and the like connected with the digital equidirectional road into a digital equidirectional road access component. It is the basic unit of coding, storing, indexing, reading and analyzing of the digital theory infrastructure.

Specifically, according to the starting address and the ending address of the journey, a driving route is planned and obtained by adopting a driving route planning algorithm such as a simulated annealing algorithm, an artificial potential field method, a fuzzy logic algorithm, a visual image space method, a free space method, an ant colony algorithm, a neural network algorithm, a genetic algorithm and the like. This is a technique and method commonly used in the art and the present invention is not described in depth.

Specifically, according to the starting address of the driving route, the intelligent navigation device searches the digital road infrastructure (storage device) to obtain a digital cocurrent road access unit. Then, the digital equidirectional road access component is analyzed, and the digital equidirectional road with the digital equidirectional road mark and the digital guide road section subset connected with the digital equidirectional road mark are obtained. And analyzing the digital guide road section subset according to the digital driving direction codes in the driving route, and acquiring at least one digital guide road section from the digital guide road section subset. And then, analyzing a digital guide road section according to the requirement to obtain the digital same-direction road comprehensive code of the digital guide road section. And finally, analyzing the comprehensive codes of the digital same-direction roads to obtain the retrieval information of the next digital same-direction road access component. And finally, according to the retrieval information, retrieving and obtaining the next digital equidirectional road access piece connected with the digital guide road section. And circulating until the digital equidirectional road access piece containing the end address is obtained. Thereby retrieving and obtaining a virtual three-dimensional digital driving road space, namely a task of a group of related digital equidirectional road access pieces; this is a fundamental application of digital road infrastructure.

The digital road infrastructure is a collection of digital equidirectional road access elements. The digital driving road is a digital equidirectional road access component set related according to a driving route.

In another preferred embodiment, the digital equidirectional road with the digital equidirectional road mark and the digital guide road segment subset related to the digital equidirectional road mark are respectively coded and stored; however, the efficiency of the digital road infrastructure can also be realized by establishing the association retrieval relationship of the two. Disadvantages such as: the steps of encoding, storing, retrieving, reading and analyzing are added.

Example five:

FIG. 3 is a schematic structural diagram of the digital road generating device; the present embodiment, combining the third embodiment and the fourth embodiment, analyzes a digital road generating apparatus, which includes a digital road encoder 10, various data test collection devices 20, and a digital road infrastructure storage device 30.

The digital road encoder 10 is used to execute the code generation methods of the third and fourth embodiments; the system comprises a digital same-direction road mark input program module 11, a digital marking and road surface attribute acquisition program module 12, a digital same-direction road code generation program module 13 and an acquisition equipment interface program module 14; wherein:

the digital equidirectional road identification input program module 11 is used for the tester to select or input all digital traffic identifications of digital equidirectional roads. Specifically, the digital equidirectional road sign input program module 11 includes a digital equidirectional road sign input window, which has the functions of selecting and inputting digital traffic signs; the digital traffic identification comprises a digital same-direction road comprehensive code, a digital road category code, a digital traffic identification array, a digital lane identification code array and the like; integrating the codes into a digital equidirectional road mark; or a digital guide segment identification.

The digital marking and road surface attribute acquisition program module 12 is used for automatically acquiring member parameters of digital equidirectional roads. In actual operation, firstly, acquiring the type of the digital marking; secondly, focusing a test cross of the coordinate point of the digital marking; thirdly, collecting codes to generate coordinate points of the left and right digital marking lines of the digital lane; fourthly, testing and collecting member parameters of the pavement attribute part of the digital lane; fifthly, testing and collecting the dynamic friction coefficient of the road surface; sixthly, selecting digital road load; seventhly, selecting a safe transverse distance; eighthly, calculating to obtain a safe straight-going distance; ninthly, coding to generate digital lane road surface attributes; and tenth, coding to generate a digital lane road surface transverse tangent array of all longitudinal digital lanes of the digital equidirectional road.

The digital equidirectional road code generating program module 13 is used for coding and integrating a digital equidirectional road with a digital equidirectional road mark. Specifically, a first step, encoding preparation; secondly, coding to generate a digital same-direction road surface transverse tangent line; thirdly, coding to generate a digital equidirectional road transverse tangent line; fourthly, coding and integrating a digital same-direction road transverse tangent line array; thereby obtaining a virtual three-dimensional digital equidirectional road space provided with digital equidirectional road signs in the third embodiment; or obtaining the virtual three-dimensional digital guide road section described in the fourth embodiment.

The acquisition equipment interface program module 14 is connected with the digital equidirectional road sign input program module 11, the digital marking and road surface attribute acquisition program module 12, the digital equidirectional road code generation program module 13 and various data acquisition equipment 20 and is used for interacting member parameters of digital road infrastructure; connecting the digital road storage device 30; for storing digital equidirectional road access elements.

The various data acquisition devices 20 include professional devices such as an intelligent focusing device, an RTK test receiving device, an optical fiber gyroscope, a speed and length measuring device, and an intelligent navigation device. Wherein the smart focusing device is used to determine a test cross (positioning) of the digital reticle; the RTK test receiving equipment is used for testing the longitude, the latitude and the height of the acquired coordinate point; the optical fiber gyroscope is used for testing and obtaining a digital lane course angle, a digital lane pitch angle and a digital lane roll angle of the coordinate point; the laser Doppler speed and length measuring instrument and the intelligent navigation equipment are used for testing and obtaining the dynamic friction coefficient of the road.

Digital road infrastructure storage device 30 is used to store digital road infrastructure.

It will be appreciated by those of ordinary skill in the art that all or a portion of the steps of the digital road encoder 10 described above may be performed by associated hardware as instructed by a program module, which may be stored on a computer readable storage medium such as a read only memory, a magnetic or optical disk, or the like. Alternatively, each functional module in the above embodiments may be implemented in the form of hardware (e.g., a computer), or may be implemented in the form of a software functional module. The present embodiments are not limited to any specific form of hardware or software combination.

Claims

1. A digital road infrastructure comprising, in combination,

the digital road infrastructure is formed by integrating member parameter codes;

the digital road infrastructure includes digital roads and digital traffic identifications.

2. The digital roadway infrastructure of claim 1,

the digital road comprises a digital equidirectional road;

the digital equidirectional road comprises at least one digital equidirectional road pavement transverse tangent array;

the digital same-direction road surface transverse tangent line comprises at least one digital lane road surface transverse tangent line array;

the digital lane road surface transverse tangent line array comprises at least one digital lane road surface transverse tangent line;

the member parameters of the digital lane road surface transverse tangent line comprise: left side digital marking coordinate points, digital lane road surface attributes and/or right side digital marking coordinate points.

3. The digital roadway infrastructure of claim 1,

the digital road comprises the digital lane pavement properties;

the digital lane road surface attribute comprises a digital lane heading angle and/or a digital lane roll angle and/or a digital lane pitch angle and/or a dynamic friction coefficient.

4. The digital roadway infrastructure of claim 1,

the digital road comprises the digital marked line;

the digital reticle comprises at least one set of coordinate points of the digital reticle;

the number k of the coordinate point of the digital reticle is started from 0, and the number k = n-1 of the nth coordinate point of the digital reticle;

wherein k and n are natural numbers, and n is greater than or equal to 1;

and fitting the group of digital marking coordinate points into a section of digital marking from small to large according to the number of the digital marking coordinate points.

5. The digital roadway infrastructure of claim 1,

the digital road further comprises digital marking line coordinate points;

the digital reticle coordinate points include a digital reticle category code.

6. The digital roadway infrastructure of claim 1,

the digital road comprises the coordinate point longitude with an error of less than 1.11 centimeters;

and/or the course angle, the basic unit of which is less than or equal to 0.01 °;

and/or the pitch angle; the basic unit is less than or equal to 0.1 degree.

7. The digital roadway infrastructure of claim 1,

the digital road further comprises a safe transverse distance and a safe straight-going distance.

8. The digital roadway infrastructure of claim 1,

the digital road infrastructure further comprises a digital intersection;

the digital intersection includes at least one set of digital guide road segments;

the digital guide road section set comprises at least one digital guide road section subset connected with the exit end of the digital equidirectional road;

the digital guide road section subset comprises at least one digital guide road section array connected with the exit end of the digital lane;

the digital guide road section array comprises at least one digital guide road section.

9. The digital roadway infrastructure of claim 8,

wherein the digital guide road section comprises a digital guide road section number and a digital guide lane;

wherein the digital guide road section number includes a digital lane number and/or a digital driving direction code.

10. A digital road infrastructure generation method, characterized in that,

adopting a field test acquisition method of manual intervention to the actual road to obtain, encode and integrate the digital equidirectional road identification;

acquiring, coding and integrating the digital equidirectional roads;

obtaining and coding integration into the digital guide road section subset;

and integrating the set digital equidirectional road mark, the digital equidirectional road and/or the digital guide road segment subset code into one digital equidirectional road access component.

11. The digital road infrastructure generation method of claim 10,

the basic unit of the digital road infrastructure coding and storage is a digital equidirectional road access unit.

12. A method for using a digital driving road is characterized in that,

according to the driving route, retrieving and obtaining one digital cocurrent road access component from the digital road infrastructure;

according to the retrieval information in the digital equidirectional road access component, retrieving to obtain the next digital equidirectional road access component connected with the digital equidirectional road access component;

and repeating the steps to obtain a digital driving road by retrieval.