KR20220072278A - Map update system and program with its road map for autonomous driving - Google Patents

Abstract

The present invention, in a map update system with precision, receives road survey result data, and classifies information on time, location, azimuth, road classification, or road attributes in the survey result data into individual points, a road survey data processing unit for pre-processing the individual points and storing the processing results; and performing a change of road information to assign a new object ID based on the processing results of the individual points aggregated by the road survey data processing unit, or maintaining the existing object ID and storing information on the road center line, lane center line, or lane and a road survey data update unit for determining an update type for updating.

Description

MAP UPDATE SYSTEM AND PROGRAM WITH ITS ROAD MAP FOR AUTONOMOUS DRIVING}

The present invention relates to a system and program for updating a map with precision for autonomous driving, and more particularly, to a system and program for updating lanes and lane centerlines constructed with lines that are difficult to update on a map with precision.

In Korea, the traffic problem is serious as the population is concentrated in the metropolitan area with Seoul as the center. The cost of traffic congestion across the country has exceeded 26 trillion won since 2008. In the context of increasing traffic congestion, the recent transportation system is being combined with the advanced technology that develops day by day to promote user safety and convenience and to maximize operation and use efficiency. With this background in Korea, an intelligent transportation system was born.

Intelligent Transport Systems (hereinafter ITS: Intelligent Transportation System) provides transportation information and services by applying advanced technologies such as electronics, control and communication to transportation means and transportation facilities, and uses them to scientifically and scientifically operate and manage transportation systems. A transportation system that automates and improves transportation efficiency and stability. Representative ITSs that can be encountered in our daily life include a bus arrival guidance system at bus stops, a system that automatically changes vehicle signals depending on the amount of traffic at an intersection, real-time traffic information of navigation, and high pass.

Recently, standard nodes and links of ITS, an intelligent transportation system, are being distributed from the National Transportation Information Center. In general, in order to express communication information of a road section on an electronic device, it is necessary to set up a node/link and express communication information data on it. Therefore, if an electronic map development company or information provider used in the car navigation terminal develops and applies arbitrary node/link standards for each company to express communication information, various node/link standards exist, making them mutually incompatible. Not only that, but also at the national level, it causes waste such as development costs. Accordingly, in Korea, a system for constructing and operating the structure of traffic information itself and standard maps (standard nodes and links across the country) is continuously being built.

On the other hand, research on electric vehicles and autonomous driving is very active due to policy changes in global countries that want to practice carbon zero from the crisis of climate change. For autonomous driving, accurate road map information is essential. However, the construction and continuous updating of precise road maps requires enormous costs. Currently, a system for automatically updating the survey results of the precision road map is not provided, and a suitable system is not provided yet, so a lot of labor and time is required for the update operation.

In terms of system construction, it is difficult to update the road lanes of the precision road map compared to facilities. In more detail, the geometrical characteristics of the lane can be viewed as polylines, and there is a characteristic that it is difficult to distinguish the start and the end. There are various types of lanes such as intersections, classification and junctions, and stop lines, and the previous and subsequent lanes are spatially connected.

Since the paint that forms the lane is not a permanent painting, it must be painted periodically according to the road conditions and seasons, and it is changed flexibly when a new lane is created or changed, in the case of construction on the road, etc. Lane change is a variable on the road that occurs quite frequently, and it should be corrected in consideration of the connected lanes, not just one lane.

The above-described lane update problem is a different level problem from the automatic update system of the navigation system. In order to advance to the autonomous driving stage, the problems of renewal and lane recognition can be seen as technical tasks that must be systematically established. In order to smoothly update the centerline and lane of a lane, which is essential for autonomous driving, when the centerline and lane are updated, the update type is compared with the existing object information, and an appropriate update process according to the type must be performed.

Accordingly, the present applicant has devised a system that can determine the object ID matching and update type for updating the lanes and lane centerlines constructed as lines in the map with precision to be compatible with the ITS standard system.

Korean Patent No. 10-1636666

The present invention provides information on changed roads to which new object IDs should be assigned, and road information to be updated in existing object IDs, in order to systematically construct updates of lanes and lane centerlines constructed as lines on a map with ITS precision. We intend to provide a map update system with precision that can classify and determine object ID matching and update types.

An object of the present invention is to provide a map update system with precision that determines an update type according to the result of mapping a road center line, a lane center line, a lane, etc. using data of individual survey results of a road map and whether the shape or attribute matches.

In order to achieve the above object, the present invention, in a map updating system with precision, receives road survey result data, and obtains information on time, location, azimuth, road classification, or road properties from the survey result data. a road survey data processing unit for classifying individual points, performing pre-processing of the individual points, and storing the processing results; and performing a change operation of road information to assign a new object ID based on the processing result of the individual points aggregated by the road survey data processing unit, or maintaining the existing object ID and storing information on the road center line, lane center line, or lane It is characterized in that it comprises a road survey data updater for determining an update type for updating.

Preferably, the road survey data processing unit uses road center line, lane center line, or lane information as a target for the individual points as a classification of a road, and information on road properties includes a lane number, lane type, left/right The lane type may be targeted for the individual points.

Preferably, the road survey data processing unit maps the ITS Link of the Intelligent Transportation System (ITS) and the information of the individual points as a pre-processing task, and when the mapping is successful, filtering the center line or lane of the lane of the road map included as a mapping target , and based on the filtering result, it is possible to classify whether the road information is changed or the road information is updated, and the processing result can be stored.

Preferably, the road survey data processing unit stores the mapping target as a new candidate that is a change in road information when there is no filtering result, and when there is a filtering result, the result of comparing the shape of the mapping target with the The result of comparing the properties of the mapping target may be classified and classified into a shape modification candidate result and an attribute modification candidate result, and the processing result may be stored as data of updates of road information.

Preferably, the road survey data update unit may determine whether to change the road information or to modify the object as an update type of road information according to a result of the road survey data processing unit.

In addition, the present invention is a smart phone, tablet, notebook, or computer having an input means for inputting data, a processing means for processing the input data, and an output means, and is periodically investigated by an agency managing roads in each region. Receives road survey result data, classifies information on time, location, azimuth, road classification, or road properties from the survey result data into individual points, and performs pre-processing of the individual points to store the processing results data processing function of road survey; and a map update program with precision stored in the medium to execute a data update function of a road survey that updates information on a road center line, a lane center line or a lane based on the processing results of the individual points collected by the road survey data processing unit is another feature.

In the update of road information, lanes or lane centerlines are different from safety signs or traffic lights in the shape of a line, and the relationship between objects is defined, so it is difficult to determine the object ID mapping and update type. According to the present invention, the type of update can be determined by distinguishing between a case where a shape or attribute is modified while maintaining an existing object ID and a case where a new object ID is assigned and deleted and then added.

Accordingly, the present invention proposes a system for updating a road surface lane, which is difficult to update compared to a facility, so that the renewal of the center line and lane, which is essential for autonomous driving, can be smoothly performed. In addition, according to the present invention, since the update type is compared with the existing object information in the update operation of the lane center line and the lane during the update operation, the update according to the type can be suitably performed, and the update automation operation is guided with precision Costs for construction and renewal can be reduced.

1 is a standard node/link data program, and shows a scene in which Link ID is displayed in a shape file viewer program, which is a geographic information system (GIS) data standard.
FIG. 2 shows a process of displaying a node name in the program of FIG. 1 .
3 is a block diagram of a map updating system with precision according to an embodiment of the present invention.
4 shows a processing algorithm of an investigation result processing module of a road survey data processing unit according to an embodiment of the present invention.
5 shows a processing algorithm of an individual point processing module of a road survey data processing unit according to an embodiment of the present invention.
6 is a schematic diagram of a road survey data update unit according to an embodiment of the present invention.
7 shows a processing algorithm of a change and update type determination module according to an embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the contents described in the accompanying drawings. However, the present invention is not limited or limited by the exemplary embodiments. The same reference numerals provided in the respective drawings indicate members that perform substantially the same functions.

Objects and effects of the present invention can be naturally understood or made clearer by the following description, and the objects and effects of the present invention are not limited only by the following description. In addition, in the description of the present invention, if it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a standard node/link data program, and shows a scene in which LinkID is displayed in a shape file viewer program, which is a geographic information system (GIS) data standard. The program of FIG. 1 is a state in which a part of the screen of the shape file viewer program provided by the National Traffic Information Center is captured. The electronic traffic map program provided by the National Traffic Information Center can be conveniently used by using a personal terminal developed using standard nodes and links, and standard nodes and links are produced as a GIS standard Shape file.

After selecting the required shape file, the program of Fig. 1 can load the files of link (STDNL_LINK), node (STDNL_NODE), and administrative boundary (STDNL_REG). and you can check the link.

Referring to Fig. 1, in order to display or input the road name on the shape map, select the checkbox of the “STDNL_LINK” layer, select “Layer properties” from the pop-up menu, and then select “ROAD_NAME” from “Lables” and font as “background”. To display the link ID, select “LINK_ID” in “Labels”.

FIG. 2 shows a process of displaying a node name in the program of FIG. 1 . 2 , to display the node name, select the checkbox of the “STDNL_NODE” layer, select “Layer Properties” from the pop-up menu, and select “NODE_NAME” and the font as “base” from “labels” to display . As illustrated in FIGS. 1 and 2 in the prior art, the work on the change of road name display or the node name display in road information data can be manually changed and updated.

As illustrated in FIGS. 1 and 2 , the conventional electronic traffic map program is used for rapid traffic management of roads under the jurisdiction of agencies such as road management offices. In the conventional electronic traffic map and program, the existing map and road information are sufficiently established, but the information on lanes is not systematically implemented. Also, it does not support automatic update or update of lane information. In the future, when the era of electric vehicle commercialization and autonomous driving arrives, a standard can be established by including the detailed information of the road, such as lane center line or lane information, from road map information in which these standard nodes and links are established. In this case, since detailed road information such as a lane center line or lane is an information element with frequent fluctuations, it is desirable to consider a function so that it can be systematically updated.

The following embodiments are applied to the map data or electronic traffic map program with the precision of the currently built ITS, so that the centerline and lane update of the lane, which is essential for autonomous driving, can be smoothly updated. The configuration of (1) will be described.

3 shows a block diagram of a map updating system 1 with precision according to an embodiment of the present invention. Referring to FIG. 3 , the precision map update system 1 according to an embodiment of the present invention may include a road survey data processing unit 30 and a road survey data update unit 50 .

The road survey data processing unit 30 receives the survey result data 10 of the road, and classifies the information on the time, location, azimuth, classification of the road, or road properties in the survey result data 10 into individual points and , it is possible to store the processing results by performing preprocessing of individual points. In this embodiment, the road survey data processing unit 30 sets the road center line, lane center line, or lane information as individual points as the classification of the road, and as information on the properties of the road, the lane number, lane type, left /Right lane type can be targeted for individual points.

The road survey result data 10 may be data that is periodically surveyed or acquired by a related administrative agency such as a local government or the central government of a road under the jurisdiction of the road and distributed. The investigation result data 10 may be a DeciveID, an investigation start time, a start position, a processing time, and the number of individual points as Attributes to be handled.

The road survey data processing unit 30 may include an investigation result processing module 301 and an individual point processing module 303 . The road survey data processing unit 30 receives the survey result data 10 and, if there is no extraction of individual points as a processing result for each survey result, saves the processing result and ends immediately, or if there is extraction of individual points, individual point processing operation will perform

4 shows a processing algorithm of the survey result processing module 301 of the road survey data processing unit 30 according to an embodiment of the present invention.

Referring to FIG. 4 , the survey result processing module 301 inquires the survey result data 10 . The investigation result processing module 301 may inquire the results of the device ID, the basic attribute, the investigation start time, and the start position as inquiry items. Thereafter, the investigation result processing module 301 extracts individual points. Here, the individual points may be information on the classification of roads or properties of roads as described above.

The investigation result processing module 301 is a process of extracting individual points, and may be extracted by time, location (x, y, z), and azimuth (heading), which are elements of road classification and detailed properties, and basic properties. The extracted detailed attributes may be a lane number and a lane type in the case of a lane centerline. As detailed attributes to be extracted, in the case of a lane, it may be a lane number, a left or right lane position, or a lane type.

When the research result processing module 301 succeeds in extracting individual points, the individual point processing module 303 performs an individual point processing algorithm. When the extraction of individual points is unsuccessful, the search result processing module 301 stores the unextracted processing result and outputs the processing result aggregate data, which is the processing result for each investigation result. The processing result aggregate data is transmitted to the road survey data update unit 50, which will be described later.

The individual point processing module 303 maps the information of the ITSLink of the Intelligent Transportation System (ITS) and individual points as a pre-processing task, and when the mapping is successful, performs filtering of the center line or lane of the lane of the road map included as the mapping target, Based on the filtering result, whether the road information is changed or the road information is updated, the processing result may be stored.

The individual point processing module 303 stores the mapping target as a new candidate that is a change in road information when the filtering result does not exist, and when the filtering result exists, the result of comparing the shape of the mapping target with the property of the mapping target The results of comparison can be distinguished. The individual point processing module 303 may classify the result of the shape modification candidate and the attribute modification candidate result and store the processing result as data of the updated road information.

5 shows a processing algorithm performed by the individual point processing module 303 of the road survey data processing unit 30 according to an embodiment of the present invention.

Referring to FIG. 5 , the individual point processing module 303 is a job of mapping with ITSLink, and may take positions (x, y, z) and azimuth (heading) as inputs, and ITSLinkID, LenLink, and LenFromLink as outputs. . As a mapping reference, the mapping distance may be set to 50 m in this embodiment, and the mapping angle may be set to 45°.

The individual point processing module 303 performs filtering of the map with precision upon successful mapping. The filtering target is a mapping target, and in this embodiment, it may be a center line and a lane. The individual point processing module 303 stipulates that, during the filtering operation of the lane center line, the ITSLinkID at the beginning or the end of the lane center line is the ITSLinkID of the input parameter during the mapping operation. The individual point processing module 303 may condition that the start or end ITSLinkID of the lane during the filtering operation of the own vehicle is the left or right lane of the lane center line, which is the ITSLinkID of the input parameter during the mapping operation. Here the output can target the map object ID with precision. The individual point processing module 303 may correct the spatial connection of the previous and subsequent lanes together with this filtering operation.

The individual point processing module 303 stores the map as a new candidate when there is no shape as a result of filtering the map with precision. This will be reviewed later as to whether or not to make a new additional decision that requires creation of a new object ID. The individual point processing module 303 performs map mapping with precision when a shape exists as a result of filtering the map with precision. In this embodiment, the mapping may be a lane center line and a lane. As a mapping operation, input can be coordinates (x, y, z), azimuth (heading), ITSLinkID, and mapping target (lane, lane center line).

The individual point processing module 303 stores as a new candidate when mapping fails as a result of shape comparison in the mapping process. The individual point processing module 303 stores the corresponding object as a shape correction candidate when there is a difference in shape as a result of shape comparison. In this embodiment, the shape difference may be set when a difference of 1 m or more occurs in the mapping distance.

The individual point processing module 303 performs attribute comparison when, as a result of shape comparison, the mapping distance is within a set error range (eg, when the mapping distance is 1 m or less). The compared attribute may be a lane number, a lane type, a left/right lane, a lane type, and the like. The individual point processing module 303 stores the history as unchanged when the attribute comparison result matches the attributes. The individual point processing module 303 may store the attribute comparison result as an attribute correction candidate when there is a difference in attributes.

The road survey data processing unit 30 stores the processed results of the individual point processing module 303 and outputs the processing result aggregate data. The processing result aggregate data is changed or updated by the road survey data update unit 50 .

In the aggregate data of the investigation result by object, the aggregate by object may be classified as follows. The new history includes ITSLinkID, the number of new information, and the ratio (%) of the number of new information. New history details include ITSLinkID, detailed attributes, the number of detailed new information, and the percentage (%) of the number of detailed new information. Shape modification includes object ID, number of irradiation points, shape modification number, and shape modification rate (%). The shape modification details include object ID, detailed properties, number of shape revisions, and detail property shape revision rate (%). Attribute modification includes object ID, number of investigation points, number of attribute modifications, and attribute modification rate (%). The attribute modification details include object ID, detailed attributes, the number of modifications per detailed attribute, and the detailed attribute modification rate (%). No change includes object ID, number of investigation points, number of no changes, and percentage of no change (%).

6 is a schematic diagram of the road survey data update unit 50 according to an embodiment of the present invention.

Referring to FIG. 6 , the road survey data update unit 50 performs a change operation of road information to assign a new object ID based on the processing results of individual points aggregated by the road survey data processing unit 30, or While maintaining the object ID, it is possible to determine an update type for updating information on a road center line, a lane center line, or a lane.

The road survey data update unit 50 classifies data into categories of processing result by object, processing result detail by object, processing result by ITSLink, and detailed processing result by ITSLink from the processing result aggregate data to determine whether to change or update type can do.

As a result of processing for each object, the road survey data update unit 50 searches for the survey date, object ID, and mapping type for the key value, and the number of survey points, the number of mapping points, and the ratio of the mapping points can be searched for with the attribute. .

The road survey data update unit 50 inquires the survey date, object ID, mapping type, and detailed attributes for the key value in the processing result details for each object, and the number of survey points, the number of mapping points, and the ratio of mapping points as attributes can be inquired.

The road survey data update unit 50 inquires the survey date, ITSLinkID, and mapping type for the key value in the processing result for each ITSLink, and the number of survey points, the number of mapping points, and the ratio of mapping points can be inquired with the attribute. .

In the detailed processing result for each ITSLink, the road survey data update unit 50 may inquire the survey date, ITSLinkID, and detailed attributes for the key value, and the number of mapping points and the ratio of mapping points as the attribute.

The road survey data update unit 50 may include a change and update type determination module 501 that determines whether to change or an update type based on the inquired data.

7 shows a processing algorithm of the change and update type determination module 501 according to an embodiment of the present invention. Referring to FIG. 7 , the change and update type determination module 501 may determine whether to change road information or modify an object as an update type of road information according to a result of the road survey data processing unit 30 .

The change and update type determination module 501 checks whether the ratio of the number of new information is greater than or equal to a set standard by inquiring information for each object. In this embodiment, the ratio of new information may be set to 70% or more. The change and update type determination module 501 determines to be newly added when a new addition condition is satisfied. When a new addition is determined, an attribute of an object to be added may be determined, and information for each type of detailed information may be added.

The change and update type determination module 501 determines whether the shape modification condition is satisfied after examining the new addition condition. The change and update type determination module 501 checks whether a ratio of the number of shape correction information is greater than or equal to a set standard as a shape modification condition. In this embodiment, the ratio of the number of shape correction information may be set to 70% or more. The change and update type determination module 501 determines to be a shape modification when a shape modification condition is satisfied.

The change and update type determination module 501 determines whether the attribute modification condition is satisfied after examining whether the shape modification condition is present. The change and update type determination module 501 checks whether a ratio of the number of attribute correction information is equal to or greater than a set standard as an attribute correction condition. In this embodiment, the ratio of the number of attribute correction information may be set to 70% or more. The change and update type determination module 501 may determine that the property is modified when the condition for modifying the property is satisfied.

The precision map update system described above may be provided as a map update program with precision for executing each configuration as a function. A map update program with precision according to another embodiment of the present invention is a smart phone, tablet, notebook, or computer having an input means for inputting data, a processing means for processing the inputted data, and an output means, to a road under the jurisdiction of each region. Receives the survey result data of the road surveyed periodically from the agency managing the The data processing function of the road survey to store the processing results by performing pre-processing of It may be stored in the medium in order to execute the update function.

In this embodiment, the storage medium is a flash memory type, a hard disk type, a media card micro type, or a card type memory (eg, SD or XD memory, etc.). ), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Programmable Read-Only Memory (PROM), Magnetic It may be at least one of a memory, a magnetic disk, and an optical disk.

In this embodiment, the output means is a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display It may be at least one of a flexible display and a three-dimensional display (3D display).

Although the present invention has been described in detail through representative embodiments above, those of ordinary skill in the art to which the present invention pertains will understand that various modifications are possible within the limits without departing from the scope of the present invention with respect to the above-described embodiments. will be. Therefore, the scope of the present invention should not be limited to the described embodiments and should be defined by all changes or modifications derived from the claims and equivalent concepts as well as the claims to be described later.

1: Map update system with precision
10: Survey result data
30: road survey data processing unit
301: investigation result processing module
303: individual point processing module
50: road survey data update unit
501: Change and update type determination module

Claims (6)

Receives road survey result data, classifies information on time, location, azimuth, road classification, or road properties from the survey result data into individual points, and performs pre-processing of the individual points to store the processing results a road survey data processing unit; and
Based on the processing result of the individual points collected by the road survey data processing unit, a change operation of road information to assign a new object ID is performed, or information on the road center line, lane center line, or lane is updated while maintaining the existing object ID. A map update system with precision for autonomous driving, characterized in that it includes a road survey data update unit that determines an update type for doing so.
The method of claim 1,
The road survey data processing unit,
For the classification of roads, information on the road center line, lane center line, or lane is the target of the individual points,
The precision road map update system for autonomous driving, characterized in that the individual points target the lane number, lane type, and left/right lane type as information on the properties of the road.
The method of claim 1,
The road survey data processing unit,
As a pre-processing task, the ITSLink of the Intelligent Transportation System (ITS) and the information of the individual points are mapped, and if the mapping is successful, the center line or lane of the lane of the road map included as the mapping target is filtered,
Based on the filtering result, the precision map update system for autonomous driving, characterized in that it includes an individual point processing module for storing the processing result by classifying whether the road information is changed or the road information is updated.
3. The method of claim 2,
The individual point processing module,
If there is no filtering result, the mapping target is stored as a new candidate that is a change in road information,
If there is a filtering result, the result of comparing the shape of the mapping target and the result of comparing the properties of the mapping target are divided, and the result of the shape modification candidate and the result of the attribute modification candidate are classified into the result of updating the road information. A map update system with precision, characterized in that it stores the processing results as data.
The method of claim 1,
The road survey data update unit,
and a change and update type determination module for determining whether to change road information or modify an object as an update type of road information according to a result of the road survey data processing unit.
In a smartphone, tablet, notebook, or computer having an input means for inputting data, a processing means for processing the inputted data, and an output means,
(a) Institutions managing roads under the jurisdiction of each region receive survey result data of roads periodically surveyed, and information on time, location, azimuth, classification of roads, or road properties from the survey results data is individually received a data processing function of road survey for classifying into points, performing pre-processing of the individual points, and storing the processing results; and
(b) a map update program with the precision stored in the medium to execute the data update function of the road survey that updates the information of the road center line, the lane center line or the lane based on the processing result of the individual points collected by the road survey data processing unit .

Images