CN106840177A - Vehicle synchronous build figure and obstacle identification method - Google Patents
Vehicle synchronous build figure and obstacle identification method Download PDFInfo
- Publication number
- CN106840177A CN106840177A CN201710051364.6A CN201710051364A CN106840177A CN 106840177 A CN106840177 A CN 106840177A CN 201710051364 A CN201710051364 A CN 201710051364A CN 106840177 A CN106840177 A CN 106840177A
- Authority
- CN
- China
- Prior art keywords
- obstacle
- map
- car
- identification method
- car week
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Abstract
One vehicle synchronous build figure and obstacle identification method, including：Obtain a sensing data；The sensing data is analyzed, to obtain the range data of motor vehicle environment；Car week map is built using the sensing data, wherein car week map is the topographic map of motor vehicle environment；And one self-position of positioning, wherein described self-position is the position of the automobile in all maps of the car, wherein to the car week map being configured in real time, the self-position is synchronously positioned and updated to obtain the car week map, wherein car week map further includes an at least obstacle, wherein the obstacle is to obtain distance after the sensor data analysis not having the object of infinity.
Description
Technical field
Figure and obstacle identification method are built the present invention relates to a kind of vehicle synchronous, particularly a kind of automobile is believed by perceiving surrounding
Breath carries out the method and exchange method of around map structuring, obstacle identification and self poisoning.
Background technology
With the intellectuality of automobile, intelligent and network is increasingly inclined in detection and analysis for motor vehicle environment situation
Change.Driven and automatic Pilot to adapt to auxiliary, obstacle detection and analysis are always the key link.But current obstacle inspection
Survey is still predominantly stayed in by navigation system and radar system.Certainly, more often or by the judgement of driver
And prediction.
The navigation of automobile and positioning are that automobile realizes intelligentized necessary functions.In pathfinding and addressing, the navigation of automobile
Function is the most frequently used, is also the instrument of most convenient for driver.Current navigation system is typically satellite navigation system
System, and the current accuracy of the technology of satellite navigation is also not reaching to be accurately positioned vehicle body.That is, automobile is current leading
Boat and positioning are accurate not enough, it is easy to mistake and broken string situation occur, nor carried out for the obstacle of motor vehicle environment
Detection.
In addition, because traditional navigation system also needs the data transfer and data that rely on internet to update, then for net
The not smooth area of network or the vehicle of Network adaptation difference, what navigation system can accomplish positions or limited.Intricately
Shape and remote districts, still will rely on the experience and technology of driver to travel.Certainly, this is not to most applicable cases
Matching.Accurate navigation system is needed for provide specific information to driver in increasing scene.But, pass
The navigation map of system needs for what service provider was updated to map datum, then new data or the data for often changing
Need manual maintenance.
In face of actual landform and driving real-time condition, the effect of navigation map is also only limitted to remind the traffic of target direction
Situation.Data in real-time traffic conditions also lack very much.Especially for the undetectable obstacle of satellite navigation, for example, go
People, animal, article, the ground caved in and it is raised, also have front automobile, all have no idea to perceive.These obstacles are for driving
Peace is all with certain risk.
Traditional navigation map is that the positioning of automobile itself is adapted into satellite map.That is, traditional positioning
Automobile can only be navigated to roughly method a certain position in map.Want accurately by bus location, it is necessary to using more smart
True data, then be accomplished by obtaining more accurate data, the requirement for service provider is just very high.
And the real-time of traditional navigation map is not high, congestion road conditions are substantially updated by local broadcast.But
The situation for being traveling is real-time update, and for each automobile, situation may be different.More, also row humans and animals
Appearance, cannot all be differentiated.Particularly for obstacle nearby, substantially to rely on the judgement of driver
's.
The situation also moveed backward, radar obstacle traditional at present judges to be only limitted to the use in reversing.And radar
Speed is relatively low compared to speed for laser, using being only limitted to the scene that low speed is parked.In addition, also backup camera is also used for
Disturbance in judgement thing, in the judgement of reverse image, the image procossing of camera is relatively immature.Mainly cost is of a relatively high,
And accuracy is not high.For miniature barrier, the accuracy rate of orthodox car radar and camera is not high, and identification gets up to have very big
Difficulty.High-end algorithm and image recognition technology is fixed against at present, and these are for the popularization in market or inappropriate.
The content of the invention
Figure and obstacle identification method are built it is an object of the present invention to provide a vehicle synchronous, it is single by least one sensing
It is first that environment surrounding automobile is detected, it is autonomous to build car week map, and to the obstacle location in all maps of the car and certainly
Body position is identified.
Figure and obstacle identification method are built it is another object of the present invention to provide a kind of vehicle synchronous, a satellite is obtained
Map, is checked and is supplemented to the satellite fix in the satellite map, is examined with reference to car week map.
Figure and obstacle identification method are built it is another object of the present invention to provide a kind of vehicle synchronous, according to real-time
The car week map and the satellite map, analyze type and the position of an obstacle, judge shadow of the obstacle to driving safety
Ring.
Figure and obstacle identification method are built it is another object of the present invention to provide a kind of vehicle synchronous, according to the biography
The sensing data that sensor is obtained, analysis environments situation builds the car week map in real time, and according to landform positioning one itself
Position.
Figure and obstacle identification method, the sensor are built it is another object of the present invention to provide a kind of vehicle synchronous
Data are by preliminary filtering and analyze, and analyzed by SLAM, and structure obtains the car week map.
Figure and obstacle identification method are built it is another object of the present invention to provide a kind of vehicle synchronous, is calculated using SLAM
Method effectively helps automobile to realize autonomous positioning and synchronously build figure to lift the security of running car.
Figure and obstacle identification method are built it is another object of the present invention to provide a kind of vehicle synchronous, when automobile is not
Know it is mobile since the unknown position in environment after, self poisoning is carried out according to location estimation and map in moving process,
Increment type map is built on the basis of self poisoning simultaneously, autonomous positioning and the navigation of automobile is realized, conventional navigation system is made up
The deficiency of system.
Figure and obstacle identification method are built it is another object of the present invention to provide a kind of vehicle synchronous, according to the biography
The car week map that sensor data build is two dimension or three-dimensional, the real-time condition of comprehensive reacting vehicle week environment.
Figure and obstacle identification method are built it is another object of the present invention to provide a kind of vehicle synchronous, to car week
The self-position and the obstacle in map are positioned and recognized, the obstacle is judged.
Figure and obstacle identification method are built it is another object of the present invention to provide a kind of vehicle synchronous, according to the barrier
The position for hindering and type, initiate obstacle and remind, and triggering prompting is carried out to relevant automotive system device.
Figure and obstacle identification method are built it is another object of the present invention to provide a kind of vehicle synchronous, according to real-time
The change of the obstacle of the car week map, recognizes the type of the obstacle, is ready for dynamic response.
Figure and obstacle identification method, all ground of the car are built it is another object of the present invention to provide a kind of vehicle synchronous
Figure can be provided, and the automobile near provides complaint message.
Figure and obstacle identification method are built it is another object of the present invention to provide a kind of vehicle synchronous, by car week
Map and the obstacle are sent to other automobile, and whether automobile in addition will determine that directly utilize the complaint message, no
Also needing to of can utilizing detects itself again.
Figure and obstacle identification method, the institute being provided are built it is another object of the present invention to provide a kind of vehicle synchronous
The neighbouring automobile that stating car week map can be required is utilized, and the process that reduction is detected again accelerates the identification to obstacle so that barrier
Hinder identification more efficiently.
Figure and obstacle identification method are built it is another object of the present invention to provide a kind of vehicle synchronous, by car week
Map and the obstacle are provided, and are used for different automobiles so that the cognition to obstacle is synchronous, to the safety of overall traffic
Property has greatly improved.
Figure and obstacle identification method are built it is another object of the present invention to provide a kind of vehicle synchronous, by interaction institute
Car week map is stated, is processed the obstacle as crucial information source, for driving safety analysis provides foundation.
Figure and obstacle identification method are built it is another object of the present invention to provide a kind of vehicle synchronous, is defended with reference to described
The satellite fix of star map and the self-position of car week map, examine the physical location of automobile, more new definition
Information is simultaneously issued, there is provided accurate real time information.
One side under this invention, figure and obstacle identification method are built the present invention further provides a vehicle synchronous, including：
Obtain a sensing data；
The sensing data is analyzed, to obtain the range data of motor vehicle environment；
Car week map is built using the sensing data, wherein car week map is the topographic map of motor vehicle environment；
And
A self-position is positioned, wherein the self-position is the position of the automobile in all maps of the car, wherein right
Being configured to for the car week map is real-time, and the self-position is synchronously positioned and updated to obtain the car week map,
Wherein car week map further includes an at least obstacle, wherein the obstacle is to obtain phase after the sensor data analysis
Away from object of the distance without infinity.
Preferably, in the analysis sensing data, further include, preliminary place is done to the sensing data
Reason, finds out the data for building the car week map.
Preferably, it is described to build the car week map using SLAM algorithms.
Preferably, the positioning self-position uses reckoning positioning of the sensing data to sensing station.
Preferably, the self-position is set when the positioning self-position uses initialization to build the car week
The center of map.
Preferably, the information of the obstacle of the car week map is sent, so that another automobile is used.
Preferably, the vehicle synchronous build figure and obstacle identification method, are further wrapped after the self-position is positioned
Include, according to car week map, carry out the identification and judgement of the obstacle, according to the information and property of the obstacle for obtaining,
Make and correspondingly remind and prepare.
It is noted that described being made correspondingly remind and be prepared as to make automotive control system prepare accordingly to answer jerking movement
Make.
It is noted that described making correspondingly reminds and is prepared as to broadcast the information of the obstacle in full car.
It is noted that the car week map is 2D forms.
It is noted that the car week map is 3D forms.
Other side under this invention, figure and obstacle identification method, bag are built the present invention further provides a vehicle synchronous
Include：
Car week map is obtained, wherein car week map is the topographic map of motor vehicle environment；
The car week map is analyzed, to obtain the information of an at least obstacle of motor vehicle environment；And
To the car week map the obstacle judge, if the obstacle is used in traveling control, use institute
The information of obstacle is stated, if the information of the obstacle can not be used, the car week map is rebuild and is detected the obstacle.
Preferably, all maps of the car that build are further included：Obtain a sensing data；Analyze the sensor
Data, to obtain the range data of motor vehicle environment；And build the car week map using the sensing data.
It is noted that described build the car week map using SLAM algorithms.
Preferably, it is described to the car week map the obstacle judge, further include to make and correspondingly remind
And preparation.
Preferably, it is described to the car week map the obstacle judge, further include to judge the obstacle
The validity of information.
It is noted that the method for judging validity is to examine the feature of the obstacle.
It is noted that the method for the judgement validity is the term of validity of the information for examining the obstacle.
Preferably, the vehicle synchronous build figure and obstacle identification method, further include to obtain a satellite map, wherein institute
Stating satellite map includes a satellite fix, wherein the satellite fix is the positioning to automobile.
It is noted that the vehicle synchronous build figure and obstacle identification method, further include to combine car week ground
Figure and the satellite map examine the physical location of automobile, wherein being configured in real time, to obtain to car week map
State positioning and the renewal of car week map and the Barrier synchronization.
Brief description of the drawings
Fig. 1 is the entirety that vehicle synchronous according to a preferred embodiment of the present invention build figure and obstacle identification method
Schematic diagram.
Fig. 2 is the acquisition that vehicle synchronous according to a preferred embodiment of the present invention build figure and obstacle identification method
The schematic diagram of the sensing data.
It is real-time with obstacle identification method that Fig. 3 is that vehicle synchronous according to a preferred embodiment of the present invention build figure
The schematic diagram that positioning is positioned with obstacle.
Fig. 4 is the structure that vehicle synchronous according to a preferred embodiment of the present invention build figure and obstacle identification method
The schematic diagram of the car week map.
It is described with obstacle identification method that Fig. 5 is that vehicle synchronous according to a preferred embodiment of the present invention build figure
The schematic diagram of car week map interaction.
Fig. 6 is one kind that vehicle synchronous according to a preferred embodiment of the present invention build figure and obstacle identification method
The schematic diagram of feasible scene.
It is another with obstacle identification method that Fig. 7 is that vehicle synchronous according to a preferred embodiment of the present invention build figure
Plant the schematic diagram of feasible scene.
It is another with obstacle identification method that Fig. 8 is that vehicle synchronous according to a preferred embodiment of the present invention build figure
Plant the schematic diagram of feasible scene.
It is another with obstacle identification method that Fig. 9 is that vehicle synchronous according to a preferred embodiment of the present invention build figure
Plant the schematic diagram of feasible scene.
It is another with obstacle identification method that Figure 10 is that vehicle synchronous according to a preferred embodiment of the present invention build figure
A kind of schematic diagram of feasible scene.
It is upper with obstacle identification method that Figure 11 is that vehicle synchronous according to a preferred embodiment of the present invention build figure
State the schematic elevation view of feasible scene.
It is another with obstacle identification method that Figure 12 is that vehicle synchronous according to a preferred embodiment of the present invention build figure
A kind of schematic diagram of feasible scene.
It is another with obstacle identification method that Figure 13 is that vehicle synchronous according to a preferred embodiment of the present invention build figure
A kind of schematic diagram of feasible scene.
It is another with obstacle identification method that Figure 14 is that vehicle synchronous according to a preferred embodiment of the present invention build figure
A kind of schematic diagram of feasible scene.
Specific embodiment
Hereinafter describe for disclosing the present invention so that those skilled in the art can realize the present invention.It is excellent in below describing
Embodiment is selected to be only used as citing, it may occur to persons skilled in the art that other obvious modifications.Define in the following description
General principle of the invention can apply to other embodiments, deformation program, improvement project, equivalent and without the back of the body
From the other technologies scheme of the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", " on ",
The orientation or position of the instruction such as D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward "
Relation is that, based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies and describes, rather than
Indicate or imply signified device or element and must have specific orientation, it is with specific azimuth configuration and operation therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
One quantity of element can be one, and in a further embodiment, the quantity of the element can be multiple, and term " " is no
It is understood that to be limitation to quantity.
As shown in drawings, this preferred embodiment provides a vehicle synchronous to the Feasible Mode of a preferred embodiment of the present invention
Build figure and obstacle identification method.A sensing data 10 is obtained first, and preliminary treatment is done to the sensing data 10.Namely
Say, the environment to surrounding is detected, obtain related data.Then the sensing data 10 is analyzed, finds out and build
The data of figure.Car week ground Figure 20 is built using the sensing data 10, wherein car week ground Figure 20 is motor vehicle environment
Topographic map, the sensing data 10 obtains different distance data after analyzing, therefore obtains the landform feelings of motor vehicle environment
Condition.Further include a self-position 21 car week ground Figure 20, the self-position 21 is fixed in car week ground Figure 20
Position goes out the source position of the sensing data 10, that is, automobile position.The car week, ground Figure 20 further included at least one
Obstacle 22, the obstacle 22 is to obtain distance after the sensing data 10 is analyzed not having the object of infinity.Namely
Say after being analyzed according to the sensing data 10 in car week ground Figure 20, there is certain distance apart from the self-position 21
Object is detected out and is showed as the obstacle 22 in car week ground Figure 20.Afterwards, according to car week ground Figure 20, enter
The identification and judgement of the row obstacle 22, obtain the information and property of the obstacle 22.According to the information and property of obstacle 22, vapour
Car is correspondingly made prompting and is prepared.In addition, the information of car week ground Figure 20 and the obstacle 22 can be provided in addition
Automobile, reduction detects and the step of analyze and process again again.Certainly, automobile in addition has differentiation mechanism, determines whether to make
With the information of the obstacle 22.If need not use, start the new car week map detecting again and analyzing, obtaining oneself
20。
According to the sensing data 10, after the self-position 21 is marked and positioned by car week ground Figure 20, to institute
The obstacle 22 stated around self-position 21 is judged.It is noted that described in the preferred embodiments of the present invention
Obstacle 22 has the object of threat, the also object on the shape including landform and road periphery not only for vehicle safety travel.Example
Such as, in motor vehicle environment pedestrian, animal, in the curb in road roadside, in the road between collapsed position etc..That is, institute
There is the landform and current intelligence of motor vehicle environment with stating car week in Figure 20.The property of so described obstacle 22 is analyzed to be obtained, with
Just judge that the obstacle 22 can be to the influence degree of driving safety.Preferably, car week ground Figure 20 can be the form of 2D,
It can be the form of 3D.Feature according to the sensing data 10 is analyzed and builds car week ground Figure 20.If the biography
There is the upper and lower directionality in relative ground, then the car week, ground Figure 20 can be built as the shape of 3D in the content of sensor data 10
Formula.If the sensing data 10 has the features of the 2-D data on a certain height, then car week ground Figure 20 can be with
It is built as the form of 2D.In addition, the property of the obstacle 22 can be analyzed obtain, in this preferred embodiment, the obstacle
22 can be obtained by the feature extraction of data and comparison.For example, when building car week ground Figure 20, obtaining the obstacle 22 is
No is static, height, length of the obstacle 22 etc. information.
The data that the sensing data 10 in this preferred embodiment is detected from automobile sensor, particularly vapour
Radar sensor, camera data of car etc., certainly according to the requirement of precision and car week ground Figure 20 forms, can also come
Come from laser radar sensor, acoustic detector, range sensor etc..The sensing data 10 can be at least obtained two
Tie up direction range data, that is to say, that the preferred embodiments of the present invention can according to the feature of the sensing data 10 come
Build corresponding car week ground Figure 20.For the sensing data 10 acquisition mode the preferred embodiments of the present invention not
It is limited, the present invention mainly obtains the different objects of motor vehicle environment using the sensing data 10 and automobile distance is believed
Breath, also same object are different external with automobile distance, and the multidate information of change range information change over time.
It is noted that the distance in the present invention is described in the automobile and motor vehicle environment obtained according to the sensing data 10
The distance between obstacle 22, that is to say, that by automobile in itself centered on, to obtained from the detection that other directions are extended week
The range data in collarette border.And the self-position 21 can be obtained by the sensing data 10 to automobile positioning in itself
Arrive, that is, reckoning positioning of the sensing data 10 to sensing station, can also by initializing when setting, visiting
The self-position 21 is set before survey to detect and building the center of map.It should be noted that car week ground Figure 20
For real-time, because the object of automobile and motor vehicle environment is in real-time change, car week ground Figure 20 is needed to be updated, with
So that the self-position 21 and the obstacle 22 are synchronously positioned in car week ground Figure 20.Therefore, in this preferred embodiment
The positioning to the self-position 21 and the obstacle 22 be synchronous, drastically increase the accuracy of bus location, and
And also greatly reduce difficulty for the identification and judgement of the obstacle 22.
The overall schematic of this preferred embodiment as shown in figure 1, by obtaining the sensing data 10, and to the biography
Sensor data 10 are analyzed, and build car week ground Figure 20, recognize the obstacle 22 in car week ground Figure 20, position institute
The self-position 21 in car week ground Figure 20 is stated, according to the self-position 21 and the obstacle 22, and the obstacle 22
Property, judge whether to perform or prepare corresponding action.As shown in figure 1, automobile is under steam, by obtaining the sensing
Device data 10, build car week ground Figure 20, and position the self-position 21 synchronously, in real time.In this preferred embodiment,
Automobile under steam, using this preferred embodiment, the car week ground Figure 20 in front of the form of structure.For convenience of explaining, this is excellent
It is 2D to select the car week ground Figure 20 in embodiment, more specifically, being that landform is carried out at the height apart from ground 8.5cm
Identification.So, car week ground Figure 20 can distinguish the institute at the crossing of road, the curb of road, driving pedestrian, obstacle etc.
State obstacle 22.In this preferred embodiment, the sensing data 10 is preferably by four groups of laser radar sensor to certain model
The distance data of the obstacle 22 in enclosing.Feature according to the sensing data 10 recognizes the property of the obstacle 22
Matter.For example, the sensing data 10 is the wheel row thing reflection radar data that four 45 ° of left fronts of traveling are parallel to each other,
When so building car week ground Figure 20, the sensing data 10 analyzed as being left front another automobile for travelling,
Car week ground Figure 20 marks another automobile as the obstacle 22 for 45 ° in the left front of the self-position 21.Certainly, make
It is car week ground Figure 20 of 2D, the ground level of the sensing data 10 can be conditioned, the vehicle relatively low to chassis, institute
State sensing data 10 and use highly lower data, for the vehicle of cross-country type, the sensing data 10 is using high-end
Higher data.Therefore, car week ground Figure 20 does not enter more accurately position the self-position 21, the obstacle
22, can be more adjusted showing car week ground Figure 20 of suitable automobile according to the difference of vehicle and environment.It is worth mentioning
, car as shown in Figure 1 week, ground Figure 20 was the forward portion map of vehicle traveling direction, this preferred embodiment other
The week of car described in feasible pattern, ground Figure 20 was the whole map of motor vehicle environment, in another feasible mould of this preferred embodiment
The week of car described in formula, ground Figure 20 was the map at automobile rear, the car week described in another feasible pattern of this preferred embodiment
Ground Figure 20 is the map of automobile side or both sides.In different application occasion, the form and type quilt in car week ground Figure 20
Setting and adjust, these setting and adjustment include two-dimensional map, three-dimensional map, reversing map, side map, panoramic table, go back
There is the form needed in other certain applications.
It is as shown in Figure 2 that this preferred embodiment provides a kind of feasible pattern for obtaining the sensing data 10.Before automobile
Source of four laser radar sensors as the sensing data 10 is respectively added afterwards.Realize relative to sound radar faster
Landform around ground probe vehicle, so as to the structure of express delivery car week ground Figure 20.Such as the example in this preferred embodiment of Fig. 2
Son, four laser radar sensors are responsible for the sensing data 10 of collection front fan-shaped range, and then obtain the obstacle
22 distance.It is noted that the range data of infinity is without the obstacle in the sensing data 10
22.After obtaining the sensing data 10, car week ground Figure 20 is built by corresponding algorithm.It is excellent in this preferred embodiment
Choosing uses SLAM algorithms.Specifically, for the sensing data 10 of 2D, car week ground Figure 20 of structure is 2D shapes
Formula.For the sensing data 10 of 2D, car week ground Figure 20 of structure is 3D, if the meter of 3D SLAM certainly
Calculation amount is much, it is also possible to car week ground Figure 20 described in the 2D SLAM on a certain height of selection structure.
In addition, the vehicle synchronous of the invention are built in figure and obstacle identification method, in car week ground Figure 20 is recognized
The self-position 21 and the obstacle 22 after, further include obtain a satellite map 30, wherein the satellite map 30
It is network or local acquisition, wherein the satellite map 30 further includes a satellite fix 31, wherein the satellite fix
31 is to the location information of automobile in the satellite map 30.The vehicle synchronous are built figure and are further included with obstacle identification method
The reality of automobile is examined with reference to the self-position 21 in car week ground Figure 20 and the satellite fix 31 of satellite map 30
Position, the satellite fix 31 to the satellite map 30 is updated so that the accuracy of the satellite fix 31 is higher.
Also, after with reference to the satellite map 30, the identification of the obstacle 22 in car week ground Figure 20 is also further examined,
So that the identification of the obstacle 22 and judgement are more accurate.As shown in Fig. 2 in the preferred embodiment, when the sensor number
After being acquired according to 10, car week ground Figure 20 is built using SLAM algorithms, and synchronously position the self-position 21.The satellite
The satellite fix 31 of ground Figure 30 is also acquired.By the self-position 21 and satellite ground in car week ground Figure 20
The position of the cooperation of both satellite fixes 31 of Figure 30, the actual positioning of verification automobile, and the obstacle 22.It is worth
One is mentioned that, in the preferred embodiment, the map that the satellite map 30 is not limited only to the mode of SCN Space Cable Network download and obtains
Data, also including replicating the map datum that the copy that lives is obtained, that is to say, that the satellite map 30 is not by meter in real time
Obtain, but by the overall observation to landform and draw resulting map datum.The satellite map 30 can also
With multi-form, such as 2D plane maps, 3D relief maps, panoramic table etc..
Cooperation by car week ground Figure 20 and the satellite map 30 with examine, the real position of automobile, automobile reality
When position can synchronously be positioned.That is, by recognizing car week ground Figure 20, can be with the position of running car
Mutually examined with the satellite fix 31 identified in the satellite map 30.Certainly, car week described here ground Figure 20's is described
The verification of the satellite fix 31 of self-position 21 and the satellite map 30 is mutual.In other words, the satellite ground
The information of the satellite fix 31 of Figure 30 can be used to supplement the self-position 21 of car week ground Figure 20, the car week
The information of the self-position 21 of ground Figure 20 can be used to supplement the satellite fix 31 of the satellite map 30.For institute
Stating satellite map 30 can not normally in the case of use, by the sensing data 10 come structure in complicated, remote, suspension etc.
Figure 20 is very practical supplement with building the car week.Certainly, in the case of the satellite map 30 is normal, the car week
Figure 20 can identify the obstacle 22 of motor vehicle environment, and the lifting of the security to travelling is also have very big help.Cause
This, car week ground Figure 20 for the obstacle 22 identification and judgement, and to the verification supplement of the satellite map 30 all
With effect well.Certainly, the obstacle 22 is needed by judging, for being judged as the barrier influential on driving safety
Hinder 22, automobile will be reminded and inform driver.For example, after building car week ground Figure 20, it is a certain by with car collision
The obstacle 22 is identified and judges, then automobile will get out ABS anti-lock braking systems, and for driver reminds the barrier
Hinder 22 property and distance etc. information so that automobile can in advance get out the situation of reply burst, driver can also carry
Early make the smaller action of safer, risk.In another example, automobile builds car week ground Figure 20 in real time, by front
All identified as the obstacle 22 with the driving of side, then the automatic Pilot of automobile can effectively judge Travel vehicle
Away from automated driving system can utilize the positioning of the self-position 21 and the obstacle 22 in car week ground Figure 20, certainly
The track of fixed traveling and the corresponding operation for driving.
The idiographic flow in structure car week ground Figure 20 of this preferred embodiment is as shown in Figure 4.Automobile starting sensor, obtains
The sensing data 10 is taken, the treatment processed the sensing data 10 is carried out to the sensing data 10
SLAM is analyzed, and car week ground Figure 20 is built using analysis result, real to the self-position 21 in car week ground Figure 20
Shi Dingwei, is identified to the obstacle 22 in car week ground Figure 20, and the obstacle 22 for there is security threat enters
Row is reminded.For being configured in real time for car week ground Figure 20, that is to say, that the flow of structure can be circulation, so as to
Renewal and feedback of car week ground Figure 20 to the self-position 21 and the synchronization of the obstacle 22 are obtained in real time.More specifically
Ground, using the sensor of automobile, such as laser radar sensor, obtains the sensing data 10.The sensing data 10
Carried out preliminary treatment, particularly filter, amplify, extract etc. treatment so that the sensing data 10 more effectively by
It is used in structure car week ground Figure 20.According to the requirement of car week ground Figure 20, the sensing data 10 can obtain vapour
Different objects around car and automobile distance information, also same object are different external with automobile distance, Yi Jisui
The multidate information of time change range information change.In doing data analysis, this preferred embodiment to the sensing data 10
SLAM algorithms are used, data that can be during from unknown environment according to traveling carry out location estimation and build ground
Figure, while can position itself builds increment type map.After car week, ground Figure 20 determined, the self-position 21 and the barrier
22 are hindered also to be identified.Intuitively the self-position 21 can be provided, and the obstacle 22 will be recognized further.It is worth
One is mentioned that, the car week, ground Figure 20 was real-time, because the object of automobile and motor vehicle environment is in real-time change, needed institute
State and be updated in car week ground Figure 20, to cause that the self-position 21 and the obstacle 22 are synchronously fixed in car week ground Figure 20
Position.Afterwards, according to the self-position 21 and the obstacle 22, and the obstacle 22 property, judge whether perform or
Prepare corresponding action.When the obstacle 22 is risky to traffic safety, the obstacle 22 is reminded out.Here to row
Car obstacle risky safely can be for pedestrian, driving, curb, road falls into, the thing etc. that is in the way can cause personnel or wealth in motion
Produce impaired object.It is identified when the obstacle 22, it is necessary to when making response to risk, automobile does for the obstacle 22
It is corresponding to prepare.When being necessary, the obstacle 22 is broadcasted, and then reminds driver.
The flow that car week ground Figure 20 of this preferred embodiment is interacted is as shown in Figure 5.When the sensing data 10
After being acquired and being analyzed, the car week, ground Figure 20 was fabricated.Reality is carried out to the self-position 21 in car week ground Figure 20
When positioning.The automobile obtained according to the sensing data 10 the distance between obstacle 22 described in motor vehicle environment is pushed away
Calculate, that is to say, that with automobile sheet as the self-position 21, then obtained from the detection being extended to other directions around
The range data of environment.And the self-position 21 can be obtained by the sensing data 10 to automobile positioning in itself
Arrive, that is, reckoning positioning of the sensing data 10 to sensing station, can also by initializing when setting, visiting
The self-position 21 is set before survey to detect and building the center of map.The car week, ground Figure 20 can identify automobile week
The obstacle 22 for enclosing, the lifting of the security to travelling is also have very big help.More, to car week ground Figure 20
The obstacle 22 judged.Specifically, the information to the obstacle 22 is analyzed, and the property to the obstacle 22 is carried out
Judge.Certainly, the obstacle 22 is needed by judging, for being judged as the obstacle 22 influential on driving safety, automobile
Will be by reminding and informing driver when necessary.If the obstacle 22 has bad influence to driving safety, then the barrier
Hinder 22 information to be sent, used for other automobiles.Another automobile will obtain car week ground Figure 20, and obtain the barrier
Hinder 22 information.If the information of the obstacle 22 can be used, will be utilized so as to as driving safety information source.If
The information of the obstacle 22 can not be used, then another car needs to build the car week ground Figure 20 of oneself.So, certain
In the range of, the amount of calculation of detection process and analysis can be efficiently reduced, mitigate the burden of automotive control system.It is worth mentioning
Be, to be not constructed by oneself the car week ground Figure 20 and the obstacle 22 judgements can be have it is artificial judge participation,
So that judging more rigorous.It is understood that regardless of car week ground Figure 20 of automobile itself and the obstacle 22,
The auxiliary of automobile is driven or automatic Pilot is all helpful to.High precision, degree of belief information source high, can be automobile
Traveling more preferable analysis result is provided.It should be noted that transmission car week ground Figure 20 and the obstacle 22 here can
Think the transmission or nondirectional transmission of orientation.For example, needing the obstacle 22 hidden directionally to send to rear in front
The automobile of side.For example, the non-directional of the obstacle 22 of permanency is sent to high in the clouds, it is necessary to automobile can be copied
Or download and obtain and use the information of the obstacle 22.
The vehicle synchronous of the preferred embodiments of the present invention are built figure and are extremely schemed with feasible scene such as Fig. 6 of obstacle identification method
11.As Fig. 6 illustrate a kind of running car scene, road start at one bending.For driver, may be unfamiliar with
The extension of road, or excessive velocities are susceptible to danger.So in this preferred embodiment, the sensing data is obtained first
10, the treatment processed the sensing data 10 carries out SLAM analyses to the sensing data 10, is tied using analysis
Fruit builds car week ground Figure 20.Extension so to road is sufficiently detected and represented.In this application scene, the car
The obstacle 21 of all ground Figure 20 is road curb on both sides of the road, the analysis by the sensing data 10 to distance, structure
Build out car week ground Figure 20.It is synchronous during position with running car also, the self-position 21 is positioned in real time.
When bending mouth front is driven to, the car week, ground Figure 20 was fabricated, and the quilt of the obstacle 22 in car week ground Figure 20
Identification, learns that there is bending road in front.So automobile will prepare the corresponding actions of brakes, so that the mistake of automotive safety
It is curved.In addition, have auxiliary drive, or automatic Pilot automobile, according to the car week ground Figure 20 situation, will prepare turn,
The action of braking, signal etc. series.With automobile advance in the road, the self-position 21 in car week ground Figure 20
Also update in real time.That is, in this application scene, with running car, the car week, ground Figure 20 was built in real time,
Car week ground Figure 20 that guarantee is obtained is synchronous with driving path.And, the self-position in car week ground Figure 20
21 and the obstacle 22 also grasped by automobile in real time.Can also be carried out when distance exceedes secure threshold for the obstacle 22
Alarm, timely and effectively to be processed the obstacle 22.This preferred embodiment can be synchronous renewal motor vehicle environment
Environmental data, helps the real-time situation for grasping surrounding in running car.
Another feasible scene of this preferred embodiment is as shown in Figure 7.The right of way signal crossing at one, has two to turn right and passes through
Road, traditional satellite map for trickle distance detect it is not accurate enough in the case of, having very much can be with navigational error.This
In preferred embodiment, the sensing data 10 be acquired and it is analyzed after, the car week, ground Figure 20 was fabricated.The car week
The self-position 21 is positioned in real time in Figure 20.Because the car week, ground Figure 20 can be according to real-time position by structure
Build, then the self-position 21 is also real-time.The accuracy rate of the self-position 21 is at a relatively high.For example, the sensor
Data 10 analyzed as being front and also have two crossings, then when car week ground Figure 20 is fabricated, and the self-position 21 will be
After two crossings.In addition, the curb of road is detected as the obstacle 22, the distance of automobile and the obstacle 22
Also using as the data for building car week ground Figure 20.And the self-position 21 can be by the sensing data 10 to vapour
Car positioning in itself and obtain, that is, reckoning positioning of the sensing data 10 to sensing station can also be by first
Setting during beginningization, sets the self-position 21 to detect and building the center of map before detection.
After the satellite map 30 is obtained, confirm being done to the satellite fix 31 of the satellite map 30.It is right
Core is carried out in the self-position 21 in the satellite fix 31 and the car week ground Figure 20 of the satellite map 30 for obtaining
Real, by the satellite fix 31 of the self-position 21 in car week ground Figure 20 and the satellite map 30, both match somebody with somebody
The position of conjunction, the actual positioning of verification automobile, and the obstacle 22.The satellite fix 31 of the satellite map 30
Information can be used to supplement the self-position 21 of car week ground Figure 20, the self-position 21 in car week ground Figure 20
Information can be used to supplement the satellite fix 31 of the satellite map 30.That is, the institute in car week ground Figure 20
State the satellite fix 31 that self-position 21 will be supplemented in the satellite map 30.So in the preferred embodiment this
Jing Zhong, when before running car to two crossings, the self-position 21 of the car all ground Figure 20 is positioned in two crossings
Before.So, accurately positioning can help automobile to be pointed out at the crossing of required turning, will not be caused because of the error of navigation
Loss.
The vehicle synchronous of the preferred embodiments of the present invention build figure with another feasible scene of obstacle identification method as schemed
8.At directly current crossing of turning right, having has current pedestrian in front of very big probability automobile.And pedestrian be also according to
Zebra crossing is by crossing, then automobile then needs to pay attention to pedestrian and avoided.In this preferred embodiment, obtain first
The sensing data 10, the treatment processed the sensing data 10 carries out SLAM to the sensing data 10
Analysis, car week ground Figure 20 is built using analysis result.The obstacle 22 so in motor vehicle environment is detected.This application
In scene, the obstacle 21 in car week ground Figure 20 is the pedestrian in front of road curb on both sides of the road and traveling, by described
Analysis of the sensing data 10 to distance, constructs car week ground Figure 20.Also, the self-position 21 is real-time
It is synchronous when positioning, position with running car.During pedestrian passes through crossing, the car week, ground Figure 20 can be always
Detection, and it is supplied to automobile labeled as the obstacle 22.That is, in this application scene of this preferred embodiment, the barrier
22 are hindered to be dynamic, the obstacle 22 changes in car week ground Figure 20.And by car week ground Figure 20 by structure
Build, and the obstacle 22 in car week ground Figure 20 is identified, and the presence of the obstacle 22 and mobile side are learnt in advance
To.So automobile will prepare the corresponding actions of brakes, to ensure the safety of automobile and pedestrian.In addition, have auxiliary driving
Sail, or automatic Pilot automobile, according to the situation of car week ground Figure 20, will prepare to turn, braking, signal etc. series
Action.The self-position 21 and the obstacle 22 in car week ground Figure 20 are also grasped by automobile in real time.For the barrier
Hindering 22 can also be alarmed when distance exceedes secure threshold, timely and effectively to be processed the obstacle 22.Vapour
Obstacle 22 described in angle detection of the car from itself, during for burst, that is, the fireballing dynamic obstacle 22 also may be used
To detect well.For need alarm situation, the obstacle 22 can be broadcasted, facilitate automobile all electronic systems or
Driver makes corresponding reaction.Particularly more fully described car week ground is provided to DAS (Driver Assistant System) and automated driving system
Figure 20, and the more real-time data of the obstacle 21.
The vehicle synchronous of the preferred embodiments of the present invention build feasible scene such as Fig. 9 of figure and obstacle identification method.
Turn left and unify current crossing with straight trip signal, there is another automobile having in front of very big probability automobile just in backward going.
In this preferred embodiment, the sensing data 10 is obtained first, the treatment processed the sensing data 10, to institute
Stating sensing data 10 carries out SLAM analyses, and car week ground Figure 20 is built using analysis result.So in the institute of motor vehicle environment
Obstacle 22 is stated to be detected.In this application scene, the obstacle 21 in car week ground Figure 20 is the driving of left front, by institute
Analysis of the sensing data 10 to distance is stated, car week ground Figure 20 is constructed.Also, the self-position 21 is real-time
Positioning, it is synchronous during position with running car.During by crossing, the car week, ground Figure 20 can be detected always,
And mark opposite to drive a vehicle as the obstacle 22 is supplied to automobile.That is, in this application scene of this preferred embodiment, it is described
Obstacle 22 is dynamic, and the obstacle 22 changes in car week ground Figure 20.And by car week ground Figure 20 quilts
The obstacle 22 in structure, and car week ground Figure 20 is identified, and the presence and movement of the obstacle 22 are learnt in advance
Direction.So automobile will prepare the corresponding actions of brakes, to ensure the safety of automobile and pedestrian.In addition, having auxiliary
Drive, or automatic Pilot automobile, according to the situation of car week ground Figure 20, will prepare to turn, braking, signal etc. series
Action.The self-position 21 and the obstacle 22 in car week ground Figure 20 are also grasped by automobile in real time.For described
Obstacle 22 can also be alarmed when distance exceedes secure threshold, timely and effectively to be processed the obstacle 22.
Obstacle 22 described in angle detection of the automobile from itself, during for burst, that is, the fireballing dynamic obstacle 22
Can be very good detection.For need alarm situation, the obstacle 22 can be broadcasted, facilitate automobile all electronic systems or
Person driver makes corresponding reaction.Particularly more fully described car week is provided to DAS (Driver Assistant System) and automated driving system
Ground Figure 20, and the more real-time data of the obstacle 21.It is noted that in both sides' automobile all using the feelings of this preferred embodiment
Under condition, identification of the both sides to mutual automobile is mutual.That is, the automobile for turning left can identify the vapour of opposite straight trip
Car, the automobile of straight trip can identify the automobile that opposite is turned left.Because car week ground Figure 20 is using the automobile on opposite as described
Whether obstacle 22 is recognized, and then may determine that there is generation influence on travel safety.More, both sides' automobile is being mutually distinguishable it
Afterwards, order and the path of driving can be coordinated, more effectively solve problem.
The vehicle synchronous of the preferred embodiments of the present invention build figure with another feasible scene of obstacle identification method as schemed
10 and Figure 11.In the case of having obstacle in the middle of traveling road, automobile needs to pay attention to and is avoided.In this preferred embodiment,
The sensing data 10 is obtained first, the treatment processed the sensing data 10, to the sensing data 10
SLAM analyses are carried out, car week ground Figure 20 is built using analysis result.As shown in Figure 10, car week ground Figure 20 is the shape of 2D
Formula.When the sensing data 10 has three-dimensional feature, the car week, ground Figure 20 can be built as the form of 3D.If institute
The amount of calculation for stating sensing data 10 is little, then preferably build car week ground Figure 20 of the form of 3D.When the place of automobile
Reason device can not meet calculating and require, or the amount of calculation of the sensing data 10 is excessive, and the car week, ground Figure 20 was still with 2D
Form be fabricated.It is noted that either which kind of form the car week ground Figure 20, to the self-position 21 and institute
The degree of accuracy of the positioning and identification of stating obstacle 22 be do not have it is influential.The obstacle 22 so in motor vehicle environment is detected,
Analysis by the sensing data 10 to distance, constructs car week ground Figure 20.Also, the self-position 21
Positioned in real time, it is synchronous during position with running car.The obstacle 22 in car week ground Figure 20 is identified, in advance
Learn the presence of the obstacle 22.So automobile will prepare the control system standard of brakes, ABS anti-lock braking systems and correlation
Corresponding actions are got ready, to ensure the safety of automobile.In addition, have auxiliary drive, or automatic Pilot automobile, according to described
The situation in car week ground Figure 20, will prepare the action of turning, braking, signal etc. series.Car week ground Figure 20 it is described itself
Position 21 and the obstacle 22 are also grasped by automobile in real time.Can also be when distance exceedes secure threshold for the obstacle 22
Alarmed, timely and effectively to be processed the obstacle 22.And according to the obstacle 22 and the self-position
21 positioning, autonomous driving vehicle may determine that and detour in which way.For example, in the case of not carrying out car over there, can
To select piggybacking to travel.For example, in the case of having carry out car over there, selection braking in advance, wait bypass the obstacle 22 when
Machine.Obstacle 22 described in angle detection of the automobile from itself, during for burst, that is, the fireballing dynamic obstacle 22
Can also detect well.For the situation for needing alarm, the obstacle 22 can be broadcasted, facilitate all electronic systems of automobile
Or driver makes corresponding reaction.Particularly more fully described car is provided to DAS (Driver Assistant System) and automated driving system
All ground Figure 20, and the more real-time data of the obstacle 21.
The vehicle synchronous of the preferred embodiments of the present invention build figure with another feasible scene of obstacle identification method as schemed
Shown in 12.When automobile needs reversing to enter parking stall, will in real time be detected, obtained the sensing data 10.Work as institute
State sensing data 10 be acquired and it is analyzed after, the car week, ground Figure 20 was fabricated.In car week ground Figure 20 to it is described from
Body position 21 is positioned in real time, obtains the border condition on parking stall as the obstacle 22.The backing system of automobile, or
DAS (Driver Assistant System), or automated driving system etc. is controlled using car week ground Figure 20 and the obstacle 22.It is more
Ground, to car week, the obstacle 22 of ground Figure 20 judges.Specifically, the information to the obstacle 22 is analyzed, right
The property of the obstacle 22 is judged.Certainly, the obstacle 22 is needed by judging, for being judged as there is shadow to driving safety
The loud obstacle 22, automobile will be by reminding and informing driver when necessary.For example, stop cross bar in parking stall etc.
The obstacle 22 will be all judged as.In the preferred embodiment, the information of the obstacle 22 will be sent, for other automobiles
Use.So when another automobile uses the parking stall next time, car week ground Figure 20 will be obtained, and obtain the obstacle 22
Information.If the information of the obstacle 22 can be used, will be utilized so as to as driving safety information source.Especially
Ground, the obstacle 22 can be associated with vehicle information, preferably for using for follow-up automobile provides help.Certainly, more
The different types of data of car data or positional information etc. can be associated with the obstacle 22.So, for another
For car, unnecessary detection and calculating can be reduced with the information of obstacle described in direct access 22, mitigate the burden of automobile.When
So, if there is the different obstacles 22 to be provided, each described obstacle 22 is handed over to intelligence system or driver, request selecting.
Preferably, the selected priority of information of the similar obstacle 22 of vehicle is higher.Preferably, similar described of parking environment
The selected priority of information of obstacle 22 is higher.
The vehicle synchronous of the preferred embodiments of the present invention build figure with another feasible scene of obstacle identification method as schemed
Shown in 13.Front truck in motion, obtains the sensing data 10.After the sensing data 10 is acquired and is analyzed,
The car week, ground Figure 20 was fabricated.The self-position 21 is positioned in real time in car week ground Figure 20, is obtained front
Road conditions as the obstacle 22.Automobile assistant driving system, or automated driving system etc. is using car week ground Figure 20
With the assessment that the obstacle 22 carries out travel situations.More, the obstacle 22 to car week ground Figure 20 is carried out in nature
Feature judge.Specifically, the information to the obstacle 22 is analyzed, and the performance characteristic of the obstacle 22 is judged.When
So, for being judged as the obstacle 22 influential on driving safety, automobile will be by reminding and informing driver when necessary.
For example, the stone that front one cannot cross is the obstacle 22.In the preferred embodiment, the information of the obstacle 22 will be sent out
Send, other automobiles for rear are used.So when another automobile in rear obtains car week ground Figure 20, and obtain the obstacle 22
Information.Rear automobile judges that the obstacle 22 will not change in the short time, that is to say, that persistently traveling will be impacted, will
It is utilized so as to as the information source of driving safety.So, for another car, can be with obstacle described in direct access 22
Information, reduces unnecessary detection and calculating, mitigates the burden of automobile.In this feasible pattern, rear automobile will also be obtained
The time of the obstacle 22 greatly shifts to an earlier date, can be earlier make preparation.But, the validity information of the obstacle 22 is also simultaneously
Be not it is permanent, after some time will be no longer valid, it is necessary to automobile is detected again.Recommend ground, for length and height
The all excessive obstacle 22, the term of validity is preferably 5 minutes or so.For length and the highly less obstacle 22, effectively
Phase is 1 minute or so.Here the setting for the term of validity of the obstacle 22 can be set in initialization.
The vehicle synchronous of the preferred embodiments of the present invention build figure with another feasible scene of obstacle identification method as schemed
Shown in 14.Front truck in motion, obtains the sensing data 10.After the sensing data 10 is acquired and is analyzed,
The car week, ground Figure 20 was fabricated.The self-position 21 is positioned in real time in car week ground Figure 20, is obtained front
Road conditions as the obstacle 22.Automobile assistant driving system, or automated driving system etc. is using car week ground Figure 20
With the assessment that the obstacle 22 carries out travel situations.More, the obstacle 22 to car week ground Figure 20 is carried out in nature
Feature judge.Specifically, the information to the obstacle 22 is analyzed, and the performance characteristic of the obstacle 22 is judged.When
So, for being judged as the obstacle 22 influential on driving safety, automobile will be by reminding and informing driver when necessary.
For example, the pedestrian that front is passing through is detected and analysis is the obstacle 22.In the preferred embodiment, the obstacle 22
Information will be sent, and other automobiles for rear are used.So when another automobile in rear obtains car week ground Figure 20, and obtain
The information of the obstacle 22.Rear automobile judges that the obstacle 22 is dynamic, can change, that is to say, that when rear car to should
The obstacle 22 can change during position, and the presence of the obstacle 22 will be utilized so as to as the information source of driving safety.This
Sample, it is necessary to lasting carrying out obtains the sensing data 10 for another car, and builds car week ground Figure 20.
In this feasible pattern, rear car preferably can increase weight in the analysis of the dynamic obstacle 22, be more effectively carried out institute
State the judgement of the obstacle 22 in car week ground Figure 20.So the interaction that front truck carries out car week ground Figure 20 to rear car is still intentional
Justice, it is important that the data that automobile can obtain high precision, contain much information, for reliable and stable traveling control provides premise.
It should be understood by those skilled in the art that the embodiments of the invention shown in foregoing description and accompanying drawing are only used as citing
And it is not intended to limit the present invention.The purpose of the present invention completely and is effectively realized.Function of the invention and structural principle exist
Show in embodiment and illustrate, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (20)
1. a vehicle synchronous build figure and obstacle identification method, including：
Obtain a sensing data；
The sensing data is analyzed, to obtain the range data of motor vehicle environment；
Car week map is built using the sensing data, wherein car week map is the topographic map of motor vehicle environment；And
A self-position is positioned, wherein the self-position is the position of the automobile in all maps of the car, wherein to described
Being configured to for all maps of car is real-time, and the self-position is synchronously positioned and updated to obtain the car week map, wherein
Car week, map further included an at least obstacle, wherein the obstacle be obtain after the sensor data analysis at a distance of away from
From the object without infinity.
2. figure and obstacle identification method are built according to the vehicle synchronous in claim 1, wherein the analysis sensor
In data, further include, preliminary treatment is done to the sensing data, find out the data for building the car week map.
3. figure and obstacle identification method are built according to the vehicle synchronous in claim 1, wherein described build car week ground
Figure uses SLAM algorithms.
4. figure and obstacle identification method are built according to the vehicle synchronous in claim 1, wherein itself position described in the positioning
Put the reckoning positioning to sensing station using the sensing data.
5. figure and obstacle identification method are built according to the vehicle synchronous in claim 1, wherein itself position described in the positioning
Put the center that the self-position is set when using initialization to build the car week map.
6. figure and obstacle identification method are built according to the vehicle synchronous in claim 1, wherein car week map is described
The information of obstacle is sent, so that another automobile is used.
7. figure and obstacle identification method are built according to the vehicle synchronous in claim 1, after the self-position is positioned
Further include, according to car week map, the identification and judgement of the obstacle are carried out, according to the information of the obstacle for obtaining
And property, make and correspondingly remind and prepare.
8. figure and obstacle identification method are built according to the vehicle synchronous in claim 7, wherein described making correspondingly is reminded
Be prepared as making automotive control system to prepare corresponding emergency action.
9. figure and obstacle identification method are built according to the vehicle synchronous in claim 7, wherein described making correspondingly is reminded
Be prepared as broadcasting the information of the obstacle in full car.
10. the vehicle synchronous in claim 2,3,4,5 or 6 build figure and obstacle identification method, wherein the car is all
Map is 2D forms.
11. vehicle synchronous in claim 2,3,4,5 or 6 build figure and obstacle identification method, wherein the car is all
Map is 3D forms.
12. 1 vehicle synchronous build figure and obstacle identification method, including：
Car week map is obtained, wherein car week map is the topographic map of motor vehicle environment；
The car week map is analyzed, to obtain the information of an at least obstacle of motor vehicle environment；And
To the car week map the obstacle judge, if the obstacle is used in traveling control, use the barrier
The information for hindering, if the information of the obstacle can not be used, rebuilds the car week map and detects the obstacle.
13. build figure and obstacle identification method according to the vehicle synchronous in claim 12, wherein described build the car week
Map is further included：Obtain a sensing data；The sensing data is analyzed, to obtain the range data of motor vehicle environment；
And build the car week map using the sensing data.
14. build figure and obstacle identification method according to the vehicle synchronous in claim 13, wherein described build the car week
Map uses SLAM algorithms.
15. build figure and obstacle identification method according to the vehicle synchronous in claim 12, wherein described to car week ground
The obstacle of figure is judged, further includes to make correspondingly prompting and prepare.
16. build figure and obstacle identification method according to the vehicle synchronous in claim 12, wherein described to car week ground
The obstacle of figure judged, the validity of the information for further including to judge the obstacle.
17. build figure and obstacle identification method according to the vehicle synchronous in claim 17, wherein the judgement validity
Method is to examine the information characteristics of the obstacle.
18. build figure and obstacle identification method according to the vehicle synchronous in claim 17, wherein the judgement validity
Method is the term of validity of the information for examining the obstacle.
19. build figure and obstacle identification method according to the vehicle synchronous in claim 12, further include to obtain a satellite
Map, wherein the satellite map includes a satellite fix, wherein the satellite fix is the positioning to automobile.
20. build figure and obstacle identification method according to the vehicle synchronous in claim 19, further include to combine car week
Map and the satellite map examine the physical location of automobile, wherein being configured in real time, to obtain to car week map
Positioning and the renewal of the car week map and the Barrier synchronization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710051364.6A CN106840177A (en) | 2017-01-23 | 2017-01-23 | Vehicle synchronous build figure and obstacle identification method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710051364.6A CN106840177A (en) | 2017-01-23 | 2017-01-23 | Vehicle synchronous build figure and obstacle identification method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106840177A true CN106840177A (en) | 2017-06-13 |
Family
ID=59119719
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710051364.6A Pending CN106840177A (en) | 2017-01-23 | 2017-01-23 | Vehicle synchronous build figure and obstacle identification method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106840177A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107290797A (en) * | 2017-06-23 | 2017-10-24 | 西北工业大学 | A kind of obstacle detection system and method based on quorum-sensing system |
| CN107333245A (en) * | 2017-06-16 | 2017-11-07 | 华为技术有限公司 | A kind of motor vehicles automatic Pilot method and terminal device |
| CN109147374A (en) * | 2017-06-15 | 2019-01-04 | 深圳市金溢科技股份有限公司 | Parking lot management method, system, on board unit and background server |
| CN109284348A (en) * | 2018-10-30 | 2019-01-29 | 百度在线网络技术（北京）有限公司 | A kind of update method of electronic map, device, equipment and storage medium |
| CN111197987A (en) * | 2020-02-26 | 2020-05-26 | 深圳市银星智能科技股份有限公司 | Dilemma identification method and device and computer storage medium |
| CN115100377A (en) * | 2022-07-15 | 2022-09-23 | 小米汽车科技有限公司 | Map construction method and device, vehicle, readable storage medium and chip |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120043446A (en) * | 2010-10-26 | 2012-05-04 | 한국전자통신연구원 | Apparatus and method for detecting a location of vehicle and obstacle |
| CN102837658A (en) * | 2012-08-27 | 2012-12-26 | 北京工业大学 | Intelligent vehicle multi-laser-radar data integration system and method thereof |
| CN104614733A (en) * | 2015-01-30 | 2015-05-13 | 福州华鹰重工机械有限公司 | Dynamic obstacle detection method |
| CN104943684A (en) * | 2014-03-31 | 2015-09-30 | 比亚迪股份有限公司 | Pilotless automobile control system and automobile with same |
| CN105015419A (en) * | 2015-07-17 | 2015-11-04 | 中山大学 | Automatic parking system and method based on stereoscopic vision localization and mapping |
-
2017
- 2017-01-23 CN CN201710051364.6A patent/CN106840177A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120043446A (en) * | 2010-10-26 | 2012-05-04 | 한국전자통신연구원 | Apparatus and method for detecting a location of vehicle and obstacle |
| CN102837658A (en) * | 2012-08-27 | 2012-12-26 | 北京工业大学 | Intelligent vehicle multi-laser-radar data integration system and method thereof |
| CN104943684A (en) * | 2014-03-31 | 2015-09-30 | 比亚迪股份有限公司 | Pilotless automobile control system and automobile with same |
| CN104614733A (en) * | 2015-01-30 | 2015-05-13 | 福州华鹰重工机械有限公司 | Dynamic obstacle detection method |
| CN105015419A (en) * | 2015-07-17 | 2015-11-04 | 中山大学 | Automatic parking system and method based on stereoscopic vision localization and mapping |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109147374A (en) * | 2017-06-15 | 2019-01-04 | 深圳市金溢科技股份有限公司 | Parking lot management method, system, on board unit and background server |
| CN107333245A (en) * | 2017-06-16 | 2017-11-07 | 华为技术有限公司 | A kind of motor vehicles automatic Pilot method and terminal device |
| WO2018228483A1 (en) * | 2017-06-16 | 2018-12-20 | 华为技术有限公司 | Automatic driving method for motor vehicle, and terminal device |
| US11513510B2 (en) | 2017-06-16 | 2022-11-29 | Huawei Technologies Co., Ltd. | Motor vehicle self-driving method and terminal device |
| CN107290797A (en) * | 2017-06-23 | 2017-10-24 | 西北工业大学 | A kind of obstacle detection system and method based on quorum-sensing system |
| CN109284348A (en) * | 2018-10-30 | 2019-01-29 | 百度在线网络技术（北京）有限公司 | A kind of update method of electronic map, device, equipment and storage medium |
| CN111197987A (en) * | 2020-02-26 | 2020-05-26 | 深圳市银星智能科技股份有限公司 | Dilemma identification method and device and computer storage medium |
| US11586201B2 (en) | 2020-02-26 | 2023-02-21 | ShenZhen Silver Star Intelligent Technology CO.. LTD | Method and apparatus for recognizing a stuck status as well as computer storage medium |
| CN115100377A (en) * | 2022-07-15 | 2022-09-23 | 小米汽车科技有限公司 | Map construction method and device, vehicle, readable storage medium and chip |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11148664B2 (en) | Navigation in vehicle crossing scenarios | |
| US20210311490A1 (en) | Crowdsourcing a sparse map for autonomous vehicle navigation | |
| JP7432285B2 (en) | Lane mapping and navigation | |
| US10248124B2 (en) | Localizing vehicle navigation using lane measurements | |
| AU2017300097B2 (en) | Crowdsourcing and distributing a sparse map, and lane measurements for autonomous vehicle navigation | |
| KR102565533B1 (en) | Framework of navigation information for autonomous navigation | |
| EP3644294B1 (en) | Vehicle information storage method, vehicle travel control method, and vehicle information storage device | |
| CN106840177A (en) | Vehicle synchronous build figure and obstacle identification method | |
| CN107063256A (en) | Vehicle synchronous builds figure and localization method | |
| US11680801B2 (en) | Navigation based on partially occluded pedestrians | |
| CN113924462A (en) | Navigation system and method for determining dimensions of an object | |
| JP2023504604A (en) | System and method for selectively decelerating a vehicle | |
| 서호태 | Development of Pedestrian State Estimation Algorithm on Autonomous Driving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170613 |
|
| RJ01 | Rejection of invention patent application after publication |