CN106969779A - Intelligent vehicle map emerging system and method based on DSRC - Google Patents
Intelligent vehicle map emerging system and method based on DSRC Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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Abstract
A kind of intelligent vehicle map emerging system based on DSRC and method is claimed in the present invention, and the system includes vehicle location, local map generation, DSRC communications, the screening of ADAS map interfaces, target vehicle and map Fusion Module.Vehicle localization module is used to obtain main truck position and posture；Local map generation module generates the corresponding local map in main car current location according to onboard sensor data；DSRC communication modules are used to receive the position, posture and local cartographic information that target vehicle is issued in communication range, while sending main car self-position, posture and local map；ADAS map interfaces module provides the agreement and interface for accessing ADAS maps；Target vehicle screening module screens the target vehicle that same road is in main car；Map Fusion Module merges the local map of main car and the target vehicle filtered out, generates the extension local map of main car.The present invention realizes that many vehicle perceptions are shared to extend environment sensing range, is favorably improved intelligent vehicle auxiliary driving/automatic Pilot performance.
Description
Technical field
The invention belongs to automate, Communications And Computer technical field, and in particular to one kind be based on DSRC (Dedicated
Short Range Communications, special short-distance wireless communication) intelligent vehicle map emerging system and method.
Background technology
Environment sensing is one of key technology of intelligent vehicle with map generation, and peace is driven in order to improve intelligent vehicle auxiliary
Full early warning and the performance of automatic Pilot path planning, intelligent vehicle are needed with environment sensing scope as big as possible, but tradition
Typically the onboard sensor of vehicle in itself is relied only in method so that the perception of vehicle is extremely limited.
Chinese patent application：Vehicular navigation system and automobile navigation method (application number：CN201010110837.3 it is) open
A kind of onboard navigation system and automobile navigation method, the system are believed before vehicle sets out according to the real-time road of collection and map
Breath planning vehicle makes evasive jam road and can not travel from the optimal global driving path of origin-to-destination.The party
Method is a kind of macro approach, does not possess real-time safe early warning and local paths planning ability.Chinese patent application：One kind is based on
The multilasered optical radar grating map emerging system (application number of pilotless automobile：CN201410252993.1 a kind of base) is disclosed
In the multilasered optical radar grating map emerging system of pilotless automobile, the system is multiple installed in the different positions of vehicle by merging
The laser radar data generation vehicle-periphery grating map put, solves the problem of intelligent vehicle collides with barrier.
But this method is only the fusion of multisensor on same vehicle, the onboard sensor of vehicle in itself is substantially also to rely on, is felt
Know that ability is equally limited.Chinese patent application：ADASIS extension information output apparatus and method (Shen based on safe driving map
Please number：CN201510496628.X a kind of ADASIS extension information output apparatus based on safe driving map and side) are disclosed
Road information, vehicle position information and the traffic route of track level are sent to wagon control application module by method, the system, are improved
The perception of vehicle and control performance, the system are not directed to interaction and Multi-sensor Fusion between vehicle.Chinese patent application：Base
In ADAS drive assist system (application number：CN201511010294.7 a kind of driving auxiliary system based on ADAS) is disclosed
System, the system realizes that the sensor information between different vehicle is interacted by inter-vehicle communication technology, solves vehicle safety early warning model
Enclose the problem of being limited by onboard sensor detection range.The system does not carry out Effective selection to interactive vehicle, have impact on interaction
The effectiveness of information.Chinese patent application：Vehicle mobile terminals and its communication means (application number based on DSRC：
CN201410397940.9), the system realizes the information between car and exterior vehicle and base station by the DSRC communication technologys
Interaction, mainly including vehicle location, running status and traffic information, strengthens understanding of the vehicle driver to traffic information.This is
Unite also without Effective selection is carried out to interactive vehicle to distinguish the validity of interactive information.
The present invention does not distinguish interactive information when being directed to existing intelligent vehicle environment sensing limited ability, vehicle information interaction
Validity the problem of, it is proposed that a kind of intelligent vehicle map emerging system and method based on DSRC.Within the system, main car
Local map information sharing with multiple target vehicles in communication range is realized by DSRC, according to each target vehicle position and
ADAS cartographic informations screen effective target vehicle, and its local map is merged with main car local map, generation extension local map,
So as to extend main car environment sensing scope, intelligent vehicle auxiliary driving/automatic Pilot performance is favorably improved.
The content of the invention
The deficiency of the present invention existing invention for more than, is passed to solve existing intelligent vehicle environment sensing ability by vehicle-mounted
A kind of the problem of failing Effective selection interactive vehicle when the limitation of sensor, vehicle information interaction, it is proposed that intelligence based on DSRC
Energy vehicle map emerging system and method effectively to extend intelligent vehicle environment sensing ability and auxiliary driving/automatic Pilot
Energy.
Technical scheme is as follows：
A kind of intelligent vehicle map emerging system based on DSRC, it includes vehicle localization module, local map generation mould
Block, DSRC communication modules, ADAS map interfaces module, target vehicle screening module and map Fusion Module, wherein：
Vehicle localization module is used for position and the attitude information that main car is obtained by mobile satellite location equipment；Local map is generated
Module is used to detect main car surrounding environment by onboard sensor, according to sensor measurement data, generates main car current location pair
The local map answered；DSRC communication modules are used to issue position of main car current time, posture and local cartographic information, receive simultaneously
Target vehicle is issued in communication range self-position, posture and local cartographic information；ADAS map interfaces module is used to provide
Access the agreement and interface of ADAS maps；Target vehicle screening module is used to pass through ADAS map interfaces according to main car current location
Obtain main car and be currently located road Id numberings, numbered further according to road Id and filter out the target carriage that same road is in main car
；Map Fusion Module is used to, according to the position of main car and the target vehicle filtered out, posture and local cartographic information, carry out ground
Figure fusion, generates the extension local map of main car.
Further, the vehicle localization module is gathered by mobile satellite location equipment and calculates main car in geographic coordinate system
Under position Lk h=(xk h,yk h,zk h) and posture Pk h, wherein to be defined as vehicle heading just northern with geographic coordinate system for posture
To angle；
Further, the form of the local map of the main car of the local map generation module generation and target vehicle is grid
Lattice map.Local map is expressed as using current vehicle position as origin, and headstock direction is that y-axis is positive, a length of L, a width of W rectangle
Region.Choose element grid of the specification for R*R and turn to n*m (n=L/R, m=W/R) individual grid, each grid by local map is discrete
Lattice are s with a vector representationj h=(xj h,yj h,fj h)T, local map is expressed as with lattice vector sj hFor the matrix of element
Gridh=[sj h]1,n*m, wherein xj h、yj hFor grid centre coordinate, fj hFor trellis states could, fj h=1 is occupies state, and representing should
There are barrier, f at gridj h=0 is not occupy state.
Further, in the local map generation module, onboard sensor, which is detected and obtained in main car surrounding environment, to be hindered
Hinder position and the dimension information of thing (vehicle, pedestrian and other barriers), each barrier is calculated in main car grating map coordinate system
Hinder the grid region that thing is covered, a completely grid is not covered by one raster symbol-base of covering yet, and the grid zone that will be capped
The trellis states could in domain is set to occupy state, sh i,j=1.The local grid map of generation is Mapk h={ L, W, Gridh}。
Further, the function of the DSRC communication modules includes transmission with receiving two parts, when the main car of transmission is current
Carve position Lk h, posture Pk hWith local grid map Mapk h, while the self-position that target vehicle is issued in reception communication range,
Posture and local grid map information, including target vehicle position lk o(i)=(xk o(i),yk o(i),zk o(i)), posture pk o(i)
And local grid map mapk o(i)={ L, W, Grido(i)}。
Further, the target vehicle screening module passes through ADAS map interfaces according to main car and target vehicle position
Module obtains main car and target vehicle is currently located road Id numberings, filters out the target vehicle that same road is in main car,
Step includes：
(1) present road Id is inquired about：According to position L of main car current timek h, main car is obtained by ADAS map interfaces module
It is currently located road Id numberings Idk h；
(2) target vehicle is screened：To all target vehicles, according to target vehicle i current time position lk o(i), pass through
ADAS map interfaces module obtains target vehicle i and is currently located road Id numberings idk o(i), if meeting idk o(i)=Idk h, then
Retain vehicle i information, finally filter out the target vehicle that same road is in main car.
Further, the map Fusion Module merges the target vehicle local map filtered out with main car local map
The step of generation extension local map, includes：
(1) according to each target vehicle position, posture and main truck position, posture, respectively calculate target vehicle coordinate system with
Coordinate conversion parameter between main car coordinate system, including rotation parameter and translation parameters, by the local grid map of target vehicle
Transform in main car coordinate system；
(2) based on main car current time local map, melt respectively with the target vehicle local grid map after conversion
The extension local grid map for obtaining main car is closed, fusion rule is：Map overlapping region is carried out at grid fusion according to "or"
Reason, splicing is carried out to Non-overlapping Domain.
A kind of intelligent vehicle map amalgamation method based on the system, it comprises the following steps：
(1) main truck position and attitude detection：In current time k, main car vehicle localization module is adopted by mobile satellite location equipment
Collect and calculate position L of the k moment main car under geographic coordinate systemk h=(xk h,yk h,zk h) and posture Pk h, wherein posture definition
For vehicle heading and geographic coordinate system direct north angle；
(2) local map is generated：Onboard sensor gathers the observation data of main car ambient condition information, when generating main car k
The local grid map Map at quarterk h={ L, W, Gridh}；
(3) DSRC module informations are sent with receiving：DSRC communication modules send position L of main car current timek h, posture Pk h
With local grid map Mapk h, while with receiving the self-position of target vehicle issue in communication range, posture and local grid
Figure information, if i-th of target vehicle position lk o(i)=(xk o(i),yk o(i),zk o(i)), posture is pk o(i), local grid
Scheme mapk o(i)={ L, W, Grido(i) }, i ∈ [0, nk], nkFor target vehicle number in current time main car communication range；
(4) target vehicle is screened：Target vehicle screening module is first according to position L of main car current timek hBy ADAS
Figure interface module obtains main car and is currently located road Id numberings Idk h, further according to each target vehicle i position lk o(i) pass through
ADAS map interface modules obtain the target vehicle and are currently located road Id numberings idk o(i), if idk o(i)=Idk hThen retain
Target vehicle i information, is otherwise deleted, until filtering out NkThe individual target vehicle that same road is in main car, wherein Nk≤
nk；
(5) local grid map is merged：Map Fusion Module is with main car current time local grid map Mapk hBased on,
By the N filtered outkThe local grid map map of individual target vehiclek o(i) main car coordinate system and and Map are transformed tok hFusion, generation
The extension local grid map Map of main cark h_extern。
Advantages of the present invention and have the beneficial effect that：
The present invention proposes a kind of intelligent vehicle map emerging system and method based on DSRC.On the one hand, this method passes through
DSRC communicators issue main car self-position, posture and local cartographic information, receive target vehicle position, posture and partly
Figure information and the local map for merging generation extension so that the shared of perception is realized between multiple vehicles, intelligence is extended
Vehicle environmental sensing range；On the other hand, it is effective to what is merged according to each target vehicle position and the screening of ADAS cartographic informations
Target vehicle, improves map fusion efficiencies.By the innovation and improvement in terms of two above, the present invention realizes many vehicle senses
Know that ability is shared, effectively extend intelligent vehicle environment sensing scope, to improving intelligent vehicle auxiliary driving/automatic Pilot performance
Significant and use value.
Brief description of the drawings
Fig. 1 is that the present invention provides intelligent vehicle map emerging system overall framework of the preferred embodiment based on DSRC；
Form and the coordinate system definition of Fig. 2 intelligent vehicle local maps of the present invention；
Intelligent vehicle map amalgamation method flow chart of Fig. 3 present invention based on DSRC；
Fig. 4 target vehicle screening technique flow charts of the present invention；
Fig. 5 map amalgamation method flow charts of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, detailed
Carefully describe.Described embodiment is only a part of embodiment of the present invention.
The present invention solve above-mentioned technical problem technical scheme be：
The present invention proposes a kind of intelligent vehicle map emerging system and method based on DSRC, and the system and method pass through
The DSRC communication technologys, realize effectively shared local map between main car and target vehicle, extend intelligent vehicle environment sensing model
Enclose, and the effective target vehicle to merge is screened by ADAS cartographic informations, improve map fusion efficiencies.
The embodiment of the present invention is described below in conjunction with accompanying drawing and instantiation.
1st, it is as shown in Figure 1 a kind of overall frame of the intelligent vehicle map emerging system based on DSRC proposed by the present invention
Frame.The system is by vehicle localization module, local map generation module, DSRC communication modules, ADAS map interfaces module, target carriage
Screening module and map Fusion Module, wherein：
Vehicle localization module is used to obtain position of the main car under geographic coordinate system and posture letter by mobile satellite location equipment
Breath；Local map generation module is used to detect main car surrounding environment by onboard sensor, according to sensor measurement data, generation
The corresponding local map in main car current location；DSRC communication modules are used to issue position of main car current time, posture and partly
Figure information, while receiving the self-position of target vehicle issue in communication range, posture and local cartographic information；ADAS maps connect
Mouth mold block is used to provide the agreement and interface that access ADAS maps；Target vehicle screening module is used for logical according to main car current location
Cross the main car of ADAS map interfaces acquisition and be currently located road Id numberings, filter out and be in together with main car further according to road Id numberings
The target vehicle of one road；Map Fusion Module is used for position, posture and part according to main car and the target vehicle filtered out
Cartographic information, carries out map fusion, generates the extension local map of main car.
2nd, form and the coordinate system definition of the intelligent vehicle local map that the present invention is used are illustrated in figure 2.Main car and mesh
The form for marking the local map of vehicle is grating map.Local map is expressed as using current vehicle position as origin, headstock side
To for y-axis it is positive, a length of L, a width of W rectangular area.Choose element grid of the specification for R*R and turn to n* by local map is discrete
M (n=L/R, m=W/R) individual grid, each grid is s with a vector representationj h=(xj h,yj h,fj h)T, local map represents
For with lattice vector sj hFor the matrix Grid of elementh=[sj h]1,n*m, wherein xj h、yj hFor the coordinate at grid center, round numbers,
fj hFor trellis states could, fj h=1, to occupy state, represents there is barrier, f at the gridj h=0 is not occupy state.
3rd, a kind of intelligent vehicle map amalgamation method flow based on DSRC proposed by the present invention, the party are illustrated in figure 3
Method comprises the following steps：
(1) main truck position and attitude detection：In current time k, main car vehicle localization module is adopted by mobile satellite location equipment
Collect and calculate position L of the k moment main car under geographic coordinate systemk h=(xk h,yk h,zk h) and posture Pk h, wherein posture definition
For vehicle heading and geographic coordinate system direct north angle；
(2) local map is generated：Onboard sensor gathers the observation data of main car ambient condition information, when generating main car k
The local grid map Map at quarterk h={ L, W, Gridh, wherein L is local map length, and W is local map width, Gridh=
[sj h]1,n*mRepresent trellis states could；
(3) DSRC module informations are sent with receiving：DSRC communication modules send position L of main car current timek h, posture Pk h
With local grid map Mapk h, while with receiving the self-position of target vehicle issue in communication range, posture and local grid
Figure information, if i-th of target vehicle position lk o(i)=(xk o(i),yk o(i),zk o(i)), posture is pk o(i), local grid
Scheme mapk o(i)={ L, W, Grido(i) }, i ∈ [0, nk], nkFor target vehicle number in current time main car communication range,
Grido(i)=[sj o(i)]1,n*m, sj o(i)=(xj o(i),yj o(i),fj o(i))T, wherein xj o(i)、yj o(i) it is grid center
Coordinate, fj o(i) it is trellis states could, fj o(i)=1 to occupy state, represent there is barrier, f at the gridj o(i)=0 it is not account for
According to state.
(4) target vehicle is screened：Target vehicle screening module is first according to position L of main car current timek hBy ADAS
Figure interface module obtains main car and is currently located road Id numberings Idk h, further according to each target vehicle i position lk o(i) pass through
ADAS map interface modules obtain the target vehicle and are currently located road Id numberings idk o(i), if idk o(i)=Idk hThen retain
Target vehicle i information, is otherwise deleted, until filtering out NkThe individual target vehicle that same road is in main car, wherein Nk≤
nk；
(5) local grid map is merged：Map Fusion Module is with main car current time local grid map Mapk hBased on,
By the N filtered outkThe local grid map map of individual target vehiclek o(i) main car coordinate system and and Map are transformed tok hFusion, generation
The extension local grid map Map of main cark h_extern。
4th, target vehicle screening technique flow of the present invention is illustrated in figure 4, is passed through according to main car and target vehicle position
ADAS map interfaces module obtains main car and target vehicle is currently located road Id numberings, filters out and is in same road with main car
Target vehicle, its step includes：
(1) obtain main car and be currently located road Id numberings：According to position L of main car current timek h, pass through ADAS map interfaces
Module obtains main car and is currently located road Id numberings Idk h；
(2) obtain target vehicle i and be currently located road Id numberings：According to target vehicle i current time position lk o(i),
Target vehicle i is obtained by ADAS map interfaces module and is currently located road Id numberings idk o(i)；
(3) target vehicle is screened：To target vehicle i, if meeting idk o(i)=Idk h, then target vehicle i letter is retained
Breath, is otherwise deleted；
(4) repeat step (2)-(3), until to nkIndividual target vehicle is all screened, and obtains NkIt is individual to be in together with main car
The target vehicle of one road, wherein Nk≤nk。
5th, map amalgamation method flow of the present invention is illustrated in figure 5, the target vehicle local map filtered out is transformed into
Main car coordinate system carries out map fusion, generates main car extension local map, and its step includes：
(1) target vehicle is calculated with main car coordinate conversion parameter：To target vehicle i, according to its position lk o(i)=(xk o
(i),yk o(i),zk o(i)), posture pk o(i) and main car position Lk h=(xk h,yk h,zk h), posture Pk h, do not consider z-axis, calculate
Coordinate conversion parameter between i coordinate system and main car coordinate system, including rotation parameter θ (i) and translation parameters Δ xk(i)、Δy
(i)：
(2) target vehicle local grid map transforms to main car coordinate system：According to rotation parameter θ (i) and translation parameters Δ
xk(i), Δ y (i), by target vehicle i local grid map mapk o(i) transform in main car coordinate system, obtain mapk o-h(i)
={ L, W, Grido-h(i) }, wherein Grido-h(i)=[sj o-h(i)]1,n*m, sj o-h(i)=(xj o-h(i),yj o-h(i),fj o-h
(i))T, xj o-h(i)、yj o-h(i) it is grid centre coordinate, round numbers, fj o(i) it is trellis states could, transformation relation is：
(3) main car is merged with target vehicle local map：With main car current time local map Mapk hBased on, with
mapk o-h(i) merge, fusion rule is：Grid fusion treatment is carried out according to "or" to map overlapping region, to Non-overlapping Domain
Carry out splicing.Merging flow is：To mapk o-h(i) Grid ino-h(i) each component sj o-h(i),
A. overlapping region judges：If there is Mapk hMiddle GridhComponent sl hMeet condition xj o-h(i)=xl hAnd yj o-h
(i)=yl h, then sj o-h(i) grid represented belongs to overlapping region, otherwise belongs to Non-overlapping Domain；
B. overlapping region is merged：To overlapping region sj o-h(i) grid fusion treatment, is carried out according to "or", Map is updatedk hOn
Corresponding trellis states could：
fl h=fl h fj o-h(i) (3)
C. Non-overlapping Domain is spliced：To Non-overlapping Domain sj o-h(i), it is appended to Mapk hGridhIn：
Gridh=[Gridh,sj o-h(i)] (3)
(4) repeat step (1)-(3), until to NkIndividual target vehicle is all merged, and the extension for obtaining main car is local
Grating map Mapk h_extern。
The above embodiment is interpreted as being merely to illustrate the present invention rather than limited the scope of the invention.
After the content for the record for having read the present invention, technical staff can make various changes or modifications to the present invention, these equivalent changes
Change and modification equally falls into the scope of the claims in the present invention.
Claims (5)
1. a kind of intelligent vehicle map emerging system based on DSRC, it is characterised in that including vehicle localization module, local map
The special short-range wireless communication module of generation module, DSRC, ADAS Senior Officer's accessory system map interfaces module, target vehicle
Screening module and map Fusion Module, wherein：The vehicle localization module, for obtaining main car on ground by mobile satellite location equipment
Manage the position under coordinate system and attitude information；The local map generation module, for detecting main car week by onboard sensor
Collarette border, according to sensor measurement data, generates the corresponding local map in main car current location；The DSRC communication modules, are used
In issuing position of main car current time, posture and local cartographic information, at the same receive target vehicle issue in communication range from
Body position, posture and local cartographic information；The ADAS map interfaces module, the agreement of ADAS maps is accessed for providing with connecing
Mouthful；The target vehicle screening module, is currently located for obtaining main car by ADAS map interfaces according to main car current location
Road Id is numbered, and is numbered further according to road Id and is filtered out the target vehicle that same road is in main car；The map fusion
Module, for the position according to main car and the target vehicle filtered out, posture and local cartographic information, carries out map fusion, raw
Into the extension local map of main car.
2. the intelligent vehicle map emerging system according to claim 1 based on DSRC, it is characterised in that it is described partly
The main car and the form of the local map of target vehicle that figure generation module is generated are grating map, and local map is expressed as with vehicle
Current location is origin, and headstock direction is that y-axis is positive, a length of L, a width of W rectangular area.Choose the unit grid that specification is R*R
Lattice turn to n*m grid by local map is discrete, and n=L/R, m=W/R, each grid are s with a vector representationj h=(xj h,
yj h,fj h)T, local map is expressed as with lattice vector sj hFor the matrix Grid of elementh=[sj h]1,n*m, wherein xj h、yj hFor grid
Lattice centre coordinate, fj hFor trellis states could, fj h=1, to occupy state, represents there is barrier, f at the gridj h=0 is not occupy shape
State.
3. a kind of intelligent vehicle map amalgamation method based on DSRC based on system described in claim 1 or 2, its feature exists
In comprising the following steps：
(1) main truck position and attitude detection：In current time k, main car vehicle localization module is gathered simultaneously by mobile satellite location equipment
Calculate position L of the k moment main car under geographic coordinate systemk h=(xk h,yk h,zk h) and posture Pk h, wherein posture is defined as car
Travel direction and geographic coordinate system direct north angle；
(2) local map is generated：Onboard sensor gathers the observation data of main car ambient condition information, generates the main car k moment
Local grid map Mapk h={ L, W, Gridh}；
(3) DSRC module informations are sent with receiving：DSRC communication modules send position L of main car current timek h, posture Pk hAnd part
Grating map Mapk h, while self-position, posture and the local grid map information of target vehicle issue in communication range are received,
If i-th of target vehicle position lk o(i)=(xk o(i),yk o(i),zk o(i)), posture is pk o(i), local grid map mapk o
(i)={ L, W, Grido(i) }, i ∈ [0, nk], nkFor target vehicle number in current time main car communication range；
(4) target vehicle is screened：Target vehicle screening module is first according to position L of main car current timek hConnect by ADAS maps
Mouth mold block obtains main car and is currently located road Id numberings Idk h, further according to each target vehicle i position lk o(i) by ADAS
Figure interface module obtains the target vehicle and is currently located road Id numberings idk o(i), if idk o(i)=Idk hThen retain target carriage
I information, is otherwise deleted, until filtering out NkThe individual target vehicle that same road is in main car, wherein Nk≤nk；
(5) local grid map is merged：Map Fusion Module is with main car current time local grid map Mapk hBased on, it will sieve
The N selectedkThe local grid map map of individual target vehiclek o(i) main car coordinate system and and Map are transformed tok hFusion, generates main car
Extension local grid map Mapk h_extern。
4. the intelligent vehicle map amalgamation method according to claim 3 based on DSRC, it is characterised in that the target carriage
Screening module passes through ADAS map interfaces module according to main car and target vehicle position and obtains main car and the current institute of target vehicle
In road Id numberings, the target vehicle that same road is in main car is filtered out, its step includes：
(1) obtain main car and be currently located road Id numberings：According to position L of main car current timek h, pass through ADAS map interface modules
Obtain main car and be currently located road Id numberings Idk h；
(2) obtain target vehicle i and be currently located road Id numberings：According to target vehicle i current time position lk o(i), pass through
ADAS map interfaces module obtains target vehicle i and is currently located road Id numberings idk o(i)；
(3) target vehicle is screened：To target vehicle i, if meeting idk o(i)=Idk h, then retain target vehicle i information, it is no
Then delete；
(4) repeat step (2)-(3), until to nkIndividual target vehicle is all screened, and obtains NkIt is individual to be in main car with along with
The target vehicle on road, wherein Nk≤nk。
5. the intelligent vehicle map amalgamation method according to claim 3 based on DSRC, it is characterised in that the map melts
The target vehicle local map filtered out is transformed into main car coordinate system by matched moulds block, carries out map fusion, generates main car extension office
Portion's map, its step includes：
(1) target vehicle is calculated with main car coordinate conversion parameter：To target vehicle i, according to its position lk o(i)=(xk o(i),yk o
(i),zk o(i)), posture pk o(i) and main car position Lk h=(xk h,yk h,zk h), posture Pk h, do not consider z-axis, calculate i coordinate
Coordinate conversion parameter between system and main car coordinate system, including rotation parameter θ (i) and translation parameters Δ xk(i)、Δy(i)；
(2) target vehicle local grid map transforms to main car coordinate system：According to rotation parameter θ (i) and translation parameters Δ xk(i)、
Δ y (i), by target vehicle i local grid map mapk o(i) transform in main car coordinate system, obtain mapk o-h(i)；
(3) main car is merged with target vehicle local map：With main car current time local map Mapk hBased on, with mapk o-h
(i) merge, fusion rule is：Grid fusion treatment is carried out according to "or" to map overlapping region, Non-overlapping Domain is spelled
Connect processing；
(4) repeat step (1)-(3), until to NkIndividual target vehicle is all merged, with obtaining the local grid of extension of main car
Scheme Mapk h_extern。
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