CN106980657A - A kind of track level electronic map construction method based on information fusion - Google Patents
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Abstract
The present invention provides a kind of track level electronic map construction method based on information fusion, and detailed process is：Step one, the real-time capturing panoramic view image of mobile data acquisition platform, location data and traffic signals position, panorama top view is converted into based on Inverse projection by the panoramic picture, and the location data, traffic signals position are merged with panorama top view；Wherein described location data is obtained using Differential positioning mode；Step 2, the panorama top view after fusion is spliced, generation track level electronic map.The panoramic picture of collection is converted into panorama top view by the present invention when carrying out electronic map structure, and accurate location data is obtained using Differential positioning mode while having merged, therefore generation electronic map can specifically be accurate to track.
Description
Technical field
Invention belongs to intelligent vehicle and geographic information system technology field, and in particular to a kind of track based on information fusion
Level electronic map construction method.
Background technology
Intelligent vehicle (Intelligent Vehicle, IV) is that one kind can continuously, in real time under road and wild environment
The mobile robot that ground is independently travelled, is also the important component of intelligent transportation system and the research of ground unmanned combat system,
Its research is related to many science and technology fields such as control science, computer science, information processing, sensor technology, artificial intelligence,
It is an integrated intelligent system for integrating the key technologies such as environment sensing, programmed decision-making, Behavior- Based control and execution and function,
Its achievement in research is had been widely used in the every field such as military, civilian, scientific research, with great research and application value.
And high-precision electronic map is the important component of the intelligent vehicle of structure-oriented traffic environment application, electricity
Sub- map can effectively reduce dependence of the intelligent vehicle to high-precision sensory perceptual system.Getting high-precision traffic environment map
Afterwards, intelligent vehicle no longer needs to extract area of feasible solutions from the environmental information that sensory perceptual system is obtained, and explores while advance, and
It is by the road network of vehicle match to electronic map, and the road arrived to be continuously acquired in the road that electronic map is provided
Real-time perception participates in thing with other traffic avoided in section in section, traveling, until the task of completion.
However, in recent years, drive in intelligent transportation system, auxiliary with intelligent vehicle, the extensive use of intelligent transport ground, it is right
Vehicle-mounted electronic map proposes higher requirement, it is necessary to which electronic map can reach the precision of track level, existing electronic map
The requirement of these applications can not have been met, has been badly in need of a kind of effective method to build the electronic map of track level.
The content of the invention
In view of this, the present invention proposes a kind of track level electronic map construction method based on information fusion, utilizes this
The map that method is built can be pin-pointed to each track, and reliable guarantee is provided for the traveling of vehicle.
Realize that technical scheme is as follows：
A kind of track level electronic map construction method based on information fusion, detailed process is：
Step one, the real-time capturing panoramic view image of mobile data acquisition platform, location data and traffic signals position, based on inverse
The panoramic picture is converted into panorama top view by projective transformation, and the location data, traffic signals position and panorama are overlooked
Figure is merged；Wherein described location data is obtained using Differential positioning mode；
Step 2, the panorama top view after fusion is spliced, generation track level electronic map.
Further, the acquisition modes of location data of the present invention are：Difference base station is set up on known location platform,
Real time differential information is transmitted in the base station using communication module to mobile data acquisition platform, and mobile data acquisition platform is according to base
What station location and difference information calculated mobile data acquisition platform is accurately positioned data.
Further, traffic signals position of the present invention is obtained in the following way：Mobile data acquisition platform first
Gather the image of traffic signals；Secondly the region that traffic signals are there may be in image is marked image sequence detector；
Last tracker rejects the flase drop region in marked region, obtains traffic signals position.
Further, the detailed process of step 2 progress image mosaic of the present invention is：
Step 201, the image acquisition region that mobile data acquisition platform is passed through is divided into multiple an equal amount of nets
Lattice；
Step 202, current frame image and the whether corresponding same grid of previous frame image are judged；
Step 203, otherwise, will be upper if so, current frame image is stitched together with previous frame image according to position relationship
The splicing result of one two field picture is preserved, and judges whether the grid corresponding to current frame image has the image kept；
If so, the image preserved and current frame image are stitched together according to position relationship, otherwise, set up current
The storage region of two field picture correspondence grid, and by current frame image storage to the region；
Step 204, the panorama overhead view image after all fusions is handled in the way of step 202-203, each net is obtained
Stitching image corresponding to lattice；
Step 205, the corresponding stitching image of multiple grids is stitched together, generation track level electronic map.
Further, it is judged as described in step 202 of the present invention：It is flat using movement data acquisition collection when gathering each image
The location of platform information, is identified to image, is judged according to the mark.
A kind of track level electronic map construction method based on information fusion, detailed process is：
Step one, the real-time capturing panoramic view image of mobile data acquisition platform, location data, traffic signals position and road roadside
Boundary's information, panorama top view is converted into based on Inverse projection by the panoramic picture, by the location data, traffic signals position
Put, road boundary information is merged with panorama top view；Wherein described location data is obtained using Differential positioning mode；
Step 2, the panorama top view after fusion is spliced, and obtains the base map of track level electronic map；
Step 3, the topological relation of electronic map is generated according to the direction information between traffic rules and track, is opened up described
Relation is flutterred to obtain base map with splicing in step 2 and merged；
Step 4, is that each track sets corresponding attribute list on image, generation adapts to the car of Unmanned Ground Vehicle application
Road level electronic map.
Further, road boundary information of the present invention is obtained in the following way：Mobile data acquisition platform is gathered
Surrounding environment cloud data, road boundary information is determined by multiple characteristics Hough transform.
Further, attribute list of the present invention includes line data set " road " attribute, point data collection " road circuit node " category
Property and point data collection " traffic sign " attribute；Wherein,
Line data set " road " attribute include distance of the track away from road left margin, track away from road right margin away from
From, the speed-limiting messages in track, the direction information in track, track and line attribute and track travel direction；
Point data collection " road circuit node " attribute includes whether road circuit node is whether intersection and road circuit node contain
There is the intersection of traffic lights；
Point data collection " traffic sign " attribute includes the type and property value of traffic sign.
Beneficial effect
(1) panoramic picture of collection is converted into panorama top view, melted simultaneously by the present invention when carrying out electronic map structure
Close and obtained accurate location data using Differential positioning mode, therefore generation electronic map can specifically be accurate to track.
(2) present invention is when generating high-precision electronic map, it is proposed that using mesh model come the picture number to magnanimity
According to being handled, it efficiently avoid because the situation that data volume is excessive and can not handle.
(3) present invention creates attribute list for different geographic objects, is safety of the intelligent vehicle under structured environment
Traveling provides reliable guarantee.
Brief description of the drawings
Fig. 1 is the flow chart of the track level electronic map construction method based on information fusion；
Fig. 2 is the block schematic illustration of mobile data acquisition platform；
Fig. 3 is the image lattice coordinate system of design；
Fig. 4 is the flow chart of generation high-precision electronic map base map；
Fig. 5 is the panoramic picture after collection and processing；
Fig. 6 is high-precision electronic map base map；
Fig. 7 is the track level electronic map of generation.
Embodiment
Below in conjunction with the accompanying drawings and give an actual example, the present invention will be described in detail.
The present invention provides a kind of track level electronic map construction method based on information fusion, as shown in figure 1, detailed process
For：
Step one, the real-time capturing panoramic view image of mobile data acquisition platform, location data and traffic signals position, based on inverse
The panoramic picture is converted into panorama top view by projective transformation, and the location data, traffic signals position and panorama are overlooked
Figure is merged；Wherein described location data is obtained using Differential positioning mode；
Step 2, the panorama top view after fusion is spliced, generation track level electronic map.
The panoramic picture of collection is converted into panorama top view as the base map of electronic map by the present invention, therefore constructed
Electronic map can clearly see each track clearly；Meanwhile, obtained and merged with panorama top view using Differential positioning mode
Location data, compared to the GPS location mode of existing electronic map, the positioning of present invention generation electronic map has very high
Precision.
In the present embodiment mobile data acquisition platform carry out in real time data acquisition preferred mode it is as follows：
Panoramic picture is gathered：Building high-precision electronic map needs capturing panoramic view image information as map base map.Adopting
The full-view camera on mobile data acquisition platform is demarcated firstly the need of by scaling board before collection panoramic picture, then
Panorama top view is obtained based on Inverse projection (IPM) algorithm.In addition, in order to different panoramic picture progress during post-processing
Splicing using the location of data acquisition platform when gathering image to image, it is necessary to be identified, this example is with Quick Response Code
Form marks its positional information in the image lower right corner.
Position data collecting：Build track level electronic map and require that location data can distinguish different tracks, therefore positioning
The precision of data is at least decimeter grade.NAVSTAR (e.g., the GPS) Point-positioning Precision being most widely used at present
Typically more than meter level.Therefore, this example uses differential position, difference base station is set up on a known location platform,
Real time differential information is transmitted in base station by mobile communication module to mobile data acquisition platform, and positioning precision can thus reached li
Meter level.
Traffic signals station acquisition：Traffic signals include traffic lights and traffic sign, and this example is obtained by monocular camera
After the image of traffic lights and traffic sign, first, image sequence detector is to there may be traffic lights and traffic mark in image
The region of will is marked, and the band noise that the image after mark regards target positioning as is observed；Then, tracker utilizes many mesh
Data correlation method in mark track algorithm is handled the observation of above-mentioned band noise, is extracted from mixed and disorderly observation and is come from target
True candidate region and reject the region of flase drop, obtain the position of traffic lights and traffic sign.
Mobile data acquisition platform of the present invention also gathers surrounding environment cloud data by laser radar, passes through multiple characteristics
Hough transform determines road boundary information, and the road boundary information is merged with panorama top view.
Fig. 2, which gives, is used for the schematic diagram for gathering each data device on mobile data acquisition platform.
Shown in Fig. 3, it is to the detailed process that the panorama top view after fusion is spliced：
Step 201, the image acquisition region that mobile data acquisition platform is passed through is divided into multiple an equal amount of nets
Lattice, each grid is to the scope that should determine that；The size of a grid is 1620m × 360m (27000 pixel × 6000 in this example
Pixel), origin (x is selected according to the coordinate range in data acquisition region0,y0), while determine each grid sequence number (i,
J), as shown in Figure 4；
Step 202, the grid according to corresponding to the positional information identified on image determines current frame image, and judge the net
Whether the sequence number of lattice is identical with the sequence number of the grid corresponding to previous frame image, that is, judges that current frame image is with previous frame image
The no same grid of correspondence；
Step 203, if sequence number is identical, that is, same grid is corresponded to, then spliced two images one according to position relationship
Rise, otherwise, the splicing result of previous frame image is preserved, and whether have preservation before judging the grid corresponding to current frame image
Image；
If the image kept, the image preserved and current frame image are stitched together according to position relationship,
Otherwise, then a newly-built panel region corresponds to the storage region of grid as current frame image in internal memory, and current frame image is deposited
Store up on the region；
Step 204, the panorama overhead view image after all fusions is handled in the way of step 202-203, several are obtained
Represent the image of different grids；
Step 205, according to the sequence number of grid by the above-mentioned image mosaic that several represent different grids together, obtain height
The base map of the electronic map of precision.
A kind of track level electronic map construction method based on information fusion of the present invention, detailed process is：
Step one, the real-time capturing panoramic view image of mobile data acquisition platform, location data, traffic signals position and road roadside
Boundary's information, panorama top view is converted into based on Inverse projection by the panoramic picture, by the location data, traffic signals position
Put, road boundary information is merged with panorama top view；Wherein described location data is obtained using Differential positioning mode；
Step 2, the panorama top view after fusion is spliced；
Step 3: generating the topological relation of electronic map according to the direction information between traffic rules and track, opened up described
Relation is flutterred to obtain image with splicing in step 2 and merged；The topological relation is the important component of electronic map, it
It is the necessary requirement that electronic map is applied to path planning and Shortest Path Analysis.
Step 4: be that each track sets corresponding attribute list on image according to the feature of different geographic objects, generation with
Adapt to the track level electronic map of Unmanned Ground Vehicle application.
For different geographic objects build attribute list detailed process be：
It is line data set " road " first, shown in its corresponding attribute list 1.
Table 1 is line data set " road " attribute
Wherein, Left_Width and Right_Width attributes represent the distance of current lane boundary and right margin From Left.
The two attributes give right boundary when Unmanned Ground Vehicle carries out sector planning, and the safe driving to vehicle has
Important directive function, the attribute is calculated by the road boundary data collected and obtained.Speed_Limit attributes represent current vehicle
The speed-limiting messages in road, traveling is one of important criteria of intelligent driving in the range of the speed limit；Pacify simultaneously for the traveling of vehicle
Entirely, the electronic map that the present invention is built carries out speed limit (example always according to the direction information in correspondence track to the track near intersection
Such as：Through Lane speed limit 30km/h, left-hand rotation right-turn lane speed limit 15km/h, turn lane speed limit 10km/h).Change_
Direction attributes are the direction information of current lane, wherein, 0 is keeps straight on, and 1 is turns left, and 2 is turn right, and 3 be to turn around.if_
CrossLine attributes are whether current lane allows doubling, wherein, 0 is forbids doubling, and 1 is allows doubling, in some of road
Region (near intersection) vehicle is not allow doubling, therefore adds the attribute to Unmanned Ground Vehicle according to traffic rules
Traveling has important indicative function.Direction attributes represent the direction of current lane, with the deflection table of current lane
Show.
Point data collection " road circuit node " and " traffic sign " corresponding attribute list are respectively as shown in table 2 and table 3.
Table 2 is the attribute of point data collection " road circuit node "
Wherein, " road circuit node " corresponding attribute mainly includes if_Intersection and if_TrafficLight category
Property, represent whether the road circuit node is intersection and whether is the intersection containing traffic lights respectively.
Table 3 is the attribute of point data collection " road sign "
Wherein " traffic sign " corresponding attribute is that Category and Value, Category attribute represent traffic sign
Type (such as speed limit, forbidden etc.), and Value attributes represent correspondence traffic sign value (such as speed limit 40km/h, then the property value be
40)。
The present invention constructs electronic map to verify this hair using Changshu City of Jiangsu Province intelligent vehicle research and development centre as test site
Bright validity.
(1) data built required for electronic map are gathered first with mobile data acquisition platform.After collection and processing
Panoramic image data as shown in Figure 5.
(2) then, the base map of high-precision electronic map, obtained base map such as accompanying drawing 6 are generated according to step 201- steps 205
It is shown.
(3) finally, the topological relation of electronic map is generated according to the direction information between traffic rules and track, reflects city
The passing rules of city's road are according to traffic rules, and obtained track level electronic map is as shown in Figure 7.
In summary, the preferred embodiments of the present invention are these are only, are not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (10)
1. a kind of track level electronic map construction method based on information fusion, it is characterised in that detailed process is：
Step one, the real-time capturing panoramic view image of mobile data acquisition platform, location data and traffic signals position, based on inverse projection
Become the panoramic picture of changing commanders and be converted into panorama top view, the location data, traffic signals position and panorama top view are entered
Row fusion；Wherein described location data is obtained using Differential positioning mode；
Step 2, the panorama top view after fusion is spliced, generation track level electronic map.
2. track grade electronic map construction method according to claim 1 based on information fusion, it is characterised in that described fixed
Position data acquisition modes be：Difference base station is set up on known location platform, the base station utilizes communication module to mobile number
Real time differential information is transmitted according to acquisition platform, mobile data acquisition platform calculates mobile number according to base station location and difference information
Data are accurately positioned according to acquisition platform.
3. track grade electronic map construction method according to claim 1 based on information fusion, it is characterised in that the friendship
Messenger position is obtained in the following way：Mobile data acquisition platform gathers the image of traffic signals first；Next image sequence
The region that traffic signals are there may be in image is marked row detector；Last tracker rejects the flase drop in marked region
Region, obtains traffic signals position.
4. track grade electronic map construction method according to claim 1 based on information fusion, it is characterised in that the step
It is rapid two progress image mosaic detailed processes be：
Step 201, the image acquisition region that mobile data acquisition platform is passed through is divided into multiple an equal amount of grids；
Step 202, current frame image and the whether corresponding same grid of previous frame image are judged；
Step 203, if so, current frame image is stitched together with previous frame image according to position relationship, otherwise, by previous frame
The splicing result of image is preserved, and judges whether the grid corresponding to current frame image has the image kept；
If so, the image preserved and current frame image are stitched together according to position relationship, otherwise, present frame figure is set up
As the storage region of correspondence grid, and by current frame image storage to the region；
Step 204, the panorama overhead view image after all fusions is handled in the way of step 202-203, each grid institute is obtained
Corresponding stitching image；
Step 205, the corresponding stitching image of multiple grids is stitched together, generation track level electronic map.
5. track grade electronic map construction method according to claim 4 based on information fusion, it is characterised in that step
It is judged as described in 202：Using the location of movement data acquisition acquisition platform information when gathering each image, image is carried out
Mark, is judged according to the mark.
6. a kind of track level electronic map construction method based on information fusion, it is characterised in that detailed process is：
Step one, the real-time capturing panoramic view image of mobile data acquisition platform, location data, traffic signals position and road boundary letter
Breath, the panoramic picture is converted into by panorama top view based on Inverse projection, by the location data, traffic signals position,
Road boundary information is merged with panorama top view；Wherein described location data is obtained using Differential positioning mode；
Step 2, the panorama top view after fusion is spliced, and obtains the base map of track level electronic map；
Step 3, the topological relation of electronic map is generated according to the direction information between traffic rules and track, and the topology is closed
System obtains base map with splicing in step 2 and merged；
Step 4, is that each track sets corresponding attribute list on image, generation adapts to the track level of Unmanned Ground Vehicle application
Electronic map.
7. track grade electronic map construction method according to claim 6 based on information fusion, it is characterised in that the road
Road boundary information is obtained in the following way：Mobile data acquisition platform gathers surrounding environment cloud data, passes through multiple characteristics
Hough transform determines road boundary information.
8. track grade electronic map construction method according to claim 6 based on information fusion, it is characterised in that the category
Property table include line data set " road " attribute, point data collection " road circuit node " attribute and point data collection " traffic sign " attribute；Its
In,
Line data set " road " attribute include distance of the track away from road left margin, distance of the track away from road right margin,
The speed-limiting messages in track, the direction information in track, track and line attribute and track travel direction；
Point data collection " road circuit node " attribute includes whether road circuit node is whether intersection and road circuit node are containing friendship
The intersection of logical lamp；
Point data collection " traffic sign " attribute includes the type and property value of traffic sign.
9. track grade electronic map construction method according to claim 6 based on information fusion, it is characterised in that the step
It is rapid two progress image mosaic detailed processes be：
Step 201, the image acquisition region that mobile data acquisition platform is passed through is divided into multiple an equal amount of grids；
Step 202, current frame image and the whether corresponding same grid of previous frame image are judged；
Step 203, if so, current frame image is stitched together with previous frame image according to position relationship, otherwise, by previous frame
The splicing result of image is preserved, and judges whether the grid corresponding to current frame image has the image kept；
If so, the image preserved and current frame image are stitched together according to position relationship, otherwise, present frame figure is set up
As the storage region of correspondence grid, and by current frame image storage to the region；
Step 204, the panorama overhead view image after all fusions is handled in the way of step 202-203, each grid institute is obtained
Corresponding stitching image；
Step 205, the corresponding stitching image of multiple grids is stitched together, obtains the base map of track level electronic map.
10. track grade electronic map construction method according to claim 9 based on information fusion, it is characterised in that step
It is judged as described in 202：Using the location of movement data acquisition acquisition platform information when gathering each image, image is carried out
Mark, is judged according to the mark.
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